CN105987701B - Path optimization's navigation system and working method, the vehicle using the navigation system - Google Patents
Path optimization's navigation system and working method, the vehicle using the navigation system Download PDFInfo
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- CN105987701B CN105987701B CN201510046907.6A CN201510046907A CN105987701B CN 105987701 B CN105987701 B CN 105987701B CN 201510046907 A CN201510046907 A CN 201510046907A CN 105987701 B CN105987701 B CN 105987701B
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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
Abstract
The invention discloses a kind of navigation system, using the vehicle and its working method of the navigation system, this navigation system includes: monitoring device, positioned at each crossing for shooting the traffic lights at the crossing, the passage video and/or image of vehicle, and the current video and/or image sent by wireless sending module；And on-vehicle navigation apparatus, preparatory travel route planning receive the current video and/or image at (n+1)th crossing in the traffic path, when vehicle is n-th of crossing of the traffic path that will travel to planning so that driver checks.The navigation system and its working method of invention are suitable for basis and intuitively judge the traffic capacity of road, and realizing route planning has real-time good, the more intuitive advantage of traffic.
Description
Technical field
The present invention relates to navigation field more particularly to a kind of path optimization's navigation system and working method, using the navigation
The vehicle of system.
Background technique
With the development of the city, vehicle also becomes the essential vehicles；But since automobile quantity substantially increases
Add, road traffic pressure also increases with it.
Therefore, people can usually plan traffic route in advance, select nearest route in trip；But nearest
Route may congestion, so nearest route is for traffic efficiency, not necessarily optimal path.
The companies such as Baidu joined traffic information in Baidu map to solve the above-mentioned problems, also for tour reference,
But since above-mentioned traffic information is that the crossing at each crossing, road is uploaded to service centre, then to being shown on map
Show, have the following problems:
Problem one, real-time are inadequate, and real-time road often updates once for 1-2 hours, can not react road traffic feelings in time
Condition.
Problem two, traffic information are not accurate enough, although the congestion of some crossing parts, there may also be current leeway.
Therefore, it is necessary to design a kind of new navigation system and its working method, to solve the above technical problems.
Summary of the invention
The object of the present invention is to provide a kind of navigation system and its working method, using the vehicle of the navigation system, root
The traffic capacity of road is judged according to intuitive video and/or image, provides reference to driver again planning path.
In order to solve the above-mentioned technical problems, the present invention provides a kind of navigation system, comprising: monitoring device is located at each road
The traffic lights for shooting the crossing of mouthful (crossing is crossroad or T junction or Y junction), vehicle it is logical
Row video and/or image, and the current video and/or image are sent by wireless sending module；And vehicle mounted guidance dress
Set, preparatory travel route planning, when configured with the on-vehicle navigation apparatus vehicle will (such as: from n-th of crossing 30-150
Rice, preferably 60 or 50 meters) or driven to planning traffic path n-th of crossing (crossing be crossroad or T word
Crossing or Y junction) when, the current video and/or image at (n+1)th crossing in the traffic path are received, for driving
Member checks.
Preferable scheme is that will only reach in the vehicle (such as: from this n-th crossing 30-150 meters, preferably 60 or
50 meters) n-th of crossing or in traffic lights such as n-th of crossings, described in the on-vehicle navigation apparatus is just shown
The passage video and/or image at (n+1)th crossing.
Further, the monitoring device includes: image information collecting unit, to be connected with the image information collecting unit
One processor module, the output end of the processor module are connected with the wireless sending module；The on-vehicle navigation apparatus includes
Second processor module and the GPS positioning module being connected with the second processor module, wireless receiving module, map storage
Module and human-computer interaction interface；The second processor module is suitable for according in GPS positioning module and map memory module
Cartographic information travel route planning, when n-th of crossing of the traffic path described in the vehicle driving band, the wireless receiving module is connect
The current video and/or image for receiving (n+1)th crossing in the traffic path, are shown by human-computer interaction interface.
Another aspect, the present invention also provides a kind of vehicles using above-mentioned navigation system.
It wherein, is electric car using the vehicle of above-mentioned navigation system；It is equipped with braking electric energy in the vehicle and recycles subsystem
System, the braking electric energy recycling subsystem are connected with on-vehicle navigation apparatus, and the on-vehicle navigation apparatus is further adapted for when the trip
After route is planned again, the passage speed of planning path is calculated again, to obtain battery in braking electric energy recycling subsystem
Residue can travel milimeter number.
Further, in order to realize the recycling to braking energy, the braking electric energy recycles subsystem, including hydraulic brake
Structure, and the brake coordination component matched with the hydraulic brake mechanism；When braking, the brake coordination component is suitable for generating
With the direction of motion opposite effect power of piston in hydraulic brake mechanism, while by wheel drive motors braking generate electric energy lead to
A boost module is crossed to charge to battery；Or the electric energy for generating wheel drive motors braking by after a boost module again
It charges through quick-charging circuit to battery.
