CN105989729A - Speech recognition-based navigation system, working method thereof and navigation automobile - Google Patents
Speech recognition-based navigation system, working method thereof and navigation automobile Download PDFInfo
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- CN105989729A CN105989729A CN201510046917.XA CN201510046917A CN105989729A CN 105989729 A CN105989729 A CN 105989729A CN 201510046917 A CN201510046917 A CN 201510046917A CN 105989729 A CN105989729 A CN 105989729A
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Abstract
The present invention discloses a speech recognition-based navigation system, a working method thereof and a navigation automobile. The navigation system comprises monitoring devices located at crossings and used for shooting the passing videos and/or images of the vehicles at the crossings and sending the passing videos and/or images via a wireless sending module; a vehicle-mounted navigation device for pre-planning a travel route and receiving the passing videos and/or images of the (n+1)-th crossing of the travel route for a driver to check when a vehicle equipped with the vehicle-mounted navigation device is about to drive to the n-th crossing of the planned travel route, wherein a speech recognition subsystem is arranged inside the vehicle-mounted navigation device. The navigation system of the present invention is suitable for determining the pass capability of a road visually, realizes the route planning, and has the advantages of being good in real-time performance and more visual in traffic road condition.
Description
Technical field
The present invention relates to navigation field, particularly relate to a kind of navigation system based on speech recognition.
Background technology
Along with the development in city, vehicle also becomes the requisite vehicles；But, owing to automobile quantity significantly increases
Adding, road traffic pressure increases the most therewith.
Therefore, people, when trip, usually can plan traffic route in advance, select nearest route；But it is nearest
Route may block up, so nearest route is for traffic efficiency, and not necessarily optimum path.
The companies such as Baidu, in order to solve the problems referred to above, also add traffic information for tour reference in Baidu's map, but
It is 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, base
In navigation system and the method for work of speech recognition, the traffic capacity of road is sentenced by it according to video directly perceived and/or image
Disconnected, 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 positioned at each road
Mouthful (this crossing is crossroad or T junction or Y junction) for shoot this crossing vehicle current video and/
Or image, and send described current video and/or image by wireless sending module；And on-vehicle navigation apparatus, advise in advance
Draw traffic path, when the vehicle being configured with this on-vehicle navigation apparatus will (such as: from this n-th crossing 30-150 rice, excellent
Select 60 or 50 meters) or (this crossing is crossroad or T word road to have driven to n-th crossing of traffic path of planning
Mouth or Y junction) time, receive described current video and/or the image at (n+1)th crossing in this traffic path, for driving
The person of sailing checks.
It is provided with speech recognition subsystem, according to this speech recognition subsystem to described vehicle mounted guidance in described on-vehicle navigation apparatus
Device input phonetic order.
Further, described supervising device includes: image information collecting unit, be connected with this image information collecting unit
One processor module, the outfan of this processor module is connected with described wireless sending module；Described on-vehicle navigation apparatus includes
Two processor modules and the GPS locating module being connected with this second processor module, wireless receiving module, memory module
And human-computer interaction interface；Described second processor module is suitable to according to the cartographic information in GPS locating module and memory module
Travel route planning, when vehicle travels the n-th crossing with described traffic path, described wireless receiving module receives this trip
In route, the described current video at (n+1)th crossing and/or image, shown by human-computer interaction interface.
Further, in order to realize in a noisy environment, accurately realize the input of phonetic order, described speech recognition subsystem
System, described speech recognition subsystem includes: voice acquisition module, is suitable to gather speech data to be identified；Sample memory module,
Be suitable to store sample voice data；The speech processing module being connected with described voice acquisition module and sample memory module, this voice
Processing module is suitable to carry out mixing to reconstruct the speech data being suitable to identify by sample, speech data to be identified；Described speech processes
The speech data that 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, and described on-vehicle navigation apparatus is further adapted for when described traffic path is advised again
After Huaing, calculate again the passage rate of path planning, to obtain the residue wheeled of accumulator in braking electric energy recovery subsystem
Milimeter number.
Further, in order to realize the recovery to braking energy, described braking electric energy reclaims subsystem, including hydraulic brake
Structure, and the brake coordination assembly matched with this hydraulic brake mechanism；When braking, described brake coordination assembly is suitable to produce
With the direction of motion opposite effect power of piston in hydraulic brake mechanism, the electric energy that wheel drive motors braking produces is passed through simultaneously
Accumulator is charged by one boost module；Or the electric energy that wheel drive motors braking produced by after a boost module again through fast
Accumulator is charged by speed charging circuit.
