CN105667507A - Automatic navigation driverless electric vehicle - Google Patents
Automatic navigation driverless electric vehicle Download PDFInfo
- Publication number
- CN105667507A CN105667507A CN201610125965.2A CN201610125965A CN105667507A CN 105667507 A CN105667507 A CN 105667507A CN 201610125965 A CN201610125965 A CN 201610125965A CN 105667507 A CN105667507 A CN 105667507A
- Authority
- CN
- China
- Prior art keywords
- electric automobile
- charging station
- photoelectric detection
- driverless
- gps location
- 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
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/10—Path keeping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
Abstract
The invention relates to an automatic navigation driverless electric vehicle. The automatic navigation driverless electric vehicle comprises guiding locus tracking equipment and charging station navigation equipment, wherein the guiding locus tracking equipment is used for tracking a guiding locus of a road right under the electric vehicle in real time so as to realize driverless running of the electric vehicle; and the charging station navigation equipment is used for selecting a target charging station where the electric vehicle leaves for according to the occupation situation of each neighbor charging station and the distance from each neighbor charging station to the electric vehicle. According to the invention, the charging station which is most suitable for the electric vehicle can be positioned in real time to be convenient for the electric vehicle to get charged while the driverless running of the electric vehicle is realized.
Description
Technical field
The present invention relates to electric automobile field, particularly relate to a kind of self-navigation formula driverless electric automobile.
Background technology
Since traditional energy development of automobile centuries, its drawback constantly presents, especially in recent years along with the raising of expanding economy and people's living standard, the jumbo growth of private car quantity, the shortcomings such as air pollution, sound pollution, urban congestion and energy depletion that traditional energy automobile brings become more to highlight, and work and life to people causes adverse effect.
New-energy automobile, especially electric automobile, be increasingly becoming the replacement developing direction of traditional energy automobile: 1. zero-emission owing to having the following advantages, and electric automobile uses electric energy, discharges without waste gas under steam, free from environmental pollution; 2. electric automobile is higher than the energy utilization rate of gasoline engine driving automobile; 3. because using single electric energy, eliminating electromotor, variator, fuel tank, cooling and gas extraction system, so structure is relatively simple, area occupied is relatively small; 4. noise is little; 5. vehicle charging can be carried out when electricity consumption ebb, it is possible to stabilize the peak-valley difference of electrical network, make generating equipment be fully used. Even start that the driverless electric automobile that intelligent level is higher occurs.
But, owing to driverless electric automobile development time is shorter, some problems under steam are in the prior art still without obtaining adequate solution, even also needing to manually participate in: 1. the driverless electric automobile control accuracy based on guide tracks is not high, the situation of deviation guide tracks happens occasionally; 2. navigation feature is complete not, for instance when electricity deficiency, it is impossible to determine near most suitable charging station as target charging station to go to charging.
Therefore, need a kind of new driverless electric automobile, the new electric automobile based on guide tracks can be set up and drive control structure, improve unpiloted guidance accuracy, simultaneously can near determining while each charging station position, the target charging station of most convenient can be selected voluntarily, thus improving the charge efficiency of electric automobile.
Summary of the invention
In order to solve the problems referred to above, the invention provides a kind of self-navigation formula driverless electric automobile, based on the structure of the drive control apparatus of the driverless electric automobile of guide tracks in transformation prior art, improve the driving control accuracy of driverless electric automobile, simultaneously, percentage ratio can be taken based on each charging station neighbouring, take percentage weight, the GPS distance of each charging station neighbouring and distance weighting calculate the convenience degree of each charging station neighbouring, thus automatically selecting out the charging station of neighbouring most convenient as target charging station, the perfect application function of driverless electric automobile.
According to an aspect of the present invention, provide a kind of self-navigation formula driverless electric automobile, described electric automobile includes guide tracks and follows the tracks of equipment and charging station navigator, guide tracks follows the tracks of the equipment guide tracks for the road immediately below real-time tracking electric automobile to realize the unmanned of electric automobile, the charging station navigator target charging station for going to based on the distance selection electric automobile of the situation that takies of each charging station neighbouring and distance electric automobile.