When preferably, in order to be further implemented in brake, start brake coordination component；The braking electric energy recycles subsystem
Further include: brake assemblies, the brake assemblies are interior to be equipped with travel switch K；When braking, travel switch K is triggered, described in generating
Active force；The hydraulic brake mechanism includes the interior master cylinder for setting the piston, and the piston passes through piston rod and brake group
Part is connected.
Preferably, in order to preferably make brake assemblies cooperate brake coordination component operation；The brake assemblies include: two-sided
Rack slide；The brake coordination component includes: single-side rack sliding block；The lower end surface of the two-sided rack sliding block passes through driving cog
Wheel assembly and brake pedal cooperate, and engage a brake coordination gear between end face and the lower end surface of single-side rack sliding block thereon, should
Brake coordination gear is connected with the end of the piston rod；When brake, brake pedal controls double cog by driving gear component
Sliding block drives the rotation of brake coordination gear, and the brake coordination gear is suitable for through piston rod drive hydraulic brake mechanism to vehicle
Wheel hub generates braking；And the brake coordination component generates active force to brake coordination gear by single-side rack sliding block；It is logical
It crosses simple, reliable circuit structure and generates the active force；The brake coordination component further includes electromagnetic induction device, the electricity
Pond sensing device is controlled by the auxiliary switch in the travel switch K；The electromagnetic induction device is suitable for triggering as travel switch K
Afterwards, auxiliary switch control electromagnetic induction device obtains electric, to generate the active force；The electromagnetic induction device includes: electromagnetic wire
Circle, the electromagnetic coil are suitable for obtaining electric pull-core；The iron core is connected with single-side rack sliding block, is suitable for obtaining in electromagnetic coil electric
When, drive single-side rack sliding block to generate the active force to brake coordination gear；The iron core sleeve is set in a hollow shell, institute
Electromagnetic coil is stated to be set around on the hollow shell periphery；One end of the iron core is connected by connecting rod with single-side rack sliding block,
The other end is elastically engaged in the hollow shell by compressed spring and the inner wall of end of the hollow shell；The iron core band
Have a pair of of magnetic pole, this to magnetic pole be suitable for electromagnetic coil obtain it is electric after, keep iron core mobile to compressed spring direction.
Preferably, the brake coordination component further includes charging circuit, which is suitable for driving wheel in brake
The electric energy that dynamic motor braking generates charges to battery；In order to avoid after auxiliary switch disconnects, battery drives wheel
Dynamic motor also keeps driving effect；The charging circuit includes diode；One end of the anode and electromagnetic coil of the battery
It is connected, the other end of the battery coil is connected with the cathode of the diode, the output of the anode and boost module of the diode
End is connected, and the input terminal of the boost module is connected with wheel drive motors one end, and the cathode and wheel of the battery drive
The other end of motor is connected；The auxiliary switch is normally closed switch, and the both ends of the normally closed switch are connected to boost module
The anode of input terminal, battery.
Preferably, in order to realize quick charge, waste of energy is reduced, the charging circuit includes: the first, second diode
And charging capacitor；The auxiliary switch is the first, second normally closed switch and a normal open switch；The anode and first of the battery
The first end of normally closed switch is connected, the cathode that the second end of first normal open switch passes through the electromagnetic coil and first diode
It is connected, the anode of the first diode is connected with the output end of boost module, the input terminal of the boost module and battery
Cathode is separately connected the both ends with wheel drive motors；The second end of first normally closed switch also with the second normally closed switch one
End is connected, and the other end of second normally closed switch is connected with the input terminal of boost module；Second diode anode and charging
Capacitor one end, which is connected, constitutes the quick-charging circuit, which is parallel to battery both ends and described second
Diode anode is also connected by the normal open switch with the second end of the first normally closed switch.
The third aspect, the present invention also provides a kind of working methods of navigation system.
The working method of above-mentioned navigation system includes: step S1, and the monitoring device by being located at each crossing shoots the crossing
Traffic lights, vehicle passage video and/or image, and by wireless sending module send the current video and/
Or image；Step S2 by the preparatory travel route planning of on-vehicle navigation apparatus, and is suitable for when vehicle driving to the trip of planning
When n-th of crossing of route, the current video and/or image at (n+1)th crossing in the traffic path are received, for driving
Member checks；Wherein, only in the vehicle n-th of crossing will be reached or in traffic lights such as n-th of crossings
When, the on-vehicle navigation apparatus just shows the passage video and/or image at (n+1)th crossing.
Fourth aspect, the present invention also provides a kind of audio recognition methods of navigation system, to solve in noisy middle voice
The technical issues of identification.