Preferably, during in order to be further implemented in brake, start brake coordination assembly；Described braking electric energy reclaims subsystem
Also include: brake assemblies, in described brake assemblies, be provided with travel switch K；When braking, travel switch K triggers, to produce
Raw described active force；Described hydraulic brake mechanism sets the master cylinder of described piston in including, described piston passes through piston rod and stops
Car assembly is connected.
Preferably, in order to preferably make brake assemblies coordinate brake coordination component operation；Described brake assemblies includes: two-sided
Rack slide；Described brake coordination assembly includes: single-side rack slide block；Driving cog is passed through in the lower surface of described the two-sided rack slide block
Wheel assembly coordinates with brake pedal, engages a brake coordination gear, this system between its upper surface and the lower surface of single-side rack slide block
Dynamic gear of coordinating is connected with the end of described piston rod；During brake, it is sliding that brake pedal controls the two-sided rack by driving gear component
Block drives brake coordination pinion rotation, and this brake coordination gear is suitable to drive hydraulic brake mechanism to produce wheel hub by piston rod
Raw braking；And described brake coordination assembly produces active force by single-side rack slide block to brake coordination gear；By simple,
Circuit structure produces described active force reliably；Described brake coordination assembly also includes, electromagnetic induction device, this battery sensing dress
Put and controlled by the auxiliary switch in described travel switch K；Described electromagnetic induction device is suitable to after travel switch K triggers, auxiliary
On-off control electromagnetic induction device is helped to obtain electric, to produce described active force；Described electromagnetic induction device includes: solenoid, should
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, band
Dynamic single-side rack slide block produces described active force to brake coordination gear；Described iron core sleeve is located in a hollow shell, described electromagnetism
Coil 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 exists
By the inner wall of end resilient engagement of compression spring with described hollow shell in described hollow shell；Described iron core is 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, be driven by wheel
Accumulator is charged by the electric energy of galvanic electricity mechanism movable property life；In order to avoid, after auxiliary switch disconnects, wheel is driven by accumulator
Motor also keeps driving effect；Described charging circuit includes diode；One end phase of the positive pole of described accumulator and solenoid
Even, the other end of this battery coil is connected with the negative electrode of described diode, the outfan phase of the anode of this diode and boost module
Even, the input of described boost module is connected with wheel drive motors one end, the negative pole of described accumulator and wheel drive motors
The other end is connected；Described auxiliary switch is normally closed switch, the two ends of this normally closed switch be connected to the input of boost module,
The positive pole of accumulator.
Preferably, in order to realize quick charge, reducing waste of energy, described charging circuit includes: first, second 2 poles
Pipe and charging capacitor；Described auxiliary switch is first, second normally closed switch and a normal open switch；The positive pole of described accumulator and
First end of one normally closed switch is connected, and the second end of this first normal open switch passes through described solenoid and the negative electrode of the first diode
Being connected, the anode of this first diode is connected with the outfan of boost module, and the input of described boost module is negative with accumulator
Pole connects the two ends with wheel drive motors respectively；Second end of described first normally closed switch also with one end phase of the second normally closed switch
Even, the other end of this second normally closed switch is connected with the input of boost module；Described second diode anode and charging capacitor one
End is connected and constitutes described quick-charging circuit, and this quick-charging circuit is parallel to accumulator two ends, and described second diode sun
Pole 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, by speech recognition subsystem and/or people
Border interactive interface is controlled instruction input.
The invention has the beneficial effects as follows, (1) present invention is suitable to according to judging the traffic capacity of road intuitively, real
Existing path planning, has real-time good, the more intuitive advantage of traffic；(2) described braking electric energy reclaims subsystem, it is possible to
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
The loss of conventional brake friction plate can be reduced again；(3) described braking electric energy reclaims subsystem, uses frame for movement to realize motor
Brake force coordinates the most continuously, in real time with hydraulic braking force and coordinates regulation, frame for movement is relatively easy,
Cost is greatly reduced and functional reliability significantly improves；(4) present invention can effectively improve wheel driving electricity by boost module
The machine charge efficiency to accumulator；(5) present invention is by being reconstructed speech data, to improve the recognition effect of voice, has
Effect avoid 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 is solid
Determine 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, only to show
Meaning mode illustrates the basic structure of the present invention, 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 by wireless transmission mould
Block sends described current video and/or image.
