CN105825700A - Navigation system and work method, and navigation vehicle with application of navigation system - Google Patents
Navigation system and work method, and navigation vehicle with application of navigation system Download PDFInfo
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- CN105825700A CN105825700A CN201510048039.5A CN201510048039A CN105825700A CN 105825700 A CN105825700 A CN 105825700A CN 201510048039 A CN201510048039 A CN 201510048039A CN 105825700 A CN105825700 A CN 105825700A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096783—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a roadside individual element
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
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- 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
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3605—Destination input or retrieval
- G01C21/3608—Destination input or retrieval using speech input, e.g. using speech recognition
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
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- Automation & Control Theory (AREA)
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Abstract
The present invention discloses a navigation system and a work method, and a navigation vehicle with the application of the navigation system. The navigation system comprises a monitoring device which is at each intersection and is used for capturing the pass video and/or image of a vehicle at the intersection and sending the pass video and/or image through a wireless transmitting module, and a vehicle-borne navigation device which plans a travel route in advance and receives the pass video and/or image of the (n+1)th intersection in the travel route to be viewed by a driver when the vehicle which is configured with the vehicle-borne navigation device is about to travel to the nth intersection of the travel route. The vehicle-borne navigation device is internally provided with a voice identification sub system. The navigation system of the invention is applied to judge the pass ability of a road intuitively, the path planning is realized, the real-time performance is good, and the traffic condition is more intuitive.
Description
Technical field
The present invention relates to navigation field, particularly relate to a kind of navigation system based on speech recognition, apply the navigation automobile of this navigation system.
Background technology
Along with the development in city, vehicle also becomes the requisite vehicles；But, owing to automobile quantity is significantly increased, road traffic pressure increases the most therewith.
Therefore, people, when trip, usually can plan traffic route in advance, select nearest route；But nearest route may block up, so nearest route is for traffic efficiency, not necessarily optimum path.
The companies such as Baidu are in order to solve the problems referred to above, also in Baidu's map, traffic information is added for tour reference, but owing to above-mentioned traffic information is that the crossing at each crossing, road is uploaded to service centre, is then showing on map, there is problems in that
Problem one, real-time are inadequate, and real-time road often updates once for 1-2 hour, it is impossible to react road traffic condition in time.
Problem two, traffic information are not accurate enough, although some crossings part is blocked up, but there may also be current leeway.
Accordingly, it would be desirable to design a kind of new navigation system, to solve above-mentioned technical problem.
Summary of the invention
It is an object of the invention to provide a kind of navigation system and method for work thereof, apply the navigation automobile of this navigation system, navigation system based on speech recognition and method of work, the traffic capacity of road is judged by it according to video directly perceived and/or image, provide reference to driver again path planning, and also realize phonetic entry control instruction.
In order to solve above-mentioned technical problem, the invention provides a kind of navigation system, including: supervising device, it is located at for shooting current video and/or the image (including the information such as traffic light, traffic police) of this crossing vehicle on the column relative with traffic light of each crossing (this crossing is crossroad or T junction or Y junction), and sends described current video and/or image by 4G wireless sending module；And on-vehicle navigation apparatus, including 4G wireless receiving module, for travel route planning in advance, when the vehicle being configured with this on-vehicle navigation apparatus will (such as: from this n-th crossing 30-150 rice, preferably 60 or 50 meters) or during the n-th crossing (this crossing is crossroad or T junction or Y junction) of the traffic path that driven to planning, receive described current video and/or the image at (n+1)th crossing in this traffic path, check for driver.
It is provided with speech recognition subsystem in described on-vehicle navigation apparatus, according to this speech recognition subsystem, described on-vehicle navigation apparatus is inputted phonetic order.
Further, described supervising device includes: image information collecting unit, the first processor module being connected with this image information collecting unit, and the outfan of this processor module is connected with described wireless sending module；Described on-vehicle navigation apparatus includes the second processor module and the GPS locating module, wireless receiving module, memory module and the human-computer interaction interface that are connected with this second processor module；Described second processor module is suitable to according to the cartographic information travel route planning in GPS locating module and memory module, when vehicle travels the n-th crossing with described traffic path, described wireless receiving module receives described current video and/or the image at (n+1)th crossing in this traffic path, is shown by human-computer interaction interface.
Further, in order to realize in a noisy environment, accurately realizing the input of phonetic order, described speech recognition subsystem, described speech recognition subsystem includes: voice acquisition module, is suitable to gather speech data to be identified；Sample memory module, is suitable to store sample voice data；The speech processing module being connected with described voice acquisition module and sample memory module, this speech processing module is suitable to carry out mixing to reconstruct the speech data being suitable to identify by sample, speech data to be identified；The speech data that described speech processing module is suitable to after identifying sends to the second processor module.
Another aspect, present invention also offers a kind of navigation automobile being provided with described navigation system.
Wherein, described navigation automobile is electric automobile；It is provided with braking electric energy in described electric automobile and reclaims subsystem, described braking electric energy reclaims subsystem and is connected with on-vehicle navigation apparatus, described on-vehicle navigation apparatus is further adapted for after described traffic path is planned again, calculate again the passage rate of path planning, to obtain the residue wheeled milimeter number of accumulator in braking electric energy recovery subsystem.