In order to solve upper technical problem, the present invention provides a kind of audio recognition methods of navigation system, i.e., described vehicle-mounted
Speech recognition subsystem is additionally provided in navigation device, the speech recognition subsystem includes: voice acquisition module, be suitable for acquisition to
Identify voice data；Sample memory module is suitable for storage sample voice data；Mould is stored with the voice acquisition module and sample
The connected speech processing module of block, the speech processing module are suitable for mixing sample, voice data to be identified suitable to reconstruct
In the voice data of identification；The speech processing module is suitable for the voice data after identification being sent to second processor module.
The invention has the advantages that (1) navigation system and its working method of the invention is suitable for according to intuitively to road
The traffic capacity on road is judged that realizing route planning has real-time good, the more intuitive advantage of traffic；(2) system
Electrokinetic energy recycles subsystem, can improve system in the case where guaranteeing that the braking resultant force of the two meets automobile brake requirement
The rate of recovery of braking energy can reduce the loss of conventional brake friction plate again during dynamic；(3) braking electric energy recycling
System realizes that motor braking power is coordinated continuously, in real time in a certain range with hydraulic braking force using mechanical structure
Cooperation is adjusted, and mechanical structure is relatively easy, cost is greatly reduced and functional reliability significantly improves；(4) present invention passes through liter
Die block can effectively improve wheel drive motors to the charge efficiency of battery；(5) present invention is by carrying out voice data
Reconstruct, to improve the recognition effect of voice, effectively avoids the interference that interior noise drives into voice.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 shows the functional block diagram of navigation system of the invention；
Fig. 2 shows the structural schematic diagrams of braking electric energy recycling subsystem of the invention；
Fig. 3 shows the structural schematic diagram of second of embodiment of braking electric energy recycling subsystem of the invention；
Fig. 4 shows the circuit diagram of second of charging circuit of the invention；
Fig. 5 shows the functional block diagram of speech recognition subsystem of the 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, the
One fixed guide rail 35, the two-sided rack sliding block 36, travel switch K；
Brake coordination component 4, the second fixed guide rail 41, single-side rack sliding block 42, connecting rod 43, iron core 44, hollow shell
45, electromagnetic coil 46, compressed spring 47；
Wheel drive motors M, battery E, diode VD；
First diode VD1, the second diode VD2, charging capacitor C.
Specific embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These attached drawings are simplified schematic diagram, only with
Illustration illustrates basic structure of the invention, therefore it only shows the composition relevant to the invention.
Embodiment 1
Fig. 1 shows the functional block diagram of navigation system of the invention.
As shown in Figure 1, navigation system of the invention, comprising:
Monitoring device, positioned at the passage video of the traffic lights, and/or vehicle for shooting the crossing at each crossing
And/or image, and the current video and/or image are sent by wireless sending module.
On-vehicle navigation apparatus, preparatory travel route planning, when the vehicle configured with the on-vehicle navigation apparatus will travel to
The traffic path of planning n-th of crossing (such as: from this n-th crossing 30-150 meters, preferably 60 or 50 meters) when, receive should go out
The current video and/or image at (n+1)th crossing in walking along the street line, so that driver checks, and then by driver according to preceding
Fang Lukuang determines whether to get around (n+1)th crossing.
Preferable scheme is that will only reach in the vehicle (such as: from this n-th crossing 30-150 meters, preferably 60 or
50 meters) n-th of crossing or in traffic lights such as n-th of crossings, described in the on-vehicle navigation apparatus is just shown
The passage video and/or image at (n+1)th crossing, avoid driver from taking sb's mind off sth when driving, to improve driving
Safety.
Further, the monitoring device includes: image information collecting unit, to be connected with the image information collecting unit
One processor module, the output end of the processor module are connected with the wireless sending module；The on-vehicle navigation apparatus includes
Second processor module and the GPS positioning module being connected with the second processor module, wireless receiving module, map storage
Module and human-computer interaction interface；The second processor module is suitable for according in GPS positioning module and map memory module
Cartographic information travel route planning, when n-th of crossing of the traffic path described in the vehicle driving band, the wireless receiving module is connect
The current video and/or image for receiving (n+1)th crossing in the traffic path, are shown by human-computer interaction interface.
Wherein, first, second processor module such as, but not limited to uses single-chip microcontroller, the processing such as embedded chip
Device.Human-computer interaction interface can use touch screen.The positive integer of n >=1 in n-th of crossing.Described image information acquisition unit can
To use wide-angle, high-definition camera, it is installed at crossing.Wireless sending module and wireless receiving module can use WiFi module
It realizes.
Embodiment 2
On that basis of example 1, the present invention also provides a kind of vehicles of navigation system.