On-vehicle navigation apparatus, in advance travel route planning, when the vehicle being configured with this on-vehicle navigation apparatus i.e. will travel to rule
During the n-th crossing (such as: from this n-th crossing 30-150 rice, preferably 60 or 50 meters) of the traffic path drawn, connect
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, preferably 60 at described vehicle
Or 50 meters) described n-th crossing or when traffic light such as described n-th crossings, described on-vehicle navigation apparatus is just aobvious
Show current video and/or the image at described (n+1)th crossing, it is to avoid driver takes sb's mind off sth when driving, to improve
The safety of driving.
It is provided with speech recognition subsystem, according to this speech recognition subsystem to described vehicle mounted guidance in described on-vehicle navigation apparatus
Device input phonetic order.
Further, described supervising device includes: image information collecting unit, be connected with this image information collecting unit
One processor module, the outfan of this processor module is connected with described wireless sending module；Described on-vehicle navigation apparatus includes
Two processor modules and the GPS locating module being connected with this second processor module, wireless receiving module, memory module
And human-computer interaction interface；Described second processor module is suitable to according to the cartographic information in GPS locating module and memory module
Travel route planning, when vehicle travels the n-th crossing with described traffic path, described wireless receiving module receives this trip
In route, the described current video at (n+1)th crossing and/or image, shown by human-computer interaction interface.
Wherein, described first, second processor module is such as but not limited to using single-chip microcomputer, and embedded chip etc. processes
Device.Human-computer interaction interface can use touch screen.The positive integer of the n-th n >=1 in crossing.Described image information collecting unit
Radix Rumicis, high-definition camera can be used, be installed at crossing.Wireless sending module and wireless receiving module can use WiFi
Module realizes.
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 voice number to be identified
According to；Sample memory module, is suitable to store sample voice data；The language being connected with described voice acquisition module and sample memory module
Sound processing module, this speech processing module is suitable to carry out mixing to reconstruct the voice being suitable to identify by sample, speech data to be identified
Data；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 by the non-standard mandarin of phonetic entry and related term in sample data
The pronunciation converged carries out combined training, to reconstruct a kind of speech data being suitable to and identifying, and in effectively avoiding car noise to language
The interference of sound identification.
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 is single
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, by sample, treats
Identify that the result of speech decomposition carries out alignment after characteristic parameter extraction；And characteristic parameter training module, each characteristic parameter is carried out
Mixed Gaussian stochastic process is trained.
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, solve the auto-correlation letter of this voice
Number, utilizes the first side lobe peak of auto-correlation function to carry out approximate evaluation pitch period, and 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
For 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.Profit
The sinusoidal wave discrete amplitude values of constraint solving and phase value is come with least-squares algorithm.
Described parameter pretreatment module includes: characteristic parameter extraction submodule, is suitable to extract and is believed by described voiced sound, sore throat relieving
Number characteristic parameter, to obtain described sample or the characteristic parameter of speech data to be identified；Characteristic parameter alignment submodule, right
In sample and characteristic parameter to be identified, utilize time map to realize Corresponding matching, i.e. utilize the dynamic time warping algorithm will wherein
On the nonlinear time shaft being mapped to another feature parameter of the time shaft of one characteristic parameter, it is achieved 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 this numerical value is approximately considered
It it is discrete power spectral function.
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
To obtain approximating auto-correlation function, according to Linear prediction analysis method, utilize auto-correlation function to solve and obtain linear prediction system
Number；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, then utilizing the linear of classics
It is analyzed by predictive analysis, 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 in given input and output vector set, (this collection is combined into the sample of extraction
Characteristic parameter) on the premise of, output vector sequence is approximately equal to the weighted array of multiple Gaussian random process.Wherein, Gauss
The input of stochastic process is given input vector sequence.All of weight coefficient and the average of each Gaussian random process and side
Difference parameter, is unknown parameter to be estimated；Approximate evaluation weight coefficient and model parameter is come by Markov chain Monte-Carlo method
The associating posterior probability density function of (average of Gaussian process and variance), i.e. assumes initially that between weight coefficient and model parameter full
The separate characteristic of foot, then progressively estimates both probability density functions by the way of iteration, in each iterative process, first
Fixing a kind of known variables, then samples to another kind of known variables, approximates its probability distribution 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；To joint probability density
Function carries out marginalisation, respectively obtains the estimation of the probability distribution of the probability distribution to weight coefficient and model parameter, so far, mixing
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 structure of the mixed Gaussian stochastic process trained
Parameter, asks for the membership function value of current speech frame, so-called membership function, refers to the ratio of normalization posteriority weight coefficient
Value；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 is stacked up, power system
Number is exactly the value of membership function, finally gives the speech characteristic parameter after mapping.Wherein, this speech characteristic parameter is for sample
Basis, 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, obtain the described voice of reconstruct
Data；Concrete, described voice synthetic module is suitable to the discrete harmonic amplitude of Voiced signal and phase value is used as the width of sinusoidal signal
After angle value and phase value are overlapped, with by an all-pole filter, Unvoiced signal is overlapped, obtains described voice number
According to.