Further, in order to realize the recovery to braking energy, described braking electric energy reclaims subsystem, including hydraulic brake mechanism, and the brake coordination assembly matched with this hydraulic brake mechanism；When braking, described brake coordination assembly is suitable to produce and the direction of motion opposite effect power of piston in hydraulic brake mechanism, is charged accumulator by a boost module by the electric energy that wheel drive motors braking produces simultaneously；Or by the electric energy of wheel drive motors braking generation by accumulator being charged through quick-charging circuit again after a boost module.
Preferably, during in order to be further implemented in brake, start brake coordination assembly；Described braking electric energy reclaims subsystem and also includes: brake assemblies, is provided with travel switch K in described brake assemblies；When braking, travel switch K triggers, to produce described active force；Described hydraulic brake mechanism sets the master cylinder of described piston in including, described piston is connected with brake assemblies by piston rod.
Preferably, in order to preferably make brake assemblies coordinate brake coordination component operation；Described brake assemblies includes: the two-sided rack slide block；Described brake coordination assembly includes: single-side rack slide block；The lower surface of described the two-sided rack slide block is coordinated with brake pedal by driving gear component, engages a brake coordination gear between its upper surface and the lower surface of single-side rack slide block, and this brake coordination gear is connected with the end of described piston rod；During brake, brake pedal controls the two-sided rack slide block by driving gear component and drives brake coordination pinion rotation, and this brake coordination gear is suitable to drive hydraulic brake mechanism that wheel hub is produced braking by piston rod；And described brake coordination assembly produces active force by single-side rack slide block to brake coordination gear；Described active force is produced by circuit structure simple, reliable；Described brake coordination assembly also includes, electromagnetic induction device, and this battery sensing device is controlled by the auxiliary switch in described travel switch K；Described electromagnetic induction device is suitable to after travel switch K triggers, and auxiliary switch controls electromagnetic induction device and obtains electric, to produce described active force；Described electromagnetic induction device includes: solenoid, and this solenoid is suitable to obtain electric pull-core；Described iron core is connected with single-side rack slide block, is suitable for when solenoid obtains electric, drives single-side rack slide block that brake coordination gear is produced described active force；Described iron core sleeve is located in a hollow shell, and described solenoid is set around on this hollow shell periphery；One end of described iron core is connected with single-side rack slide block by connecting rod, and the other end passes through the inner wall of end resilient engagement of compression spring and described hollow shell in described hollow shell；Described iron core with a pair magnetic pole, this magnetic pole is suitable to solenoid obtain electric after, make iron core move to compression spring direction.
Preferably, described brake coordination assembly also includes charging circuit, and this charging circuit is suitable to, when brake, the electric energy that wheel drive motors braking produces be charged accumulator；In order to avoid, after auxiliary switch disconnects, wheel drive motors is also kept driving effect by accumulator；Described charging circuit includes diode；The positive pole of described accumulator is connected with one end of solenoid, the other end of this battery coil is connected with the negative electrode of described diode, the anode of this diode is connected with the outfan of boost module, the input of described boost module is connected with wheel drive motors one end, and the negative pole of described accumulator is connected with the other end of wheel drive motors；Described auxiliary switch is normally closed switch, and the two ends of this normally closed switch are connected to the positive pole of the input of boost module, accumulator.
Preferably, in order to realize quick charge, reducing waste of energy, described charging circuit includes: first, second diode and charging capacitor；Described auxiliary switch is first, second normally closed switch and a normal open switch；The positive pole of described accumulator and the first end of the first normally closed switch are connected, second end of this first normal open switch is connected by the negative electrode of described solenoid and the first diode, the anode of this first diode is connected with the outfan of boost module, and the input of described boost module is connected the two ends with wheel drive motors respectively with the negative pole of accumulator；Second end of described first normally closed switch also one end with the second normally closed switch is connected, and the other end of this second normally closed switch is connected with the input of boost module；Described second diode anode is connected with charging capacitor one end and constitutes described quick-charging circuit, and this quick-charging circuit is parallel to accumulator two ends, and described second diode anode is connected also by the second end of described normal open switch and the first normally closed switch.
The third aspect, present invention also offers the method for work of a kind of navigation system, is controlled instruction input by speech recognition subsystem and/or interpersonal interactive interface.
The invention has the beneficial effects as follows, (1) present invention is suitable to according to judging the traffic capacity of road intuitively, it is achieved path planning, has real-time good, the more intuitive advantage of traffic；(2) described braking electric energy reclaims subsystem, it is possible to makes a concerted effort to meet in the case of automobile brake requires in the braking both ensureing, can improve the response rate of braking energy in braking procedure and can reduce again the loss of conventional brake friction plate；(3) described braking electric energy reclaims subsystem, using frame for movement to realize motor braking power to coordinate the most continuously, in real time with hydraulic braking force and coordinate regulation, frame for movement is relatively easy, cost is greatly reduced and functional reliability significantly improves；(4) present invention can effectively improve the wheel drive motors charge efficiency to accumulator by boost module；(5) present invention is by being reconstructed speech data, to improve the recognition effect of voice, effectively avoids the interference that voice is sailed into by noise in car.
Accompanying drawing explanation
The present invention is further described with embodiment below in conjunction with the accompanying drawings.
Fig. 1 shows the theory diagram of the navigation system of the present invention；
Fig. 2 shows the theory diagram of the speech recognition subsystem of the present invention；
Fig. 3 shows that the braking electric energy of the present invention reclaims the structural representation of subsystem；
Fig. 4 shows that the braking electric energy of the present invention reclaims the structural representation of the second embodiment of subsystem；
Fig. 5 shows the circuit diagram of the second charging circuit of the present invention.