The vehicle is electric car；It is equipped with braking electric energy in the vehicle and recycles subsystem, the braking electric energy recycling
Subsystem is connected with on-vehicle navigation apparatus, and the on-vehicle navigation apparatus is further adapted for after the traffic path is planned again, calculates
Again the passage speed of planning path out can travel milimeter number to obtain the residue of battery in braking electric energy recycling subsystem.
Fig. 2 shows the structural schematic diagrams of braking electric energy recycling subsystem of the invention.
As shown in Fig. 2, the braking electric energy recycles subsystem, including hydraulic brake mechanism 2, and with the hydraulic brake
The brake coordination component 4 that structure 2 matches；When braking, the brake coordination component 4 is suitable in generation and hydraulic brake mechanism 2
The direction of motion opposite effect power of piston 24, while the electric energy that wheel drive motors M braking generates is passed through into a boost module
It charges to battery；Or the electric energy of wheel drive motors braking generation is passed through electric through quick charge again after a boost module
It charges to battery on road.
Wherein, the boost module can be realized using boost chip, such as, but not limited to mc34063, ICL7660；
It can also be using DC source boost module disclosed in such as patent document CN 203933389U.
Specifically, the braking electric energy recycles subsystem further include: brake assemblies 3, the brake assemblies 3 are interior to be equipped with stroke
Switch K；When braking, travel switch K is triggered, to generate the active force.
The hydraulic brake mechanism 2 includes the interior master cylinder 23 for setting the piston 24, and the piston 24 passes through piston rod
It is connected with brake assemblies 3.
As a kind of optional embodiment of this hydraulic brake mechanism, the hydraulic brake mechanism 2 further include: set respectively
In brake block 21 and wheel cylinder 22 on each wheel hub 1；The piston 24 generates hydraulic (brake fluid pressure in master cylinder 23
Power), the hydraulic conduction to wheel cylinder 22 generates corresponding hydraulic braking force and acts on wheel hub 1 by brake block 21, to realize
Brake.
The brake assemblies 3 include: the two-sided rack sliding block 36；The brake coordination component 4 includes: single-side rack sliding block
42；The lower end surface of the two-sided rack sliding block 36 is cooperated by driving gear component and brake pedal 31, thereon end face and single side
A brake coordination gear 34, the end of the brake coordination gear 34 and the piston rod are engaged between the lower end surface of rack slide 42
It is connected.Specifically, the two-sided rack sliding block 36 is mounted on the first fixed guide rail 35 and the first fixed guide rail 35 can be relied on to slide；With
And single-side rack sliding block 42 is movably disposed on the second fixed guide rail 41, suitable for being slided on the second fixed guide rail 41.
When braking, brake pedal 31 controls the two-sided rack sliding block 36 by driving gear component and drives brake coordination gear
34 rotations, and the brake coordination gear 34 is suitable for driving hydraulic brake mechanism 2 to generate braking to wheel hub 1 by piston rod；With
And the brake coordination component 4 generates the active force to brake coordination gear 34 by single-side rack sliding block 42.
Wherein driving gear component includes: the first, second transfer gear 33, first transfer gear 32 and brake pedal
31 are connected, and the braking instruction of brake pedal 31 passes sequentially through the first transfer gear 32, the second transfer gear 33, the two-sided rack sliding block
36 pass to brake coordination gear 34, and then mobile with piston 24, so as to generate hydraulic, completion brake system in master cylinder 23
It is dynamic.At the same time, since travel switch K is triggered, the active force acting in opposition that brake coordination component 4 generates is in brake coordination
Gear 34 forces the hydraulic pressure value in master cylinder suitably to reduce, and reduces the kinetic energy consumed by braking, and the kinetic energy is driven by wheel
Dynamic motor M braking is converted into electric energy to store.
The brake coordination component 4 further includes electromagnetic induction device, and the battery sensing device is by the travel switch K
Auxiliary switch control；The electromagnetic induction device is suitable for after travel switch K triggering, and auxiliary switch controls electromagnetic induction device
Must be electric, to generate the active force.
The specific embodiment of the electromagnetic induction device includes: electromagnetic coil 46, which is suitable for obtaining electric suction
Close iron core 44；The iron core 44 is connected with single-side rack sliding block 42, is suitable for driving single-side rack when electromagnetic coil 46 obtains electric
Sliding block 42 generates the active force to brake coordination gear 34.
As a kind of optional embodiment of electromagnetic induction device, the iron core 44 is sheathed in a hollow shell 45, institute
Electromagnetic coil 46 is stated to be set around on 45 periphery of hollow shell；One end of the iron core 44 is sliding by connecting rod 43 and single-side rack
Block 42 is connected, and the other end passes through the inner wall of end of compressed spring 47 and the hollow shell 45 elasticity in the hollow shell 45
Cooperation；The iron core 44 has a pair of of magnetic pole, this to magnetic pole be suitable for electromagnetic coil 46 it is electric after, make iron core 44 to compressed spring
47 directions are mobile, at the same generate act on brake coordination gear 34 the active force (opposition, i.e., with step on brake and step on
After plate 31, the active force for passing to brake coordination gear 34 by the two-sided rack sliding block 36 is opposite).