More specifically, in described self-navigation formula driverless electric automobile, including: light source, it is arranged on the chassis of electric automobile, being made up of multiple highlighted white light LEDs, multiple highlighted white light LEDs form rectangle LED matrix and equidistantly arrange, and road under electric automobile is illuminated, photoelectric sensor, it is arranged on the chassis of electric automobile, being made up of 80 photoconductive resistance, 80 photoconductive resistance form the photosensitive resistor matrixes of rectangle and equidistantly arrange, each photoconductive resistance one Photoelectric Detection passage of composition, for detecting the intensity of reflected light of road reflection source device illumination light under electric automobile, wherein, for each Photoelectric Detection passage, the road immediately below it is with or without guide tracks, intensity of reflected light is different, and the Photoelectric Detection voltage that it detects is also different, signal picker, is arranged in the front end instrumental panel of electric automobile, is connected with photoelectric sensor, and for sampling and exporting the Photoelectric Detection voltage that each Photoelectric Detection passage exports, the sample frequency of signal picker is 1 millisecond, operational amplifier, is arranged in the front end instrumental panel of electric automobile, is connected with signal picker, for being amplified by the Photoelectric Detection voltage of each Photoelectric Detection passage, 8 analog-digital converters, are arranged in the front end instrumental panel of electric automobile, are connected with operational amplifier, for each the Photoelectric Detection voltage after amplification is converted to digital signal, to obtain the digital channel voltage of correspondence, steering controller, it is arranged in the front end instrumental panel of electric automobile, process chip with DSP to be connected, for calculating the tooth sector corner of electric automobile based on the lateral deviation of electric automobile, the tooth sector corner of electric automobile is used for electric automobile from deviation guide tracks recovering state to being positioned at state directly over guide tracks, steer motor driver, is arranged on above the driving wheel of electric automobile, is connected with steering controller, determines drive and control of electric machine signal for the tooth sector corner based on electric automobile, turn to drive motor, it is arranged on above the driving wheel of electric automobile, it is connected respectively with the driving wheel of steer motor driver and electric automobile, for based on drive and control of electric machine signal control drive wheel steering angle, with by electric automobile from deviation guide tracks recovering state to being positioned at state directly over guide tracks, wireless transmitting-receiving equipments, is arranged on the outside of electric automobile, for taking percentage ratio based on the current GPS location of electric automobile from what the charging station of far-end managed that server receives each charging station near the current GPS location of electric automobile, GPS transceiver, for receiving current GPS location that GPS position location satellite sends in real time, electric automobile, is additionally operable to receive in GPS electronic chart, the GPS location of each charging station near the current GPS location of electric automobile, electric power detection equipment, is arranged in the accumulator of electric automobile, for detecting the real-time dump energy of accumulator, DSP processes chip, it is arranged in the front end instrumental panel of electric automobile, it is connected with 8 analog-digital converters, receive the digital channel voltage of each Photoelectric Detection passage, the digital channel voltage of each Photoelectric Detection passage is compared with preset number voltage threshold, when the digital channel voltage of a Photoelectric Detection passage is be more than or equal to preset number voltage threshold, the deviation mark of corresponding Photoelectric Detection passage is set to 1, when the digital channel voltage of a Photoelectric Detection passage is less than preset number voltage threshold, the deviation mark of corresponding Photoelectric Detection passage is set to 0, spacing based on adjacent photosensors, the deviation mark of the quantity of Photoelectric Detection passage and each Photoelectric Detection passage calculates the lateral deviation of electric automobile,DSP processes chip and is also connected respectively with wireless transmitting-receiving equipments, electric power detection equipment and GPS transceiver, when real-time dump energy is less than or equal to default power threshold, enters self-navigation pattern, wherein, DSP processes chip in self-navigation pattern, start wireless transmitting-receiving equipments and GPS transceiver, the GPS location of current GPS location and each charging station neighbouring is received from GPS transceiver, current GPS location is sent to wireless transmitting-receiving equipments with near obtaining each charging station take percentage ratio, GPS location based on current GPS location and each charging station neighbouring determines that current GPS location arrives each charging station GPS distance of the GPS location of each charging station neighbouring, percentage ratio is taken based on each charging station neighbouring, take percentage weight, the GPS distance of each charging station neighbouring and distance weighting calculate the convenience degree of each charging station neighbouring, take percentage ratio more low, convenience degree is more high, GPS distance is more short, convenience degree is more high, select the neighbouring charging station that convenience degree is the highest as target charging station, take percentage weight and distance weighting for presetting fixed numbers, DSP processes chip and determines according to the GPS distance of target charging station and control speed in real time.