In figure:
Wheel hub 1；
Hydraulic brake mechanism 2, brake block 21, wheel cylinder 22, master cylinder 23, piston 24；
Brake assemblies 3, brake pedal 31, the first transfer gear 32, the second transfer gear 33, brake coordination gear 34, first fixes guide rail 35, the two-sided rack slide block 36, travel switch K；
Brake coordination assembly 4, second fixes guide rail 41, single-side rack slide block 42, connecting rod 43, iron core 44, hollow shell 45, solenoid 46, compression spring 47；
Wheel drive motors M, accumulator E, diode VD；
First diode VD1, the second diode VD2, charging capacitor C.
Detailed description of the invention
In conjunction with the accompanying drawings, the present invention is further detailed explanation.These accompanying drawings are the schematic diagram of simplification, and the basic structure of the present invention is described the most in a schematic way, and therefore it only shows the composition relevant with the present invention.
Embodiment 1
Fig. 1 shows the theory diagram of the navigation system of the present invention.
As it is shown in figure 1, the navigation system of the present invention, including:
Supervising device, is positioned at current video and/or the image for shooting this crossing vehicle at each crossing, and sends described current video and/or image by wireless sending module.
On-vehicle navigation apparatus, travel route planning in advance, when the vehicle being configured with this on-vehicle navigation apparatus i.e. will travel to the n-th crossing of the traffic path of planning (such as: from this n-th crossing 30-150 rice, preferably 60 or 50 meters) time, receive described current video and/or the image at (n+1)th crossing in this traffic path, check for driver, and then by driver according to front road conditions, it may be judged whether described (n+1)th crossing will be got around.
Preferably scheme is, only will arrive (such as: from this n-th crossing 30-150 rice at described vehicle, preferably 60 or 50 meters) described n-th crossing or when traffic light such as described n-th crossings, described on-vehicle navigation apparatus just shows current video and/or the image at described (n+1)th crossing, driver is avoided to take sb's mind off sth when driving, to improve the safety of driving.
It is provided with speech recognition subsystem in described on-vehicle navigation apparatus, according to this speech recognition subsystem, described on-vehicle navigation apparatus is inputted phonetic order.
Further, described supervising device includes: image information collecting unit, the first processor module being connected with this image information collecting unit, and the outfan of this processor module is connected with described wireless sending module；Described on-vehicle navigation apparatus includes the second processor module and the GPS locating module, wireless receiving module, memory module and the human-computer interaction interface that are connected with this second processor module；Described second processor module is suitable to according to the cartographic information travel route planning in GPS locating module and memory module, when vehicle travels the n-th crossing with described traffic path, described wireless receiving module receives described current video and/or the image at (n+1)th crossing in this traffic path, is shown by human-computer interaction interface.
Wherein, described first, second processor module is such as but not limited to processors such as employing single-chip microcomputer, embedded chips.Human-computer interaction interface can use touch screen.The positive integer of the n-th n >=1 in crossing.Described image information collecting unit can use Radix Rumicis, high-definition camera, is installed at crossing.Wireless sending module and wireless receiving module can use WiFi module to realize.
Fig. 2 shows the theory diagram of the speech recognition subsystem of the present invention.
As in figure 2 it is shown, described speech recognition subsystem includes: voice acquisition module, be suitable to gather speech data to be identified；Sample memory module, is suitable to store sample voice data；The speech processing module being connected with described voice acquisition module and sample memory module, this speech processing module is suitable to carry out mixing to reconstruct the speech data being suitable to identify by sample, speech data to be identified；The speech data that described speech processing module is suitable to after identifying sends to the second processor module.
The operation principle of described speech recognition subsystem is that with the pronunciation of relative words in sample data, the non-standard mandarin of phonetic entry is carried out combined training, with a kind of speech data being suitable to identify of reconstruct, and can effectively avoid the noise interference to speech recognition in car.
Further, described speech processing module includes:
Training unit, is trained after being suitable to respectively sample, speech data to be identified are carried out characteristic parameter extraction；Conversion synthesis unit, then the characteristic parameter of sample is changed with training result, and synthesis obtains described speech data.
Described training unit includes:
Speech decomposition module, carries out speech decomposition respectively to sample, speech data to be identified；Parameter pretreatment module, aligns after the result of sample, speech decomposition to be identified carries out characteristic parameter extraction；And characteristic parameter training module, each characteristic parameter is carried out mixed Gaussian stochastic process training.
Wherein, described speech decomposition module is suitable to become speech decomposition voiced sound, Unvoiced signal.
Concrete, voice signal is fixed the framing of duration.In a frame voice, solving the auto-correlation function of this voice, utilize the first side lobe peak of auto-correlation function to carry out approximate evaluation pitch period, the inverse of pitch period is fundamental frequency.
According to the fundamental frequency value (sore throat relieving is 0, and voiced sound is non-zero) obtained, determine that this frame voice is sore throat relieving or voiced sound.If voiced sound, then a maximum voiced sound frequency component is set for it, is used for dividing the main energy area of harmonic components and random element.Frequency range below maximum voiced sound frequency, is modeled utilizing the superposition of several sine waves to carry out fitted signal to signal.Least-squares algorithm is utilized to come the sinusoidal wave discrete amplitude values of constraint solving and phase value.