Speech recognition subsystem in the present invention can effectively improve speech recognition capabilities, and in ignoring car, noise is to speech recognition
Impact.
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, and described on-vehicle navigation apparatus is further adapted for when described traffic path is planned again
After, calculate again the passage rate of path planning, public to obtain the residue wheeled of accumulator in braking electric energy recovery subsystem
Mileage.
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 reclaim subsystem, including hydraulic brake mechanism 2, and with this hydraulic brake
The brake coordination assembly 4 that structure 2 matches；When braking, described brake coordination assembly 4 is suitable to produce and hydraulic brake mechanism 2
The direction of motion opposite effect power of middle piston 24, the electric energy simultaneously braking of wheel drive motors M produced is by one liter of pressing mold
Accumulator is charged by block；Or it is electric through quick charge again after the electric energy that wheel drive motors braking produces is passed through a boost module
Accumulator is charged by road.
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 CN 203933389U can also be used.
Concrete, described braking electric energy reclaims subsystem and also includes: brake assemblies 3, is provided with stroke in described brake assemblies 3
Switch K；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 passes through piston rod
It is connected with brake assemblies 3.
As a kind of optional embodiment of this hydraulic brake mechanism, described hydraulic brake mechanism 2 also includes: set respectively
Brake block 21 on each wheel hub 1 and wheel cylinder 22；Described piston 24 produces hydraulic pressure (braking in master cylinder 23
Hydraulic coupling), 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, its upper surface and one side
A brake coordination gear 34 is engaged, this brake coordination gear 34 and the end of described piston rod between the lower surface of rack slide 42
End is connected.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 cunning
Dynamic；And single-side rack slide block 42 is movably disposed in second and fixes on guide rail 41, be suitable to fix on guide rail 41 second
Slide.
When braking, brake pedal 31 drives brake coordination gear by driving gear component control the two-sided rack slide block 36
34 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 and brake pedal
31 are connected, and 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 drives piston 24 to move, so that producing hydraulic pressure in master cylinder 23, complete
Become skidding.Meanwhile, owing to travel switch K triggers, the described active force that brake coordination assembly 4 produces reversely is made
For brake coordination gear 34, force the hydraulic pressure value in master cylinder suitably to reduce, reduce by the consumed kinetic energy that brakes, and should
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 by described travel switch K
Auxiliary switch control；Described electromagnetic induction device is suitable to after travel switch K triggers, and auxiliary switch controls electromagnetic induction dress
Put 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 adhesive
Iron 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 cog
Bar slide block 42 produces described active force to brake coordination gear 34.
As a kind of optional embodiment of electromagnetic induction device, described iron core 44 is sheathed in a hollow shell 45, institute
State solenoid 46 to be set around on this hollow shell 45 periphery；Connecting rod 43 and single-side rack are passed through in one end of described iron core 44
Slide block 42 is connected, and the other end passes through the inner wall of end of compression spring 47 and described hollow shell 45 in described hollow shell 45
Resilient engagement；Described iron core 44 with a pair magnetic pole, this magnetic pole is suitable to solenoid 46 electric after, make iron core 44 to
Compression spring 47 direction is moved, simultaneously produce act on brake coordination gear 34 described active force (opposition, i.e. with
After stepping on brake pedal 31, 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 it 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, by wheel drive motors
Accumulator E is charged by the electric energy that M braking produces.