More specifically, in described self-navigation formula driverless electric automobile, described electric automobile also includes: rack and pinion steering gear, for drive motor being turned to be connected with the driving wheel of electric automobile.
More specifically, in described self-navigation formula driverless electric automobile: rack and pinion steering gear is arranged on above the driving wheel of electric automobile.
More specifically, in described self-navigation formula driverless electric automobile, described electric automobile also includes: storage device, it is used for prestoring and takies percentage weight and distance weighting.
More specifically, in described self-navigation formula driverless electric automobile: storage device is arranged in the front end instrumental panel of electric automobile, and processes chip electric connection with DSP.
Accompanying drawing explanation
Below with reference to accompanying drawing, embodiment of the present invention are described, wherein:
Fig. 1 is the block diagram of the self-navigation formula driverless electric automobile illustrated according to an embodiment of the present invention.
Fig. 2 is the block diagram of the wireless transmitting-receiving equipments of the self-navigation formula driverless electric automobile illustrated according to an embodiment of the present invention.
Accompanying drawing labelling: 1 guide tracks follows the tracks of equipment; 2 charging station navigator; 3 wireless receiving interfaces; 4 wireless transmission interfaces; 5 microcontrollers
Detailed description of the invention
Below with reference to accompanying drawings the embodiment of the self-navigation formula driverless electric automobile of the present invention is described in detail.
Electric automobile increasingly receives the concern of people, and world powers's competition in electric automobile field also grows in intensity. Electric automobile refers to vehicle power for power, drives wheels travel with motor, meets the vehicle of road traffic, security legislation requirements. Owing to the relatively conventional automobile of environmental effect is less, its prospect is extensively had an optimistic view of, and even starts driverless electric automobile occur, but current techniques is still immature.
The operation principle of electric automobile is as follows: battery current electric governor motor power transmission system drives running car. The kind of electric automobile is as follows: pure electric automobile (BEV), hybrid vehicle (PHEV), fuel cell car (FCEV). Electric automobile, relative fuel-engined vehicle, main difference is that four big parts: drive motor, speed setting controller, electrokinetic cell, onboard charger. For gas station, he has public charging station. The quality discrepancy of electric automobile depends on this four big parts, and it is worth height and also depends on the quality of these four big parts. The purposes of electric automobile is also directly related at the selection and deployment of four big parts.
Currently, the R&D direction of driverless electric automobile manufacturer essentially consists in the realization of some automatic functions when electric automobile normally travels, but owing to development time is limited, these automatic functions itself are perfect not, the situation of off-track is such as still there will be in the process of moving based on the driverless electric automobile of guide tracks, cannot in the face of complicated road environment, and structure remains a need for improving.
Additionally, concern is just more lacked for some scenes specifically applied, such as, when driverless electric automobile electric power deficiency needs to charge, prior art provides some basic navigation Service only with satellite navigation, including position and the relevant routes of each charging station neighbouring, but most suitable charging station cannot being selected to be charged for electric automobile, intelligent level still has much room for improvement.
In order to overcome above-mentioned deficiency, the present invention has built a kind of self-navigation formula driverless electric automobile, on the one hand, the driving control structure of the driverless electric automobile based on guide tracks is optimized, improve control accuracy to tackle the road environment of various complexity, on the other hand, adding the function that charging station comfort level compares on the basis of satellite navigation, selecting for driverless electric automobile can the fastest target charging station providing charging service for it.
Fig. 1 is the block diagram of the self-navigation formula driverless electric automobile illustrated according to an embodiment of the present invention, described electric automobile includes guide tracks and follows the tracks of equipment and charging station navigator, guide tracks follows the tracks of the equipment guide tracks for the road immediately below real-time tracking electric automobile to realize the unmanned of electric automobile, the charging station navigator target charging station for going to based on the distance selection electric automobile of the situation that takies of each charging station neighbouring and distance electric automobile.
Then, continue the concrete structure of the self-navigation formula driverless electric automobile of the present invention is further detailed.