As another optional embodiment of electromagnetic induction device, the iron core 44 is sheathed in a hollow shell 45,
And it is located at the side of electromagnetic coil 46.
The brake coordination component 4 further includes charging circuit, which is suitable in brake, by wheel drive motors
The electric energy that M braking generates charges to battery E.
Specific embodiment: the charging circuit includes diode VD；Anode and the electromagnetic coil 46 of the battery E
One end be connected, the other end of the battery coil is connected with the cathode of the diode VD, the anode of diode VD and boosting
The output end of module is connected, and the input terminal of the boost module is connected with the one end wheel drive motors M, and the battery E's is negative
Pole is connected with the other end of wheel drive motors M；The auxiliary switch is normally closed switch, and the both ends of the normally closed switch are separately connected
In the input terminal of boost module, the anode of battery E.
The characteristics of by the one-way of diode VD, can effectively avoid battery E after normally closed switch opening, continue to lead to
Electromagnetic coil 46 is crossed to discharge to wheel drive motors M；And by the boost module, it can effectively improve charging effect
Rate.
The working principle of braking electric energy recycling subsystem of the invention is:
During electric automobile during traveling, when driver does not touch on the brake pedal 31, auxiliary switch (normally closed switch) closure,
It will be short-circuited by electromagnetic coil 46, battery E is to wheel drive motors M for electric drive running car；Iron core 44 is pressed at this time
47 bullet of contracting spring is to the side of hollow shell 45；
When driver steps on brake pedal 31, the braking instruction of brake pedal 31 pass sequentially through the first transfer gear 32,
Second transfer gear 33, the two-sided rack sliding block 36 pass to brake coordination gear 34, and then mobile with piston 24, so that braking
Hydraulic, completion brake is generated in master cylinder 23；Meanwhile auxiliary switch is opened, wheel drive motors M generates brake force and passes through
Charging circuit charges to battery E, and charging current generates magnetic field when passing through electromagnetic coil 46, so that iron core 44 overcomes compressed spring
47 elastic force moves right, and iron core 44 drives single-side rack sliding block 42 to move right by connecting rod 43, so that brake coordination tooth
Wheel 34 rotates backward, and 34 counter-rotating belts piston 24 of brake coordination gear moves right, to reduce in master cylinder 23
Hydraulic (brake fluid pressure).
When driver steps on brake pedal 31, the brake force of vehicle is consequently exerted at brake force (the hydraulic system on wheel hub 1
Motivation structure 2 generate hydraulic braking force) and wheel drive motors M generation brake force resultant force；When speed is faster, then wheel drives
The stalling current generated in dynamic motor M is bigger, and motor braking power is bigger, and the suction that electromagnetic coil 46 generates is bigger, iron
The mobile displacement of core 44 is bigger, and for the oil pressure in master cylinder 23 with regard to smaller, hydraulic braking force is smaller, to work as automobile high-speed
When braking, increase motor braking power, reduce the conventional friction brake force by hydraulic braking, rubs to reduce in conventional brake
The abrasion of piece, while wheel drive motors M is improved to the rate of recovery of braking energy.
Optionally, in electric automobile during traveling, if brake coordination component 4 breaks down or battery E is in full power state
When, wheel drive motors M charges and/or generates brake force without normal direction battery E, and electric car is by hydraulic brake mechanism 2 at this time
It is braked using conventional hydraulic mode of braking, guarantees traffic safety.
Following table is conventional hydraulic mode of braking and braking electric energy of the invention recycle brake of the subsystem under each speed away from
From test result.
From the table it is found that the braking effect that braking electric energy recycling subsystem of the invention and conventional hydraulic mode of braking generate
Essentially identical, therefore, the present invention is realized in the case where guaranteeing that the braking resultant force of the two meets automobile brake requirement, Ji Nengti
The rate of recovery of braking energy can reduce the loss of conventional brake friction plate again in high braking process.
Braking electric energy of the invention recycles subsystem, makes electric braking force and hydraulic braking force in certain model by mechanical structure
Enclose it is interior be continuously adjusted in real time, controller in the prior art or single chip circuit is omitted and calculates control and deterministic process,
Thus it coordinates the timeliness braked more preferably.
Fig. 3 shows the structural schematic diagram of second of embodiment of braking electric energy recycling subsystem.