Described parameter pretreatment module includes: characteristic parameter extraction submodule, is suitable to extract by described voiced sound, the characteristic parameter of Unvoiced signal, to obtain described sample or the characteristic parameter of speech data to be identified；Characteristic parameter alignment submodule, for sample and characteristic parameter to be identified, utilize time map to realize Corresponding matching, i.e. utilize dynamic time warping algorithm by the nonlinear time shaft being mapped to another feature parameter of time shaft of a wherein characteristic parameter, it is achieved to mate one to one.
Characteristic parameter extraction submodule is suitable to extract and is included by the method for described voiced sound, the characteristic parameter of Unvoiced signal:
The method extracting described voiced sound characteristic parameter includes: ask for the amplitude of described discrete sine ripple square, and it is discrete power spectral function that this numerical value is approximately considered.
According to power spectral density function and the one-to-one relationship of auto-correlation function, discrete power is composed numerical value inverse transformation, can obtain approximating auto-correlation function, according to Linear prediction analysis method, utilize auto-correlation function to solve and obtain linear predictor coefficient；The dual function that linear predictor coefficient is constituted, its root on Z frequency domain, it is linear spectral coefficient of frequency, this coefficient is voiced sound characteristic parameter；The method extracting described sore throat relieving characteristic parameter includes: if frame signal is at sore throat relieving, it is analyzed by the linear prediction analysis method then utilizing classics, sets up an all-pole modeling, and utilizes least square method constraint solving model coefficient, thus obtain linear predictor coefficient, it is sore throat relieving characteristic parameter.
Each characteristic parameter is carried out the method for mixed Gaussian stochastic process training and includes by described characteristic parameter training module:
Build and comprise the Gaussian random process model of mixed structure, then, on the premise of the given input and output vector set characteristic parameter of sample of extraction (this collection be combined into), output vector sequence is approximately equal to the weighted array of multiple Gaussian random process.Wherein, the input of Gaussian random process is given input vector sequence.All of weight coefficient and the average of each Gaussian random process and variance parameter, be unknown parameter to be estimated；Approximate evaluation weight coefficient and the associating posterior probability density function of model parameter (average of Gaussian process and variance) is come by Markov chain Monte-Carlo method, i.e. assume initially that and between weight coefficient and model parameter, meet separate characteristic, then by the way of iteration, progressively estimate both probability density functions, every time in iterative process, first fixing a kind of known variables, then another kind of known variables is sampled, its probability distribution is approximated by a large amount of sampled datas, finally weight coefficient is multiplied with the probability-distribution function of model parameter, associating posterior probability function can be obtained；Joint probability density function being carried out marginalisation, respectively obtains the estimation of the probability distribution of the probability distribution to weight coefficient and model parameter, so far, mixed Gaussian random process model structure is determined.
Described conversion synthesis unit includes:
Modular converter, it is for carrying out transfer reconstruction by mixed Gaussian stochastic process by the extraction characteristic parameter of training result Yu sample；Concrete grammar includes: under conditions of given input observation vector set, according to the structural parameters of the mixed Gaussian stochastic process trained, asks for the membership function value of current speech frame, so-called membership function, refers to the ratio of normalization posteriority weight coefficient；According to being subordinate to angle value, it determines which Gauss subconstiuent is current speech belong to, subsequently in the subspace of each sub-clustering, according to the definition of Gaussian random process, produce corresponding output；The output result of all compositions being stacked up, weight coefficient is exactly the value of membership function, finally gives the speech characteristic parameter after mapping.Wherein, this speech characteristic parameter is for sample, the voiced sound of speech data to be identified, the characteristic parameter of sore throat relieving；Described conversion synthesis unit also includes: voice synthetic module, for being overlapped with Unvoiced signal by the Voiced signal in the characteristic parameter of converted Restructuring Module, obtains the described speech data of reconstruct；Concrete, after described voice synthetic module is suitable to the discrete harmonic amplitude of Voiced signal and phase value is used as the range value of sinusoidal signal and phase value is overlapped, with by an all-pole filter, Unvoiced signal is overlapped, obtains described speech data.
Speech recognition subsystem in the present invention can effectively improve speech recognition capabilities, ignores the noise impact on speech recognition in car.
Embodiment 2
On the basis of embodiment 1, present invention also offers a kind of navigation automobile applying described navigation system.
Wherein, described vehicle is electric automobile；It is provided with braking electric energy in described electric automobile and reclaims subsystem, described braking electric energy reclaims subsystem and is connected with on-vehicle navigation apparatus, described on-vehicle navigation apparatus is further adapted for after described traffic path is planned again, calculate again the passage rate of path planning, to obtain the residue wheeled milimeter number of accumulator in braking electric energy recovery subsystem.
Fig. 3 shows that the braking electric energy of the present invention reclaims the structural representation of subsystem.
As it is shown on figure 3, described braking electric energy reclaims subsystem, including hydraulic brake mechanism 2, and the brake coordination assembly 4 matched with this hydraulic brake mechanism 2；When braking, described brake coordination assembly 4 is suitable to produce and the direction of motion opposite effect power of piston 24 in hydraulic brake mechanism 2, is charged accumulator by a boost module by the electric energy that the braking of wheel drive motors M produces simultaneously；Or by the electric energy of wheel drive motors braking generation by accumulator being charged through quick-charging circuit again after a boost module.