Described electric automobile includes: light source, is arranged on the chassis of electric automobile, is made up of multiple highlighted white light LEDs, and multiple highlighted white light LEDs form rectangle LED matrix and equidistantly arrange, and road under electric automobile is illuminated.
Described electric automobile includes: photoelectric sensor, it is arranged on the chassis of electric automobile, it is made up of 80 photoconductive resistance, 80 photoconductive resistance form the photosensitive resistor matrixes of rectangle and equidistantly arrange, each photoconductive resistance one Photoelectric Detection passage of composition, for detecting the intensity of reflected light of road reflection source device illumination light under electric automobile, wherein, for each Photoelectric Detection passage, road immediately below it is with or without guide tracks, intensity of reflected light is different, and the Photoelectric Detection voltage that it detects is also different.
Described electric automobile includes: signal picker, is arranged in the front end instrumental panel of electric automobile, is connected with photoelectric sensor, and for sampling and exporting the Photoelectric Detection voltage that each Photoelectric Detection passage exports, the sample frequency of signal picker is 1 millisecond.
Described electric automobile includes: operational amplifier, is arranged in the front end instrumental panel of electric automobile, is connected with signal picker, for being amplified by the Photoelectric Detection voltage of each Photoelectric Detection passage; 8 analog-digital converters, are arranged in the front end instrumental panel of electric automobile, are connected with operational amplifier, for each the Photoelectric Detection voltage after amplification is converted to digital signal, to obtain the digital channel voltage of correspondence.
Described electric automobile includes: steering controller, it is arranged in the front end instrumental panel of electric automobile, process chip with DSP to be connected, for calculating the tooth sector corner of electric automobile based on the lateral deviation of electric automobile, the tooth sector corner of electric automobile is used for electric automobile from deviation guide tracks recovering state to being positioned at state directly over guide tracks.
Described electric automobile includes: steer motor driver, is arranged on above the driving wheel of electric automobile, is connected with steering controller, determines drive and control of electric machine signal for the tooth sector corner based on electric automobile;Turn to drive motor, it is arranged on above the driving wheel of electric automobile, it is connected respectively with the driving wheel of steer motor driver and electric automobile, for based on drive and control of electric machine signal control drive wheel steering angle, with by electric automobile from deviation guide tracks recovering state to being positioned at state directly over guide tracks.
As shown in Figure 2, described electric automobile includes: wireless transmitting-receiving equipments, it is arranged on the outside of electric automobile, for taking percentage ratio based on the current GPS location of electric automobile from what the charging station of far-end managed that server receives each charging station near the current GPS location of electric automobile; Wherein wireless transmitting-receiving equipments includes wireless receiving interface, wireless transmission interface and microcontroller, and microcontroller is connected to realize the transmitting-receiving to wireless receiving interface and wireless transmission interface respectively respectively and controls with wireless receiving interface and wireless transmission interface.
Described electric automobile includes: GPS transceiver, for receiving current GPS location that GPS position location satellite sends in real time, electric automobile, is additionally operable to receive in GPS electronic chart, the GPS location of each charging station near the current GPS location of electric automobile; Electric power detection equipment, is arranged in the accumulator of electric automobile, for detecting the real-time dump energy of accumulator.
Described electric automobile includes: DSP processes chip, it is arranged in the front end instrumental panel of electric automobile, it is connected with 8 analog-digital converters, receive the digital channel voltage of each Photoelectric Detection passage, the digital channel voltage of each Photoelectric Detection passage is compared with preset number voltage threshold, when the digital channel voltage of a Photoelectric Detection passage is be more than or equal to preset number voltage threshold, the deviation mark of corresponding Photoelectric Detection passage is set to 1, when the digital channel voltage of a Photoelectric Detection passage is less than preset number voltage threshold, the deviation mark of corresponding Photoelectric Detection passage is set to 0, spacing based on adjacent photosensors, the deviation mark of the quantity of Photoelectric Detection passage and each Photoelectric Detection passage calculates the lateral deviation of electric automobile.