As shown in figure 3, the single-side rack sliding block in the brake coordination component can also be driven by lead screw and be moved left and right
To replace electromagnetic induction device, concrete scheme includes:
The lead screw is controlled by motor driven, the motor by a MCU module, and the MCU module passes through Hall sensor
The current value that acquisition wheel drive motors M braking generates adjusts the displacement of single-side rack sliding block to control Motor torque.
Fig. 4 shows the circuit diagram of second of charging circuit of the invention.
As shown in figure 4, it includes: the first, second diode and charging capacitor C that concrete scheme, which includes: the charging circuit,；Institute
Stating auxiliary switch is the first, second normally closed switch and a normal open switch；The anode of the battery E and the of the first normally closed switch
One end is connected, and the second end of first normal open switch is connected by the electromagnetic coil with the cathode of first diode VD1, this
The anode of one diode VD1 is connected with the output end of boost module, the input terminal of the boost module and the cathode point of battery E
It Lian Jie not be with the both ends of wheel drive motors M；The second end of first normally closed switch also with one end phase of the second normally closed switch
Even, the other end of second normally closed switch is connected with the input terminal of boost module；The second diode VD2 anode and charging electricity
Hold the connected composition quick-charging circuit in the one end C, which is parallel to the both ends battery E and described second
Diode VD2 anode is also connected by the normal open switch with the second end of the first normally closed switch.
Wherein, charging capacitor C can be realized using several bulky capacitor parallel connections, since capacitor charging response speed compares battery
It is fast, it is disappeared so often will cause the electric current that braking generates and have little time to charge to battery E, therefore, charging effect
Rate is very low, and in order to overcome the technical problem, the waste of energy that can effectively avoid braking from generating by quick charge capacitor is improved
Charge efficiency.
Concrete principle is first to carry out quick charge to charging capacitor, is then carried out again by the second diode VD2 to battery
Electric discharge.
Embodiment 3
On that basis of example 1, the present invention also provides a kind of working methods of navigation system
Step S1, the monitoring device by being located at each crossing shoot the passage video of the traffic lights at the crossing, vehicle
And/or image, and the current video and/or image are sent by wireless sending module.
Step S2 by the preparatory travel route planning of on-vehicle navigation apparatus, and is suitable for going out when vehicle driving to planning
When n-th of crossing of walking along the street line, the current video and/or image at (n+1)th crossing in the traffic path are received, for driving
The person of sailing checks；Wherein, only in the vehicle n-th of crossing will be reached or in traffic lights such as n-th of crossings
When, the on-vehicle navigation apparatus just shows the passage video and/or image at (n+1)th crossing.
Embodiment 4
On that basis of example 1, the present invention provides the audio recognition methods of the navigation system described in one kind.
Specifically, speech recognition subsystem is additionally provided in the on-vehicle navigation apparatus, to improve speech recognition capabilities.
Fig. 5 shows the functional block diagram of speech recognition subsystem of the invention.
Specific embodiment is suitable for acquisition as shown in figure 5, the speech recognition subsystem includes: voice acquisition module
Voice data to be identified；Sample memory module is suitable for storage sample voice data；It is stored with the voice acquisition module and sample
The connected speech processing module of module, the speech processing module are suitable for mixing sample, voice data to be identified to reconstruct
Voice data suitable for identification；The speech processing module is suitable for the voice data after identification being sent to second processor mould
Block.
The working principle of the speech recognition subsystem is by the non-standard mandarin of voice input and phase in sample data
The pronunciation for closing vocabulary carries out combined training, to reconstruct a kind of voice data suitable for identification, and effectively car can be avoided to make an uproar
Interference of the sound to speech recognition.
Further, the speech processing module includes:
Training unit, suitable for being trained after sample, voice data to be identified are carried out characteristic parameter extraction respectively；Conversion
Synthesis unit, then the characteristic parameter of sample is converted with training result, and synthesize and obtain the voice data.
The training unit includes:
Speech decomposition module carries out speech decomposition to sample, voice data to be identified respectively；Parameter preprocessing module, will
Sample, speech decomposition to be identified result carry out characteristic parameter extraction after be aligned；And characteristic parameter training module, by each feature
Parameter carries out the training of mixed Gaussian random process.
Wherein, the speech decomposition module is suitable for speech decomposition into voiced sound, Unvoiced signal.
Specifically, voice signal is fixed the framing of duration.In a frame voice, the auto-correlation letter of the voice is solved
Number, using the first side lobe peak of auto-correlation function come approximate evaluation pitch period, the inverse of pitch period is fundamental frequency.
According to obtained fundamental frequency value (voiceless sound 0, voiced sound are non-zero), determine that the frame voice is voiceless sound or voiced sound.If
A maximum voiced sound frequency component then is arranged for it, for dividing the main energy area of harmonic components and random element in voiced sound.?