Specific embodiment: described charging circuit includes diode VD；The positive pole of described accumulator E and solenoid
One end of 46 be connected, the other end of this battery coil is connected with the negative electrode of described diode VD, the anode of this diode VD and
The outfan of boost module is connected, and the input of described boost module is connected with wheel drive motors M one end, described accumulator
The negative pole of E is connected with the other end of wheel drive motors M；Described auxiliary switch is normally closed switch, the two ends of this normally closed switch
It is 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
By solenoid 46, wheel drive motors M is discharged；And by described boost module, can effectively improve charging
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, will be through
Crossing solenoid 46 to be shorted, accumulator E supplies electric drive running car to wheel drive motors M；Now iron core 44 is pressed
Contracting spring 47 bullet is to the side of hollow shell 45；
When driver steps on brake pedal 31, the braking instruction of brake pedal 31 passes sequentially through the first transfer gear 32, second and passes
Lead gear 33, the two-sided rack slide block 36 passes to brake coordination gear 34, and then drives piston 24 to move, so that braking is main
Produce hydraulic pressure in cylinder 23, complete skidding；Meanwhile, auxiliary switch is opened, and wheel drive motors M produces brake force and leads to
Accumulator E is charged by overcharge circuit, and charging current produces magnetic field when solenoid 46 so that iron core 44 overcomes compression
The elastic force of spring 47 moves right, and iron core 44 drives single-side rack slide block 42 to move right by connecting rod 43 so that braking
Coordinating gear 34 to rotate backward, brake coordination gear 34 rotates backward drive piston 24 and moves right, thus it is main to reduce braking
Hydraulic pressure (brake fluid pressure) in cylinder 23.
When driver steps on brake pedal 31, the brake force of vehicle is consequently exerted at brake force (the hydraulic pressure system on wheel hub 1
The hydraulic braking force that motivation structure 2 produces) and the brake force that produces of wheel drive motors M with joint efforts；When speed is the fastest, then car
The stalling current produced in wheel drive motor M is the biggest, and motor braking power is the biggest, and the suction that solenoid 46 produces is more
Greatly, the displacement that iron core 44 moves is the biggest, and the oil pressure in master cylinder 23 is the least, and hydraulic braking force is the least, thus works as
During automobile high-speed braking, increase motor braking power, reduce by the conventional friction brake force of hydraulic braking, thus reduce conventional brake
The abrasion of friction plate in device, improves 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
Time, wheel drive motors M cannot be to the charging of accumulator E and/or generation brake force, and now electric automobile is by hydraulic brake mechanism
2 use the braking of conventional hydraulic mode of braking, it is ensured that traffic safety.
Following table is that the braking electric energy of conventional hydraulic mode of braking and the present invention reclaims subsystem braking distance survey under each speed
Test result.
Knowable to this table, the braking electric energy of the present invention reclaims the braking effect base that subsystem produces with conventional hydraulic mode of braking
This is the most identical, therefore, present invention achieves and makes a concerted effort to meet in the case of automobile brake requires in the braking both ensureing, can improve
In braking procedure, the response rate of braking energy can reduce again the loss of conventional brake friction plate.
The braking electric energy of the present invention reclaims subsystem, makes electric braking force and hydraulic braking force in certain limit by frame for movement
In be adjusted in real time continuously, eliminate prior art middle controller or single chip circuit and calculate 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 by leading screw drive move left and right with
Replacing electromagnetic induction device, concrete scheme includes:
Described leading screw is driven by motor, and this motor is controlled by a MCU module, and described MCU module is gathered by Hall element
The current value that the braking of wheel drive motors M produces is to control Motor torque, and then the displacement of regulation single-side rack slide block.
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 normally closed switch
First end is connected, and the 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, the input of described boost module and accumulator E
Negative pole connects the two ends with wheel drive motors M respectively；Second end of described first normally closed switch also with the second normally closed switch
One end 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
The described quick-charging circuit of the composition that is connected with charging capacitor C one end, this quick-charging circuit is parallel to accumulator E two ends, with
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 compares accumulator
Want fast, so the electric current often causing braking to produce has little time to be charged accumulator E i.e. disappearing, therefore, charging effect
Rate 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 carried out battery by the second diode VD2
Electric discharge.
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, its by speech recognition subsystem and/
Or interpersonal interactive interface is controlled instruction input.
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 figure by being positioned at the supervising device at each crossing
Picture, and send 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 vehicle drives to the trip of planning
During the n-th crossing of route, receive described current video and/or the image at (n+1)th crossing in this traffic path, for driving
The person of sailing checks；Wherein, only described n-th crossing will be arrived or in traffic signal such as described n-th crossings at described vehicle
During lamp, 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 is complete
Various change and amendment can be carried out in the range of without departing from this invention technological thought.The technical model of this invention
Enclose the content being 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 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 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.
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