Wherein, DSP processes chip and is also connected respectively with wireless transmitting-receiving equipments, electric power detection equipment and GPS transceiver, when real-time dump energy is less than or equal to default power threshold, enters self-navigation pattern, wherein, DSP processes chip in self-navigation pattern, start wireless transmitting-receiving equipments and GPS transceiver, the GPS location of current GPS location and each charging station neighbouring is received from GPS transceiver, current GPS location is sent to wireless transmitting-receiving equipments with near obtaining each charging station take percentage ratio, GPS location based on current GPS location and each charging station neighbouring determines that current GPS location arrives each charging station GPS distance of the GPS location of each charging station neighbouring, percentage ratio is taken based on each charging station neighbouring, take percentage weight, the GPS distance of each charging station neighbouring and distance weighting calculate the convenience degree of each charging station neighbouring, take percentage ratio more low, convenience degree is more high, GPS distance is more short, convenience degree is more high, select the neighbouring charging station that convenience degree is the highest as target charging station.
Wherein, percentage weight and distance weighting are taken for presetting fixed numbers; DSP processes chip and determines always according to the GPS distance of target charging station and control speed in real time.
Alternatively, described electric automobile also includes: rack and pinion steering gear, for drive motor being turned to be connected with the driving wheel of electric automobile;Rack and pinion steering gear is arranged on above the driving wheel of electric automobile; Also include: storage device, be used for prestoring and take percentage weight and distance weighting; Storage device is arranged in the front end instrumental panel of electric automobile, and processes chip electric connection with DSP.
It addition, operational amplifier (being called for short " amplifier ") is the circuit unit with significantly high amplification. In side circuit, generally collectively constitute certain functional module in conjunction with feedback network. He is a kind of amplifier with special Coupling circuit and feedback. Its output signal can be that input signal adds, subtracts or the result of the mathematical operation such as differential, integration. Owing to early stage is applied in analogue computer, in order to realize mathematical operation, therefore gain the name " operational amplifier ".
Amplifier is a circuit unit named from the angle of function, it is possible to realized by discrete device, it is also possible to realize in the middle of semiconductor chip. Along with the development of semiconductor technology, most amplifier is to exist with the form of single-chip. Amplifier of a great variety, is widely used in the middle of electron trade.
Adopt the self-navigation formula driverless electric automobile of the present invention, drive control accuracy low for prior art driverless electric automobile and lack charging station and select the technical problem of mechanism, by transforming the structure of existing electric automobile drive control apparatus, improve driverless electric automobile and drive control accuracy, more crucially, on the basis of satellite navigation, service condition and navigation distance based on neighbouring charging station are selected to provide the soonest the charging station of charging service, thus enriching the navigation feature of driverless electric automobile, solve above-mentioned technical problem.
Although it is understood that the present invention discloses as above with preferred embodiment, but above-described embodiment is not limited to the present invention. For any those of ordinary skill in the art, without departing under technical solution of the present invention ambit, all may utilize the technology contents of the disclosure above and technical solution of the present invention is made many possible variations and modification, or be revised as the Equivalent embodiments of equivalent variations. Therefore, every content without departing from technical solution of the present invention, the technical spirit of the foundation present invention, to any simple modification made for any of the above embodiments, equivalent variations and modification, all still falls within the scope of technical solution of the present invention protection.
Claims (6)
1. a self-navigation formula driverless electric automobile, described electric automobile includes guide tracks and follows the tracks of equipment and charging station navigator, guide tracks follows the tracks of the equipment guide tracks for the road immediately below real-time tracking electric automobile to realize the unmanned of electric automobile, the charging station navigator target charging station for going to based on the distance selection electric automobile of the situation that takies of each charging station neighbouring and distance electric automobile.