Maximum voiced sound frequency frequency range below, models signal --- using the superposition of several sine waves come fitted signal.Benefit
With least-squares algorithm come the discrete amplitude values and phase value of constraint solving sine wave.
The parameter preprocessing module includes: characteristic parameter extraction submodule, is suitable for extracting and be believed by the voiced sound, voiceless sound
Number characteristic parameter, to obtain the characteristic parameter of the sample or voice data to be identified；Characteristic parameter is aligned submodule, right
In sample and characteristic parameter to be identified, realize Corresponding matching using time map, i.e., using dynamic time warping algorithm by its
In a characteristic parameter the nonlinear time shaft for being mapped to another feature parameter of time shaft on, realize one-to-one matching.
It is suitable for extracting in characteristic parameter extraction submodule passing through the voiced sound, the method packet of the characteristic parameter of Unvoiced signal
Include: the method for extracting the voiced sound characteristic parameter includes: to seek square to the amplitude of the discrete sine wave, and the numerical value is approximate
It is considered discrete power spectral function.
According to the one-to-one relationship of power spectral density function and auto-correlation function, numerical value inverse transformation is composed to discrete power,
Available approximation auto-correlation function can solve to obtain linear pre- according to Linear prediction analysis method using auto-correlation function
Survey coefficient；The dual function that linear predictor coefficient is constituted, the root on Z frequency domain, as linear spectral coefficient of frequency, the coefficient are
For voiced sound characteristic parameter；If the method for extracting the voiceless sound characteristic parameter includes: that frame signal is to utilize classical line in voiceless sound
Property predictive analysis analyze it, establish an all-pole modeling, and utilize least square method constraint solving model system
Number, to obtain linear predictor coefficient, as voiceless sound characteristic parameter.
Each characteristic parameter is carried out the method that mixed Gaussian random process is trained by the characteristic parameter training module
Building includes the Gaussian random process model of mixed structure, then in given input and output vector set, (collection is combined into
The characteristic parameter of the sample of extraction) under the premise of, output vector sequence is approximately equal to the weighted array of multiple Gaussian random processes.
Wherein, the input of Gaussian random process is given input vector sequence.All weight coefficients and each gaussian random mistake
The mean value and variance parameter of journey are unknown parameter to be estimated；With Markov chain Monte-Carlo method come approximate evaluation power
The joint posterior probability density function of coefficient and model parameter (mean value and variance of Gaussian process), that is, assume initially that weight coefficient and
Meet mutually indepedent characteristic between model parameter, the probability density function of the two is then gradually estimated by way of iteration, often
In secondary iterative process, first fix a kind of known variables, then another known variables sampled, with a large amount of sampled datas come
Weight coefficient, is finally multiplied with the probability-distribution function of model parameter, can obtain joint posterior probability letter by its approximate probability distribution
Number；Marginalisation is carried out to joint probability density function, respectively obtains the probability point of the probability distribution and model parameter to weight coefficient
The estimation of cloth, so far, mixed Gaussian random process model structure are determined.
The conversion synthesis unit includes:
Conversion module is used to carry out the extraction characteristic parameter of training result and sample by mixed Gaussian random process
Transfer reconstruction；Specific method include: under conditions of given input observation vector set, it is random according to trained mixed Gaussian
The structural parameters of process, seek the subordinating degree function value of current speech frame, and so-called subordinating degree function refers to normalization posteriority power
The ratio of coefficient；According to angle value is subordinate to, differentiate which Gauss subconstiuent is current speech belong to, then in the son of each sub-clustering
In space, according to the definition of Gaussian random process, corresponding output is generated；The output result of all compositions is superimposed
Come, weight coefficient is exactly the value of subordinating degree function, the speech characteristic parameter after finally obtaining mapping.Wherein, the speech characteristic parameter
In order to sample, the voiced sound of voice data to be identified, voiceless sound characteristic parameter；The conversion synthesis unit further include: speech synthesis
Module is reconstructed for the Voiced signal in the characteristic parameter of converted Restructuring Module to be overlapped with Unvoiced signal
The voice data；Specifically, the discrete harmonic amplitude and phase value that the voice synthetic module is suitable for Voiced signal is used as just
After the range value and phase value of string signal are overlapped, Unvoiced signal is overlapped with by an all-pole filter, is obtained
To the voice data.
Speech recognition subsystem in the present invention can effectively improve speech recognition capabilities, ignore interior noise and know to voice
Other influence.
Taking the above-mentioned ideal embodiment according to the present invention as inspiration, through the above description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property range is not limited to the contents of the specification, it is necessary to which the technical scope thereof is determined according to the scope of the claim.