Wherein, described boost module can use boost chip to realize, such as but not limited to mc34063, ICL7660；The DC source boost module such as disclosed in patent documentation CN203933389U can also be used.
Concrete, described braking electric energy reclaims subsystem and also includes: brake assemblies 3, is provided with travel switch K in described brake assemblies 3；When braking, travel switch K triggers, to produce described active force.
Described hydraulic brake mechanism 2 sets the master cylinder 23 of described piston 24 in including, described piston 24 is connected with brake assemblies 3 by piston rod.
As a kind of optional embodiment of this hydraulic brake mechanism, described hydraulic brake mechanism 2 also includes: be respectively arranged on the brake block 21 on each wheel hub 1 and wheel cylinder 22；Described piston 24 produces hydraulic pressure (brake fluid pressure) in master cylinder 23, and this hydraulic conduction to wheel cylinder 22 produces corresponding hydraulic braking force and acts on wheel hub 1 by brake block 21, to realize brake.
Described brake assemblies 3 includes: the two-sided rack slide block 36；Described brake coordination assembly 4 includes: single-side rack slide block 42；The lower surface of described the two-sided rack slide block 36 is coordinated with brake pedal 31 by driving gear component, engages a brake coordination gear 34 between its upper surface and the lower surface of single-side rack slide block 42, and this brake coordination gear 34 is connected with the end of described piston rod.Concrete, the two-sided rack slide block 36 is arranged on first and fixes on guide rail 35 and first can be relied on to fix guide rail 35 and slide；And single-side rack slide block 42 is movably disposed in second and fixes on guide rail 41, be suitable to fix second slide on guide rail 41.
When braking, brake pedal 31 controls the two-sided rack slide block 36 by driving gear component and drives brake coordination gear 34 to rotate, and this brake coordination gear 34 is suitable to drive hydraulic brake mechanism 2 that wheel hub 1 is produced braking by piston rod；And described brake coordination assembly 4 produces described active force by single-side rack slide block 42 to brake coordination gear 34.
Wherein driving gear component includes: first, second transfer gear 33, described first transfer gear 32 is connected with brake pedal 31, the braking instruction of brake pedal 31 passes sequentially through first transfer gear the 32, second transfer gear 33, the two-sided rack slide block 36 passes to brake coordination gear 34, and then drive piston 24 to move, so that producing hydraulic pressure in master cylinder 23, complete skidding.Meanwhile, owing to travel switch K triggers, the described active force back action that brake coordination assembly 4 produces, in brake coordination gear 34, forces the hydraulic pressure value in master cylinder suitably to reduce, reduce by the consumed kinetic energy that brakes, and this kinetic energy is converted into electric energy with storage by the braking of wheel drive motors M.
Described brake coordination assembly 4 also includes, electromagnetic induction device, and this battery sensing device is controlled by the auxiliary switch in described travel switch K；Described electromagnetic induction device is suitable to after travel switch K triggers, and auxiliary switch controls electromagnetic induction device and obtains electric, to produce described active force.
The specific embodiments of described electromagnetic induction device includes: solenoid 46, and this solenoid 46 is suitable to obtain electric pull-core 44；Described iron core 44 is connected with single-side rack slide block 42, is suitable for, when solenoid 46 obtains electric, driving single-side rack slide block 42 that brake coordination gear 34 is produced described active force.
As a kind of optional embodiment of electromagnetic induction device, described iron core 44 is sheathed in a hollow shell 45, and described solenoid 46 is set around on this hollow shell 45 periphery；One end of described iron core 44 is connected with single-side rack slide block 42 by connecting rod 43, and the other end passes through the inner wall of end resilient engagement of compression spring 47 and described hollow shell 45 in described hollow shell 45；Described iron core 44 is with a pair magnetic pole, this magnetic pole is suitable to solenoid 46 electric after, iron core 44 is made to move to compression spring 47 direction, produce the described active force (opposition acting on brake coordination gear 34 simultaneously, i.e. with step on brake pedal 31 after, the two-sided rack slide block 36 active force passing to brake coordination gear 34 is contrary).
As the another kind of optional embodiment of electromagnetic induction device, described iron core 44 is sheathed in a hollow shell 45, and is positioned at the side of solenoid 46.
Described brake coordination assembly 4 also includes charging circuit, and this charging circuit is suitable to, when brake, the electric energy that the braking of wheel drive motors M produces be charged accumulator E.
Specific embodiment: described charging circuit includes diode VD；The positive pole of described accumulator E is connected with one end of solenoid 46, the other end of this battery coil is connected with the negative electrode of described diode VD, the anode of this diode VD is connected with the outfan of boost module, the input of described boost module is connected with wheel drive motors M one end, and the negative pole of described accumulator E is connected with the other end of wheel drive motors M；Described auxiliary switch is normally closed switch, and the two ends of this normally closed switch are connected to the positive pole of the input of boost module, accumulator E.
By the unidirectional feature of diode VD, can effectively avoid accumulator E after normally closed switch is opened, continue through solenoid 46 and wheel drive motors M is discharged；And by described boost module, can effectively improve charge efficiency.
The braking electric energy of the present invention reclaims the operation principle of subsystem:
During electric automobile during traveling, when driver does not touches on the brake pedal 31, auxiliary switch (normally closed switch) closes, and will be shorted through solenoid 46, and accumulator E supplies electric drive running car to wheel drive motors M；Now iron core 44 is by the side of compression spring 47 bullet to hollow shell 45；
When driver steps on brake pedal 31, the braking instruction of brake pedal 31 passes sequentially through first transfer gear the 32, second transfer gear 33, the two-sided rack slide block 36 passes to brake coordination gear 34, and then drive piston 24 to move, so that producing hydraulic pressure in master cylinder 23, complete skidding；Simultaneously, auxiliary switch is opened, wheel drive motors M is produced brake force and is charged accumulator E by charging circuit, charging current produces magnetic field when solenoid 46, making iron core 44 overcome the elastic force of compression spring 47 to move right, iron core 44 drives single-side rack slide block 42 to move right by connecting rod 43 so that brake coordination gear 34 rotates backward, brake coordination gear 34 rotates backward drive piston 24 and moves right, thus reduces the hydraulic pressure (brake fluid pressure) in master cylinder 23.
When driver steps on brake pedal 31, the brake force that brake force that the brake force of vehicle is consequently exerted on wheel hub 1 (hydraulic braking force that hydraulic brake mechanism 2 produces) and wheel drive motors M produce with joint efforts；When speed is the fastest, the stalling current then produced in wheel drive motors M is the biggest, motor braking power is the biggest, and the suction that solenoid 46 produces is the biggest, and the displacement that iron core 44 moves is the biggest, oil pressure in master cylinder 23 is the least, hydraulic braking force is the least, thus when automobile high-speed is braked, increases motor braking power, reduces by the conventional friction brake force of hydraulic braking, thus reduce the abrasion of friction plate in conventional brake, improve the wheel drive motors M response rate to braking energy simultaneously.
Optionally, in electric automobile during traveling, if brake coordination assembly 4 breaks down or accumulator E is in full power state, wheel drive motors M cannot be to the charging of accumulator E and/or generation brake force, now electric automobile is used conventional hydraulic mode of braking to brake by hydraulic brake mechanism 2, it is ensured that traffic safety.
Following table is the braking electric energy recovery subsystem braking distance test result under each speed of conventional hydraulic mode of braking and the present invention.
Knowable to this table, it is essentially identical with the braking effect that conventional hydraulic mode of braking produces that the braking electric energy of the present invention reclaims subsystem, therefore, present invention achieves and make a concerted effort to meet in the case of automobile brake requires in the braking both ensureing, the response rate of braking energy in braking procedure can be improved and can reduce again the loss of conventional brake friction plate.
The braking electric energy of the present invention reclaims subsystem, electric braking force and hydraulic braking force is made to be adjusted in real time continuously within the specific limits by frame for movement, eliminate prior art middle controller or single chip circuit to calculate and control and judge process, thus its coordinate braking ageing more preferably.
Fig. 4 shows that braking electric energy reclaims the structural representation of the second embodiment of subsystem.
As shown in Figure 4, the single-side rack slide block in described brake coordination assembly can also be driven by leading screw and move left and right to replace electromagnetic induction device, concrete scheme to include:
Described leading screw is driven by motor, and this motor is controlled by a MCU module, described MCU module by Hall element gather wheel drive motors M braking produce current value to control Motor torque, and then regulate single-side rack slide block displacement.
Fig. 5 shows the circuit diagram of the second charging circuit of the present invention.
As it is shown in figure 5, concrete scheme includes: described charging circuit includes: first, second diode and charging capacitor C；Described auxiliary switch is first, second normally closed switch and a normal open switch；The positive pole of described accumulator E and the first end of the first normally closed switch are connected, second end of this first normal open switch is connected by the negative electrode of described solenoid and the first diode VD1, the anode of this first diode VD1 is connected with the outfan of boost module, and the input of described boost module is connected the two ends with wheel drive motors M respectively with the negative pole of accumulator E；Second end of described first normally closed switch also one end with the second normally closed switch is connected, and the other end of this second normally closed switch is connected with the input of boost module；Described second diode VD2 anode is connected with charging capacitor C one end and constitutes described quick-charging circuit, this quick-charging circuit is parallel to accumulator E two ends, and described second diode VD2 anode is connected also by the second end of described normal open switch and the first normally closed switch.
Wherein, charging capacitor C can use some bulky capacitor parallel connections to realize, owing to electric capacity charging response speed is faster than accumulator, so the electric current often causing braking to produce has little time to be charged accumulator E i.e. disappearing, therefore, charge efficiency is the lowest, in order to overcome this technical problem, can effectively be avoided the waste of energy of braking generation by quick charge capacitor, improve charge efficiency.
Concrete principle is charging capacitor first to carry out quick charge, is discharged battery by the second diode VD2.
Preferably, in described on-vehicle navigation apparatus, it is additionally provided with speech recognition subsystem, to improve speech recognition capabilities.
Embodiment 3
On the basis of embodiment 1, present invention also offers the method for work of a kind of navigation system, it is controlled instruction input by speech recognition subsystem and/or interpersonal interactive interface.
Described navigation system also has path optimization's air navigation aid, and the method comprises the steps:
Step S1, shoots the traffic light at this crossing, the current video of vehicle and/or image by being positioned at the supervising device at each crossing, and sends described current video and/or image by wireless sending module.
Step S2, by on-vehicle navigation apparatus travel route planning in advance, and is suitable to, when the n-th crossing of the traffic path that vehicle drives to planning, receive described current video and/or the image at (n+1)th crossing in this traffic path, check for driver；Wherein, only will arrive described n-th crossing or during at traffic light such as described n-th crossings at described vehicle, described on-vehicle navigation apparatus just shows current video and/or the image at described (n+1)th crossing.
The concrete concrete mode about navigation system and speech recognition subsystem may refer to the partial content of embodiment 1.
With the above-mentioned desirable embodiment according to the present invention for enlightenment, by above-mentioned description, relevant staff can carry out various change and amendment completely in the range of without departing from this invention technological thought.The content that the technical scope of this invention is not limited in description, it is necessary to determine its technical scope according to right.
Claims (10)
1. a navigation system, it is characterised in that including:
Supervising device, is located on the column relative with traffic light at each crossing, for shooting current video and/or the image of this crossing vehicle, and sends described current video and/or image by 4G wireless sending module；
On-vehicle navigation apparatus, including 4G wireless receiving module, for travel route planning in advance, when the n-th crossing of the traffic path that the vehicle being configured with this on-vehicle navigation apparatus i.e. will travel to planning, receive described current video and/or the image at (n+1)th crossing in this traffic path, check for driver；
It is provided with speech recognition subsystem in described on-vehicle navigation apparatus, according to this speech recognition subsystem, described on-vehicle navigation apparatus is inputted phonetic order.
Navigation system the most according to claim 1, it is characterised in that
Described supervising device includes: image information collecting unit, the first processor module being connected with this image information collecting unit, and the outfan of this processor module is connected with described wireless sending module；
Described on-vehicle navigation apparatus includes the second processor module and the GPS locating module, wireless receiving module, memory module and the human-computer interaction interface that are connected with this second processor module；
Described second processor module is suitable to according to the cartographic information travel route planning in GPS locating module and memory module, when vehicle travels the n-th crossing with described traffic path, described wireless receiving module receives described current video and/or the image at (n+1)th crossing in this traffic path, is shown by human-computer interaction interface.
Navigation system the most according to claim 2, it is characterised in that described speech recognition subsystem,
Described speech recognition subsystem includes:
Voice acquisition module, is suitable to gather speech data to be identified；
Sample memory module, is suitable to store sample voice data；
The speech processing module being connected with described voice acquisition module and sample memory module, this speech processing module is suitable to carry out mixing to reconstruct the speech data being suitable to identify by sample, speech data to be identified；
The speech data that described speech processing module is suitable to after identifying sends to the second processor module.
4. the navigation automobile being provided with navigation system as claimed in claim 1, it is characterised in that
Described navigation automobile is electric automobile；
It is provided with braking electric energy in described electric automobile and reclaims subsystem, described braking electric energy reclaims subsystem and is connected with on-vehicle navigation apparatus, described on-vehicle navigation apparatus is further adapted for after described traffic path is planned again, calculate again the passage rate of path planning, to obtain the residue wheeled milimeter number of accumulator in braking electric energy recovery subsystem.
Navigation automobile the most according to claim 4, it is characterised in that described braking electric energy reclaims subsystem, including hydraulic brake mechanism, and the brake coordination assembly matched with this hydraulic brake mechanism；
When braking, described brake coordination assembly is suitable to produce and the direction of motion opposite effect power of piston in hydraulic brake mechanism, is charged accumulator by a boost module by the electric energy that wheel drive motors braking produces simultaneously；Or by the electric energy of wheel drive motors braking generation by accumulator being charged through quick-charging circuit again after a boost module.
Navigation automobile the most according to claim 5, it is characterised in that described braking electric energy reclaims subsystem and also includes: brake assemblies, is provided with travel switch K in described brake assemblies；
When braking, travel switch K triggers, to produce described active force；
Described hydraulic brake mechanism sets the master cylinder of described piston in including, described piston is connected with brake assemblies by piston rod.
Navigation automobile the most according to claim 6, it is characterised in that described brake assemblies includes: the two-sided rack slide block；Described brake coordination assembly includes: single-side rack slide block；
The lower surface of described the two-sided rack slide block is coordinated with brake pedal by driving gear component, engages a brake coordination gear between its upper surface and the lower surface of single-side rack slide block, and this brake coordination gear is connected with the end of described piston rod；
During brake, brake pedal controls the two-sided rack slide block by driving gear component and drives brake coordination pinion rotation, and this brake coordination gear is suitable to drive hydraulic brake mechanism that wheel hub is produced braking by piston rod；And described brake coordination assembly produces active force by single-side rack slide block to brake coordination gear；
Described brake coordination assembly also includes, electromagnetic induction device, and this battery sensing device is controlled by the auxiliary switch in described travel switch K；
Described electromagnetic induction device is suitable to after travel switch K triggers, and auxiliary switch controls electromagnetic induction device and obtains electric, to produce described active force；
Described electromagnetic induction device includes: solenoid, and this solenoid is suitable to obtain electric pull-core；
Described iron core is connected with single-side rack slide block, is suitable for when solenoid obtains electric, drives single-side rack slide block that brake coordination gear is produced described active force；
Described iron core sleeve is located in a hollow shell, and described solenoid is set around on this hollow shell periphery；
One end of described iron core is connected with single-side rack slide block by connecting rod, and the other end passes through the inner wall of end resilient engagement of compression spring and described hollow shell in described hollow shell；
Described iron core with a pair magnetic pole, this magnetic pole is suitable to solenoid obtain electric after, make iron core move to compression spring direction.
Navigation automobile the most according to claim 7, it is characterised in that described brake coordination assembly also includes charging circuit, this charging circuit is suitable to, when brake, the electric energy that wheel drive motors braking produces be charged accumulator；
Described charging circuit includes diode；
The positive pole of described accumulator is connected with one end of solenoid, the other end of this battery coil is connected with the negative electrode of described diode, the anode of this diode is connected with the outfan of boost module, the input of described boost module is connected with wheel drive motors one end, and the negative pole of described accumulator is connected with the other end of wheel drive motors；
Described auxiliary switch is normally closed switch, and the two ends of this normally closed switch are connected to the positive pole of the input of boost module, accumulator.
Navigation automobile the most according to claim 8, it is characterised in that
Described charging circuit includes: first, second diode and charging capacitor；
Described auxiliary switch is first, second normally closed switch and a normal open switch；
The positive pole of described accumulator and the first end of the first normally closed switch are connected, second end of this first normal open switch is connected by the negative electrode of described solenoid and the first diode, the anode of this first diode is connected with the outfan of boost module, and the input of described boost module is connected the two ends with wheel drive motors respectively with the negative pole of accumulator；
Second end of described first normally closed switch also one end with the second normally closed switch is connected, and the other end of this second normally closed switch is connected with the input of boost module；
Described second diode anode is connected with charging capacitor one end and constitutes described quick-charging circuit, and this quick-charging circuit is parallel to accumulator two ends, and
Described second diode anode is connected also by the second end of described normal open switch and the first normally closed switch.
10. the method for work of a navigation system, it is characterised in that
It is controlled instruction input by speech recognition subsystem and/or interpersonal interactive interface.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510048039.5A CN105825700B (en) | 2015-01-29 | 2015-01-29 | Navigation system and method for work, the navigation automobile using the navigation system |
| CN201711285604.5A CN107798899A (en) | 2015-01-29 | 2015-01-29 | Navigation system based on speech recognition, navigation automobile |
| CN201711287196.7A CN108062866B (en) | 2015-01-29 | 2015-01-29 | Navigation system, automobile and working method for judging road traffic capacity according to images |
| CN201711285568.2A CN108039054A (en) | 2015-01-29 | 2015-01-29 | Navigation system, the navigation automobile of road passage capability are judged according to video directly perceived |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510048039.5A CN105825700B (en) | 2015-01-29 | 2015-01-29 | Navigation system and method for work, the navigation automobile using the navigation system |
Related Child Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711285568.2A Division CN108039054A (en) | 2015-01-29 | 2015-01-29 | Navigation system, the navigation automobile of road passage capability are judged according to video directly perceived |
| CN201711285604.5A Division CN107798899A (en) | 2015-01-29 | 2015-01-29 | Navigation system based on speech recognition, navigation automobile |
| CN201711287196.7A Division CN108062866B (en) | 2015-01-29 | 2015-01-29 | Navigation system, automobile and working method for judging road traffic capacity according to images |
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| CN105825700A true CN105825700A (en) | 2016-08-03 |
| CN105825700B CN105825700B (en) | 2018-01-02 |
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| CN201510048039.5A Active CN105825700B (en) | 2015-01-29 | 2015-01-29 | Navigation system and method for work, the navigation automobile using the navigation system |
| CN201711285604.5A Withdrawn CN107798899A (en) | 2015-01-29 | 2015-01-29 | Navigation system based on speech recognition, navigation automobile |
| CN201711285568.2A Withdrawn CN108039054A (en) | 2015-01-29 | 2015-01-29 | Navigation system, the navigation automobile of road passage capability are judged according to video directly perceived |
| CN201711287196.7A Active CN108062866B (en) | 2015-01-29 | 2015-01-29 | Navigation system, automobile and working method for judging road traffic capacity according to images |
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| CN201711285604.5A Withdrawn CN107798899A (en) | 2015-01-29 | 2015-01-29 | Navigation system based on speech recognition, navigation automobile |
| CN201711285568.2A Withdrawn CN108039054A (en) | 2015-01-29 | 2015-01-29 | Navigation system, the navigation automobile of road passage capability are judged according to video directly perceived |
| CN201711287196.7A Active CN108062866B (en) | 2015-01-29 | 2015-01-29 | Navigation system, automobile and working method for judging road traffic capacity according to images |
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Cited By (3)
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| CN107274679A (en) * | 2017-06-06 | 2017-10-20 | 东莞理工学院 | Vehicle identification method, device, equipment and computer-readable recording medium |
| CN108340846A (en) * | 2018-02-02 | 2018-07-31 | 深圳市贝优通新能源技术开发有限公司 | A kind of onboard navigation system for new-energy automobile based on Internet of Things |
| CN109334665A (en) * | 2018-11-09 | 2019-02-15 | 长沙龙生光启新材料科技有限公司 | A kind of tracking device for vehicle |
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| CN108592934A (en) * | 2018-07-24 | 2018-09-28 | 佛山市高明曦逻科技有限公司 | Road information navigation map system based on range delineation |
| CN108981727A (en) * | 2018-07-24 | 2018-12-11 | 佛山市高明曦逻科技有限公司 | Automobile ad hoc network navigation map system |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN108039054A (en) | 2018-05-15 |
| CN107798899A (en) | 2018-03-13 |
| CN105825700B (en) | 2018-01-02 |
| CN108062866A (en) | 2018-05-22 |
| CN108062866B (en) | 2020-12-22 |
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