2. self-navigation formula driverless electric automobile as claimed in claim 1, it is characterised in that described electric automobile includes:
Light source, is arranged on the chassis of electric automobile, is made up of multiple highlighted white light LEDs, and multiple highlighted white light LEDs form rectangle LED matrix and equidistantly arrange, and road under electric automobile is illuminated;
Photoelectric sensor, it is arranged on the chassis of electric automobile, being made up of 80 photoconductive resistance, 80 photoconductive resistance form the photosensitive resistor matrixes of rectangle and equidistantly arrange, each photoconductive resistance one Photoelectric Detection passage of composition, for detecting the intensity of reflected light of road reflection source device illumination light under electric automobile, wherein, for each Photoelectric Detection passage, the road immediately below it is with or without guide tracks, intensity of reflected light is different, and the Photoelectric Detection voltage that it detects is also different;
Signal picker, is arranged in the front end instrumental panel of electric automobile, is connected with photoelectric sensor, and for sampling and exporting the Photoelectric Detection voltage that each Photoelectric Detection passage exports, the sample frequency of signal picker is 1 millisecond;
Operational amplifier, is arranged in the front end instrumental panel of electric automobile, is connected with signal picker, for being amplified by the Photoelectric Detection voltage of each Photoelectric Detection passage;
8 analog-digital converters, are arranged in the front end instrumental panel of electric automobile, are connected with operational amplifier, for each the Photoelectric Detection voltage after amplification is converted to digital signal, to obtain the digital channel voltage of correspondence;
Steering controller, it is arranged in the front end instrumental panel of electric automobile, process chip with DSP to be connected, for calculating the tooth sector corner of electric automobile based on the lateral deviation of electric automobile, the tooth sector corner of electric automobile is used for electric automobile from deviation guide tracks recovering state to being positioned at state directly over guide tracks;
Steer motor driver, is arranged on above the driving wheel of electric automobile, is connected with steering controller, determines drive and control of electric machine signal for the tooth sector corner based on electric automobile;
Turn to drive motor, it is arranged on above the driving wheel of electric automobile, it is connected respectively with the driving wheel of steer motor driver and electric automobile, for based on drive and control of electric machine signal control drive wheel steering angle, with by electric automobile from deviation guide tracks recovering state to being positioned at state directly over guide tracks;
Wireless transmitting-receiving equipments, is arranged on the outside of electric automobile, for taking percentage ratio based on the current GPS location of electric automobile from what the charging station of far-end managed that server receives each charging station near the current GPS location of electric automobile;
GPS transceiver, for receiving current GPS location that GPS position location satellite sends in real time, electric automobile, is additionally operable to receive in GPS electronic chart, the GPS location of each charging station near the current GPS location of electric automobile;
Electric power detection equipment, is arranged in the accumulator of electric automobile, for detecting the real-time dump energy of accumulator;
DSP processes chip, it is arranged in the front end instrumental panel of electric automobile, it is connected with 8 analog-digital converters, receive the digital channel voltage of each Photoelectric Detection passage, the digital channel voltage of each Photoelectric Detection passage is compared with preset number voltage threshold, when the digital channel voltage of a Photoelectric Detection passage is be more than or equal to preset number voltage threshold, the deviation mark of corresponding Photoelectric Detection passage is set to 1, when the digital channel voltage of a Photoelectric Detection passage is less than preset number voltage threshold, the deviation mark of corresponding Photoelectric Detection passage is set to 0, spacing based on adjacent photosensors, the deviation mark of the quantity of Photoelectric Detection passage and each Photoelectric Detection passage calculates the lateral deviation of electric automobile, DSP processes chip and is also connected respectively with wireless transmitting-receiving equipments, electric power detection equipment and GPS transceiver, when real-time dump energy is less than or equal to default power threshold, enters self-navigation pattern,
Wherein, DSP processes chip in self-navigation pattern, start wireless transmitting-receiving equipments and GPS transceiver, the GPS location of current GPS location and each charging station neighbouring is received from GPS transceiver, current GPS location is sent to wireless transmitting-receiving equipments with near obtaining each charging station take percentage ratio, GPS location based on current GPS location and each charging station neighbouring determines that current GPS location arrives each charging station GPS distance of the GPS location of each charging station neighbouring, percentage ratio is taken based on each charging station neighbouring, take percentage weight, the GPS distance of each charging station neighbouring and distance weighting calculate the convenience degree of each charging station neighbouring, take percentage ratio more low, convenience degree is more high, GPS distance is more short, convenience degree is more high, select the neighbouring charging station that convenience degree is the highest as target charging station,
Wherein, percentage weight and distance weighting are taken for presetting fixed numbers;
Wherein, DSP processes chip and determines according to the GPS distance of target charging station and control speed in real time.
3. self-navigation formula driverless electric automobile as claimed in claim 2, it is characterised in that described electric automobile also includes:
Rack and pinion steering gear, for turning to drive motor to be connected with the driving wheel of electric automobile.