Claims (1)
1. a kind of vehicle of application navigation system, which is characterized in that the navigation system includes:
Monitoring device, positioned at each crossing for shooting the traffic lights at the crossing, the passage video and/or image of vehicle,
And the current video and/or image are sent by wireless sending module；
On-vehicle navigation apparatus, preparatory travel route planning, and be suitable for when vehicle driving to n-th ten of the traffic path planned
When word crossing, the current video/or image at (n+1)th crossing in the traffic path are received, so that driver checks；
The monitoring device includes: image information collecting unit, the first processor mould being connected with the image information collecting unit
Block, the output end of the processor module are connected with the wireless sending module；
The on-vehicle navigation apparatus includes second processor module and the GPS positioning mould that is connected with the second processor module
Block, wireless receiving module, map memory module and human-computer interaction interface；
The second processor module is suitable for planning trip according to the cartographic information in GPS positioning module and map memory module
Route, when n-th of crossing of the traffic path described in the vehicle driving band, the wireless receiving module is received in the traffic path
The current video and/or image at n+1 crossing, are shown by human-computer interaction interface；
The vehicle is electric car；
It is equipped with braking electric energy in the vehicle and recycles subsystem, the braking electric energy recycling subsystem and on-vehicle navigation apparatus phase
Even, the on-vehicle navigation apparatus is further adapted for after the traffic path is planned again, calculates again the current speed of planning path
Degree can travel milimeter number to obtain the residue of battery in braking electric energy recycling subsystem；
The braking electric energy recycles subsystem, including hydraulic brake mechanism, and the braking matched with the hydraulic brake mechanism
Coordination component；
When braking, the brake coordination component is suitable for generating the direction of motion opposite effect with piston in hydraulic brake mechanism
Power, while the electric energy that wheel drive motors braking generates charging to battery by a boost module；Or wheel is driven
The electric energy that dynamic motor braking generates is by again charging to battery through quick-charging circuit after a boost module；
The braking electric energy recycles subsystem further include: brake assemblies, the brake assemblies are interior to be equipped with travel switch K；
When braking, travel switch K is triggered, to generate the active force；
The hydraulic brake mechanism includes the interior master cylinder for setting the piston, and the piston passes through piston rod and brake assemblies phase
Even；
The brake assemblies include: the two-sided rack sliding block；The brake coordination component includes: single-side rack sliding block；
The lower end surface of the two-sided rack sliding block is cooperated by driving gear component and brake pedal, thereon end face and single-side rack
A brake coordination gear is engaged between the lower end surface of sliding block, which is connected with the end of the piston rod；
When brake, brake pedal controls the two-sided rack sliding block by driving gear component and brake coordination gear is driven to rotate, and should
Brake coordination gear is suitable for driving hydraulic brake mechanism to generate braking to wheel hub by piston rod；And the brake coordination group
Part generates active force to brake coordination gear by single-side rack sliding block；
The brake coordination component further includes electromagnetic induction device, and the electromagnetic induction device is by the auxiliary in the travel switch K
Switch control；
The electromagnetic induction device be suitable for when travel switch K triggering after, auxiliary switch control electromagnetic induction device obtain it is electric, with generation
The active force；
The electromagnetic induction device includes: electromagnetic coil, which is suitable for obtaining electric pull-core；
The iron core is connected with single-side rack sliding block, is suitable for when electromagnetic coil obtains electric, drives single-side rack sliding block to braking
Coordinate gear and generates the active force；
The iron core sleeve is set in a hollow shell, and the electromagnetic coil is set around on the hollow shell periphery；
One end of the iron core is connected by connecting rod with single-side rack sliding block, and the other end passes through compression in the hollow shell
The inner wall of end of spring and the hollow shell is elastically engaged；
The iron core has a pair of of magnetic pole, this to magnetic pole be suitable for electromagnetic coil obtain it is electric after, move iron core to compressed spring direction
It is dynamic；
The brake coordination component further includes charging circuit, which is suitable for braking wheel drive motors in brake
The electric energy of generation charges to battery；
The charging circuit includes diode；
The anode of the battery is connected with one end of electromagnetic coil, the cathode of the other end of the electromagnetic coil and the diode
It is connected, the anode of the diode is connected with the output end of boost module, the input terminal and wheel drive motors of the boost module
One end is connected, and the cathode of the battery is connected with the other end of wheel drive motors；
The auxiliary switch is normally closed switch, and the both ends of the normally closed switch are connected to the input terminal of boost module, battery
Anode.
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| CN108146252A (en) * | 2017-12-22 | 2018-06-12 | 南京越博电驱动系统有限公司 | A kind of electric vehicle energy-recuperation system based on satellite-signal |
| CN108088458A (en) * | 2018-01-12 | 2018-05-29 | 山东高速信息工程有限公司 | Based on image highway navigation road conditions show method, apparatus, storage medium |
| JP6982548B2 (en) * | 2018-06-11 | 2021-12-17 | 本田技研工業株式会社 | Display control device and program |
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