4. self-navigation formula driverless electric automobile as claimed in claim 3, it is characterised in that:
Rack and pinion steering gear is arranged on above the driving wheel of electric automobile.
5. self-navigation formula driverless electric automobile as claimed in claim 2, it is characterised in that described electric automobile also includes:
Storage device, is used for prestoring and takies percentage weight and distance weighting.
6. self-navigation formula driverless electric automobile as claimed in claim 5, it is characterised in that:
Storage device is arranged in the front end instrumental panel of electric automobile, and processes chip electric connection with DSP.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610125965.2A CN105667507B (en) | 2016-03-06 | 2016-03-06 | Self-navigation formula driverless electric automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610125965.2A CN105667507B (en) | 2016-03-06 | 2016-03-06 | Self-navigation formula driverless electric automobile |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105667507A true CN105667507A (en) | 2016-06-15 |
| CN105667507B CN105667507B (en) | 2016-11-30 |
Family
ID=56307887
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610125965.2A Active CN105667507B (en) | 2016-03-06 | 2016-03-06 | Self-navigation formula driverless electric automobile |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105667507B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106406310A (en) * | 2016-10-10 | 2017-02-15 | 杭州锣卜科技有限公司 | Driverless low-speed electric car |
| CN108614569A (en) * | 2018-06-22 | 2018-10-02 | 北京敏捷动力科技有限公司 | A method of being used for tracing control controlled motion object |
| CN110515087A (en) * | 2019-07-22 | 2019-11-29 | 中国民航大学 | A kind of portable road face wheelmark test device |
| CN112058558A (en) * | 2020-09-18 | 2020-12-11 | 南京安铁防腐技术有限公司 | Intelligent spraying device for steel box girder bottom plate |
| CN115969287A (en) * | 2023-03-21 | 2023-04-18 | 科大讯飞股份有限公司 | Cleaning robot, electric quantity management method and device thereof, and storage medium |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101113906A (en) * | 2006-07-26 | 2008-01-30 | 通用汽车公司 | Route-matching method for use with vehicle navigation systems |
| CN101976075A (en) * | 2010-11-24 | 2011-02-16 | 重庆大学 | Intelligent self-tracking trolley control system based on voice control |
| JP2014002603A (en) * | 2012-06-19 | 2014-01-09 | Ricoh Co Ltd | Automatic driving navigation system |
| US20140232323A1 (en) * | 2013-02-21 | 2014-08-21 | Delta Electronics, Inc. | Charging system and charging method for use in electric vehicle |
| CN104121921A (en) * | 2014-07-01 | 2014-10-29 | 王玉娇 | Electric vehicle charging navigation method, electric vehicle charging navigation system and related equipment |
| TWI462847B (en) * | 2011-11-30 | 2014-12-01 | Automotive Res & Testing Ct | Method of Recursive Path Planning for Electric Vehicles |
| US20150226572A1 (en) * | 2014-02-07 | 2015-08-13 | Recargo, Inc. | Automatically selecting a charging station for an electric vehicle |
| CN105243864A (en) * | 2015-10-30 | 2016-01-13 | 桂林市腾瑞电子科技有限公司 | Intelligent control system of unmanned vehicle |
-
2016
- 2016-03-06 CN CN201610125965.2A patent/CN105667507B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101113906A (en) * | 2006-07-26 | 2008-01-30 | 通用汽车公司 | Route-matching method for use with vehicle navigation systems |
| CN101976075A (en) * | 2010-11-24 | 2011-02-16 | 重庆大学 | Intelligent self-tracking trolley control system based on voice control |
| TWI462847B (en) * | 2011-11-30 | 2014-12-01 | Automotive Res & Testing Ct | Method of Recursive Path Planning for Electric Vehicles |
| JP2014002603A (en) * | 2012-06-19 | 2014-01-09 | Ricoh Co Ltd | Automatic driving navigation system |
| US20140232323A1 (en) * | 2013-02-21 | 2014-08-21 | Delta Electronics, Inc. | Charging system and charging method for use in electric vehicle |
| US20150226572A1 (en) * | 2014-02-07 | 2015-08-13 | Recargo, Inc. | Automatically selecting a charging station for an electric vehicle |
| CN104121921A (en) * | 2014-07-01 | 2014-10-29 | 王玉娇 | Electric vehicle charging navigation method, electric vehicle charging navigation system and related equipment |
| CN105243864A (en) * | 2015-10-30 | 2016-01-13 | 桂林市腾瑞电子科技有限公司 | Intelligent control system of unmanned vehicle |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106406310A (en) * | 2016-10-10 | 2017-02-15 | 杭州锣卜科技有限公司 | Driverless low-speed electric car |
| CN108614569A (en) * | 2018-06-22 | 2018-10-02 | 北京敏捷动力科技有限公司 | A method of being used for tracing control controlled motion object |
| CN108614569B (en) * | 2018-06-22 | 2021-01-15 | 北京敏捷动力科技有限公司 | Method for tracking and controlling controlled moving object |
| CN110515087A (en) * | 2019-07-22 | 2019-11-29 | 中国民航大学 | A kind of portable road face wheelmark test device |
| CN110515087B (en) * | 2019-07-22 | 2022-12-23 | 中国民航大学 | Portable road surface wheel mark testing device |
| CN112058558A (en) * | 2020-09-18 | 2020-12-11 | 南京安铁防腐技术有限公司 | Intelligent spraying device for steel box girder bottom plate |
| CN115969287A (en) * | 2023-03-21 | 2023-04-18 | 科大讯飞股份有限公司 | Cleaning robot, electric quantity management method and device thereof, and storage medium |
| CN115969287B (en) * | 2023-03-21 | 2023-09-26 | 科大讯飞股份有限公司 | Cleaning robot and electric quantity management method and device thereof and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105667507B (en) | 2016-11-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105667507A (en) | Automatic navigation driverless electric vehicle | |
| CN105676846A (en) | Use method of automatic navigation unmanned electric car | |
| US20220074750A1 (en) | Managing a fleet of vehicles | |
| CN101780774B (en) | Route guidance device, route guidance method | |
| JP5471941B2 (en) | Charge control device for plug-in vehicle and vehicle navigation device | |
| US8116973B2 (en) | Vehicular display device, method of controlling the same, program, and storage medium having program stored therein | |
| CN102514602B (en) | Method and system for planning and controlling train travelling speed | |
| CN104794915B (en) | A kind of continuous intersection vehicle passing control method and device | |
| CN105774584A (en) | Use method of automatic charging unmanned electric automobile | |
| US9539996B2 (en) | Energy management control of a plug-in hybrid electric vehicle | |
| CN103863318B (en) | A kind of hybrid vehicle energy-conservation forecast Control Algorithm based on car-following model | |
| CN105751912A (en) | Automatic charging type unmanned electric automobile | |
| US20030009269A1 (en) | Method for controlling a drive train of a hybrid vehicle | |
| CN104986281A (en) | Self-adapting manual-automatic integrated power-driven balance vehicle | |
| JPH08237810A (en) | Hybrid vehicle | |
| CN106574844B (en) | The method and hybrid vehicle of the navigation system of operation of hybrid vehicle | |
| US8727049B1 (en) | Efficient hybrid vehicle | |
| CN105691230A (en) | Full-automatic navigation type unmanned electric car | |
| CN105629977A (en) | Fully automatic navigation-type pilotless electric vehicle using method | |
| JP2017144801A (en) | Electric car | |
| CN104200656A (en) | Main road vehicle speed planning method based on traffic signal information | |
| CN105955277A (en) | Intelligent unmanned electric vehicle | |
| CN103935261A (en) | Electric automobile and control method thereof | |
| CN105785992A (en) | Use method of multifunctional unmanned electric vehicle | |
| CN108498246A (en) | A kind of electric wheelchair with function of making a return voyage automatically |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| CB03 | Change of inventor or designer information |
Inventor after: Xu Baohua Inventor after: Wang Zhengjun Inventor after: Wang Zhe Inventor after: Wang Qiguang Inventor before: Zhang Min |
|
| COR | Change of bibliographic data | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20161013 Address after: 264000 No. 11 Mingda West Road, Laishan Economic Development Zone, Shandong, Yantai Applicant after: Shandong Bigdata New Energy Technology Co., Ltd. Address before: 250061, No. 99, Da Nan Road, Licheng District, Shandong, Ji'nan Applicant before: Zhang Min |
|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |