CN106032990A - Working method of real scene navigation system - Google Patents
Working method of real scene navigation system Download PDFInfo
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- CN106032990A CN106032990A CN201510124699.7A CN201510124699A CN106032990A CN 106032990 A CN106032990 A CN 106032990A CN 201510124699 A CN201510124699 A CN 201510124699A CN 106032990 A CN106032990 A CN 106032990A
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- vehicle
- streetscape
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- braking
- navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3626—Details of the output of route guidance instructions
- G01C21/3647—Guidance involving output of stored or live camera images or video streams
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
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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
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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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
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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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
- Y02T90/14—Plug-in electric vehicles
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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 relates to a working method of a real scene navigation system. A navigation system comprises the following components: a navigation apparatus and multiple camera devices which are arranged at periphery of a vehicle. A navigation apparatus comprises the following components: a gyroscope for obtaining a driving direction of the vehicle; a GPS module for obtaining a driving position of the vehicle; a data storage device for storing map data and street scenery data; and a processor module and a display module. Light shields are arranged on lenses of the camera devices. When the vehicle drives according to a preset navigation path, the camera devices shoot real-time scene surrounding the vehicle at present along with the vehicle; if complex crossings exist in front, the processor module matches the real-time scene with a street scene of the corresponding position which is prestored in the data storage device, and at the same time the preset navigation path is combined, and the current position, the path, and the correct driving direction of the vehicle are judged; the display module is controlled in order to display corresponding navigation images.
Description
Technical field
The present invention relates to navigation field, particularly relate to the method for work of a kind of real scene navigation system.
Background technology
Navigator is in actual navigation procedure, due to map rejuvenation not in time, the reasons such as navigation signal precision is relatively low, when causing vehicle to drive to complex crossing (refer to have the rotary island at multiple crossing, cross fork in the road, M shape crossing, have the crossing etc. at the up road junction of overhead road of city), image is the most delayed for the instruction of navigator or navigation instruction, even make mistakes, or navigation picture is difficult and actual road conditions accurate match, this easily causes driver and sails the travel route of mistake into.How to avoid the above-mentioned technical barrier that technical problem is that navigation field.
Summary of the invention
It is an object of the invention to provide the method for work of a kind of navigation system, it can provide and update the navigation picture consistent with actual streetscape, with improve complex crossing navigation reliability and ease for use, it is to avoid sail into mistake route.
In order to solve above-mentioned technical problem, the invention provides the method for work of a kind of navigation system, this navigation system includes: guider (this device can be on-vehicle navigation apparatus, it is also possible to be the smart machines such as mobile phone or the panel computer with GPS navigation function) and multiple camera head being located at vehicle periphery；Described guider includes: for obtaining the gyroscope of vehicle heading, for obtaining the GPS module of vehicle traveling-position, for storing map datum and the data storage of streetscape data, and processor module and display module；The camera lens of camera head is provided with shade；Processor module obtains vehicle acceleration, speed, height above sea level, reclining angle information by gyroscope；Described method of work includes: when vehicle is travelled by pre-set navigational path, and the real time scene around vehicle captured in real-time Current vehicle followed by described camera head；If there is complex crossing in front, the streetscape of described real time scene with the correspondence position prestored in described data storage is carried out mating that (corresponding image matching technology is prior art by the most described processor module, wherein, a kind of optional method is the method using characteristic matching, the most first gather the landmark building in described real time scene and/or road sign and/or significant streetscape etc., then the appropriate section in the streetscape of the correspondence position prestored in itself and described data storage is carried out comparison one by one, if there being the similarity of more than 70%, i.e. think identical；Matching process known to other can also be used), in combination with described pre-set navigational path, it is judged that the position at Current vehicle place, road and correct travel direction；Then control described display module and show corresponding navigation picture, include at this navigation picture: the described real time scene of Current vehicle dead ahead and mark the vehicle heading matched with guidance path in this real time scene with arrow；Described arrow is labeled on the road in real time scene.
Preferably, described camera head includes that at least one is located at the photographic head of right ahead；Described real time scene is mated by described processor module with the correspondence position prestored in described data storage, the streetscape in orientation, to update described streetscape data；Play and improve the accuracy of images match, the effect of reliability further.
Preferably, when the streetscape of described real time scene with the correspondence position prestored in described data storage, orientation (or corresponding vehicle attitude, travel direction) is mated by described processor module, include updating the method for described streetscape data:
If recording described real time scene relative to described streetscape, there is new road sign or traffic mark, or certain external wall billboard or decorative hair change more, or newly-increased building or fork in the road etc. easily found by driver and distinguish object time, the most described processor module is according to described real time scene, to the correspondence position prestored in described data storage, corresponding orientation (or corresponding vehicle attitude, travel direction) streetscape be updated, in the corresponding streetscape of described data storage, i.e. update described new road sign or traffic mark, or certain external wall billboard or decoration, or the object that newly-increased building or fork in the road etc. are easily found by driver and distinguish, during to facilitate come same place next time, corresponding image can be carried out quickly, accurate match.
Described navigation system also includes: can be with the remote server of described guider wireless telecommunications, the real time scene that this remote server real-time reception shoots from multiple guiders；Remote server includes a three-dimensional map data storehouse, and in this three-dimensional map data storehouse, storage has a region: navigation map data, streetscape is, and/or the position of building and elevation information, and/or mountain range or the position on hills and elevation information；This remote server extracts streetscape therein according to described real time scene, and/or the exterior wall image of building, and/or the outline drawing picture on mountain range or hills, then this image streetscape to the relevant position in three-dimensional map data storehouse that will obtain, and/or building, and/or the outline drawing picture of the corresponding orientation on mountain range or hills fill accordingly (in original described three-dimensional map data storehouse storage streetscape, external wall, the profile on mountain range or hills is default or blank) or update, have and the actual streetscape being consistent to obtain, and/or the exterior wall image of building, and/or the three-dimensional map data storehouse of the outline drawing picture on mountain range or hills.Wherein, each image is accompanied with the information such as geographical coordinate, orientation.
When the gps signal that gps signal or reception were damaged, maybe cannot be received to the GPS module of described guider is invalid, guider obtains the streetscape of current location periphery and/or the outline drawing picture at least one orientation on building and/or mountain range or hills by camera head, then this outline drawing picture is mated with the relevant position of storage, the image of corresponding orientation in remote server, to find the image matched, and then draw current location map reference and towards, and mark on navigation map, to be accurately positioned in time, and then user is avoided to get lost.
Described guider according to the map reference of described current location and towards, carry out path navigation.
Present invention also offers a kind of vehicle applying above-mentioned navigation system.Wherein, the vehicle applying above-mentioned navigation system is electric automobile；It is provided with braking electric energy in described vehicle and reclaims subsystem, described braking electric energy reclaims subsystem and is connected with guider, described guider is further adapted for after described traffic path is planned again, calculate again the passage rate of path planning, to obtain the residue wheeled milimeter number of accumulator in braking electric energy recovery subsystem.
Further, in order to realize the recovery to braking energy, described braking electric energy reclaims subsystem, including hydraulic brake mechanism, and the brake coordination assembly matched with this hydraulic brake mechanism；When braking, described brake coordination assembly is suitable to produce and the direction of motion opposite effect power of piston in hydraulic brake mechanism, is charged accumulator by a boost module by the electric energy that wheel drive motors braking produces simultaneously；Or by the electric energy of wheel drive motors braking generation by accumulator being charged through quick-charging circuit again after a boost module.
Preferably, during in order to be further implemented in brake, start brake coordination assembly；Described braking electric energy reclaims subsystem and also includes: brake assemblies, is provided with travel switch K in described brake assemblies；When braking, travel switch K triggers, to produce described active force；Described hydraulic brake mechanism sets the master cylinder of described piston in including, described piston is connected with brake assemblies by piston rod.
Preferably, in order to preferably make brake assemblies coordinate brake coordination component operation；Described brake assemblies includes: the two-sided rack slide block；Described brake coordination assembly includes: single-side rack slide block；The lower surface of described the two-sided rack slide block is coordinated with brake pedal by driving gear component, engages a brake coordination gear between its upper surface and the lower surface of single-side rack slide block, and this brake coordination gear is connected with the end of described piston rod；During brake, brake pedal controls the two-sided rack slide block by driving gear component and drives brake coordination pinion rotation, and this brake coordination gear is suitable to drive hydraulic brake mechanism that wheel hub is produced braking by piston rod；And described brake coordination assembly produces active force by single-side rack slide block to brake coordination gear；Described active force is produced by circuit structure simple, reliable；Described brake coordination assembly also includes, electromagnetic induction device, and this battery sensing device is controlled by the auxiliary switch in described travel switch K；Described electromagnetic induction device is suitable to after travel switch K triggers, and auxiliary switch controls electromagnetic induction device and obtains electric, to produce described active force；Described electromagnetic induction device includes: solenoid, and this solenoid is suitable to obtain electric pull-core；Described iron core is connected with single-side rack slide block, is suitable for when solenoid obtains electric, drives single-side rack slide block that brake coordination gear is produced described active force；Described iron core sleeve is located in a hollow shell, and described solenoid is set around on this hollow shell periphery；One end of described iron core is connected with single-side rack slide block by connecting rod, and the other end passes through the inner wall of end resilient engagement of compression spring and described hollow shell in described hollow shell；Described iron core with a pair magnetic pole, this magnetic pole is suitable to solenoid obtain electric after, make iron core move to compression spring direction.
Preferably, described brake coordination assembly also includes charging circuit, and this charging circuit is suitable to, when brake, the electric energy that wheel drive motors braking produces be charged accumulator；In order to avoid, after auxiliary switch disconnects, wheel drive motors is also kept driving effect by accumulator；Described charging circuit includes diode；The positive pole of described accumulator is connected with one end of solenoid, the other end of this battery coil is connected with the negative electrode of described diode, the anode of this diode is connected with the outfan of boost module, the input of described boost module is connected with wheel drive motors one end, and the negative pole of described accumulator is connected with the other end of wheel drive motors；Described auxiliary switch is normally closed switch, and the two ends of this normally closed switch are connected to the positive pole of the input of boost module, accumulator.
Preferably, in order to realize quick charge, reducing waste of energy, described charging circuit includes: first, second diode and charging capacitor；Described auxiliary switch is first, second normally closed switch and a normal open switch；The positive pole of described accumulator and the first end of the first normally closed switch are connected, second end of this first normal open switch is connected by the negative electrode of described solenoid and the first diode, the anode of this first diode is connected with the outfan of boost module, and the input of described boost module is connected the two ends with wheel drive motors respectively with the negative pole of accumulator；Second end of described first normally closed switch also one end with the second normally closed switch is connected, and the other end of this second normally closed switch is connected with the input of boost module；Described second diode anode is connected with charging capacitor one end and constitutes described quick-charging circuit, and this quick-charging circuit is parallel to accumulator two ends, and described second diode anode is connected also by the second end of described normal open switch and the first normally closed switch.
The invention has the beneficial effects as follows, (1) roadside streetscape is combined by the real scene navigation system of the present invention with guidance path, to realize marking the vehicle heading matched with guidance path in the streetscape of roadside, there is real-time good, the advantage that the property guided is good, improve in the reliability of navigation of complex crossing and ease for use, driver can be avoided to sail the travel route of mistake into；(2) described braking electric energy reclaims subsystem, it is possible to makes a concerted effort to meet in the case of automobile brake requires in the braking both ensureing, can improve the response rate of braking energy in braking procedure and can reduce again the loss of conventional brake friction plate；(3) described braking electric energy reclaims subsystem, using frame for movement to realize motor braking power to coordinate the most continuously, in real time with hydraulic braking force and coordinate regulation, frame for movement is relatively easy, cost is greatly reduced and functional reliability significantly improves；(4) present invention can effectively improve the wheel drive motors charge efficiency to accumulator by boost module.
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 that the braking electric energy of the present invention reclaims the structural representation of subsystem；
Fig. 3 shows that the braking electric energy of the present invention reclaims the structural representation of the second embodiment of subsystem；
Fig. 4 shows the circuit diagram of the second charging circuit of the present invention.
In figure: wheel hub 1；
Hydraulic brake mechanism 2, brake block 21, wheel cylinder 22, master cylinder 23, piston 24；
Brake assemblies 3, brake pedal 31, the first transfer gear 32, the second transfer gear 33, brake coordination gear 34, first fixes guide rail 35, the two-sided rack slide block 36, travel switch K；
Brake coordination assembly 4, second fixes guide rail 41, single-side rack slide block 42, connecting rod 43, iron core 44, hollow shell 45, solenoid 46, compression spring 47；
Wheel drive motors M, accumulator E, diode VD；
First diode VD1, the second diode VD2, charging capacitor C.
Detailed description of the invention
In conjunction with the accompanying drawings, the present invention is further detailed explanation.These accompanying drawings are the schematic diagram of simplification, and the basic structure of the present invention is described the most in a schematic way, and therefore it only shows the composition relevant with the present invention.
Embodiment 1
Fig. 1 shows the theory diagram of the real scene navigation system of the present invention.
As it is shown in figure 1, the invention provides the method for work of a kind of navigation system, described navigation system includes: guider and camera head；Described guider includes: for obtaining the gyroscope of vehicle heading, for obtaining the GPS module of vehicle traveling-position, for storing map datum and the data storage of streetscape data, and processor module and display module.
Described method of work includes: when vehicle is travelled by pre-set navigational path, and the real time scene around vehicle captured in real-time Current vehicle followed by described camera head；If there is complex crossing in front, the streetscape of described real time scene with the correspondence position prestored in described data storage is mated by the most described processor module, in combination with described pre-set navigational path, it is judged that the position at Current vehicle place, road and correct travel direction；Then control described display module and show corresponding navigation picture, include at this navigation picture: the described real time scene of Current vehicle dead ahead and mark the vehicle heading matched with guidance path in this real time scene with arrow.
Wherein, described complex crossing refers to be easily caused the crossing of the route that driver sails mistake into, and it includes but not limited to the rotary island at multiple crossing, cross fork in the road, Y shape crossing, M shape crossing, has overhead road of city up-downgoing road junction or the crossing etc. at descending road junction,
Described camera head includes that at least one is located at the photographic head of right ahead；Described real time scene is mated by described processor module with the correspondence position prestored in described data storage, the streetscape in orientation, to update described streetscape data.
Further, at least one photographic head is respectively set being positioned at vehicle both sides, rear side, to obtain the image of vehicle both sides, rear side.
It is further preferred that obtained the information such as vehicle acceleration, speed, height above sea level, reclining angle by gyroscope, by information structure vehicle attitudes such as vehicle travel headings, vehicle acceleration, speed, height above sea level, reclining angles.Described real time scene is mated by described processor module with the correspondence position prestored in described data storage, the streetscape of corresponding vehicle attitude, to improve the accuracy of images match, reliability further.
As the present embodiment one preferred embodiment, the method of work of described navigation system also includes, when described real time scene is mated by described processor module with the correspondence position prestored in described data storage, the streetscape in orientation, include updating the method for described streetscape data:
If recording described real time scene relative to described streetscape, there is new road sign or traffic mark, or certain external wall billboard or decorative hair change more, or newly-increased building or fork in the road, the most described processor module is according to described real time scene, the streetscape of the correspondence position prestored in described data storage, corresponding orientation is updated, in the corresponding streetscape of described data storage, i.e. update described new road sign or traffic mark, or certain external wall billboard or decoration, or newly-increased building or fork in the road.
Further, described navigation system also includes: can be (concrete with the remote server of described guider wireless telecommunications, described wireless device can use the means of communications such as 3G/4G to realize, belong to known technology, here repeat no more), the real time scene that this remote server real-time reception shoots from multiple guiders；Remote server includes a three-dimensional map data storehouse, and in this three-dimensional map data storehouse, storage has a region: navigation map data, streetscape is, and/or the position of building and elevation information, and/or mountain range or the position on hills and elevation information；This remote server extracts streetscape therein according to described real time scene, and/or the exterior wall image of building, and/or the outline drawing picture on mountain range or hills, then this image streetscape to the relevant position in three-dimensional map data storehouse that will obtain, and/or building, and/or the outline drawing picture of the corresponding orientation on mountain range or hills fill accordingly (in original described three-dimensional map data storehouse storage streetscape, external wall, the profile on mountain range or hills is default or blank) or update (the streetscape stored in original described three-dimensional map data storehouse, external wall, the profile on mountain range or hills is outmoded), have and the actual streetscape being consistent to obtain, and/or the exterior wall image of building, and/or the three-dimensional map data storehouse of the outline drawing picture on mountain range or hills.Wherein, each image is accompanied with the information such as geographical coordinate, orientation.
As this one implemented preferred embodiment, when the GPS module of described guider cannot receive gps signal, such as GPS module is damaged, gps signal cannot be received, when the gps signal of reception is invalid, guider obtains the streetscape of current location periphery by camera head, and/or building, and/or the outline drawing picture at least one orientation on mountain range or hills, then by this outline drawing picture and the relevant position of storage in remote server, the image of corresponding orientation mates, to find the image matched, and then draw current location map reference and towards, and mark on navigation map, to be accurately positioned in time, and then avoid user to get lost.Preferably employ the outline drawing picture that mountain range, hills, skyscraper etc. are less likely to occur to change scenery as reference.
Described guider be suitable to the map reference according to described current location and towards, carry out path navigation.
This preferred embodiment provides a kind of new navigation mode, and this navigation does not has error accumulation, accurate positioning, alternative traditional inertial navigation technology scheme when gps signal is lost.
Embodiment 2
On the basis of embodiment 1, present invention also offers a kind of vehicle applying above-mentioned navigation system.
Described vehicle is electric automobile；It is provided with braking electric energy in described vehicle and reclaims subsystem, described braking electric energy reclaims subsystem and is connected with guider, described guider 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.Concrete processor module can realize calculating the function of residue wheeled milimeter number.
Fig. 2 shows that the braking electric energy of the present invention reclaims the structural representation of subsystem.
As in figure 2 it is shown, described braking electric energy reclaims subsystem, including hydraulic brake mechanism 2, and the brake coordination assembly 4 matched with this hydraulic brake mechanism 2；When braking, described brake coordination assembly 4 is suitable to produce and the direction of motion opposite effect power of piston 24 in hydraulic brake mechanism 2, is charged accumulator by a boost module by the electric energy that the braking of wheel drive motors M produces simultaneously；Or by the electric energy of wheel drive motors braking generation by accumulator being charged through quick-charging circuit again after a boost module.
Wherein, described boost module can use boost chip to realize, such as but not limited to mc34063, ICL7660；The DC source boost module such as disclosed in patent documentation CN 203933389U can also be used.
Concrete, described braking electric energy reclaims subsystem and also includes: brake assemblies 3, is provided with travel switch K in described brake assemblies 3；When braking, travel switch K triggers, to produce described active force.
Described hydraulic brake mechanism 2 sets the master cylinder 23 of described piston 24 in including, described piston 24 is connected with brake assemblies 3 by piston rod.
As a kind of optional embodiment of this hydraulic brake mechanism, described hydraulic brake mechanism 2 also includes: be respectively arranged on the brake block 21 on each wheel hub 1 and wheel cylinder 22；Described piston 24 produces hydraulic pressure (brake fluid pressure) in master cylinder 23, and this hydraulic conduction to wheel cylinder 22 produces corresponding hydraulic braking force and acts on wheel hub 1 by brake block 21, to realize brake.
Described brake assemblies 3 includes: the two-sided rack slide block 36；Described brake coordination assembly 4 includes: single-side rack slide block 42；The lower surface of described the two-sided rack slide block 36 is coordinated with brake pedal 31 by driving gear component, engages a brake coordination gear 34 between its upper surface and the lower surface of single-side rack slide block 42, and this brake coordination gear 34 is connected with the end of described piston rod.Concrete, the two-sided rack slide block 36 is arranged on first and fixes on guide rail 35 and first can be relied on to fix guide rail 35 and slide；And single-side rack slide block 42 is movably disposed in second and fixes on guide rail 41, be suitable to fix second slide on guide rail 41.
When braking, brake pedal 31 controls the two-sided rack slide block 36 by driving gear component and drives brake coordination gear 34 to rotate, and this brake coordination gear 34 is suitable to drive hydraulic brake mechanism 2 that wheel hub 1 is produced braking by piston rod；And described brake coordination assembly 4 produces described active force by single-side rack slide block 42 to brake coordination gear 34.
Wherein driving gear component includes: first, second transfer gear 33, described first transfer gear 32 is connected with brake pedal 31, the braking instruction of brake pedal 31 passes sequentially through first transfer gear the 32, second transfer gear 33, the two-sided rack slide block 36 passes to brake coordination gear 34, and then drive piston 24 to move, so that producing hydraulic pressure in master cylinder 23, complete skidding.Meanwhile, owing to travel switch K triggers, the described active force back action that brake coordination assembly 4 produces, in brake coordination gear 34, forces the hydraulic pressure value in master cylinder suitably to reduce, reduce by the consumed kinetic energy that brakes, and this kinetic energy is converted into electric energy with storage by the braking of wheel drive motors M.
Described brake coordination assembly 4 also includes, electromagnetic induction device, and this battery sensing device is controlled by the auxiliary switch in described travel switch K；Described electromagnetic induction device is suitable to after travel switch K triggers, and auxiliary switch controls electromagnetic induction device and obtains electric, to produce described active force.
The specific embodiments of described electromagnetic induction device includes: solenoid 46, and this solenoid 46 is suitable to obtain electric pull-core 44；Described iron core 44 is connected with single-side rack slide block 42, is suitable for, when solenoid 46 obtains electric, driving single-side rack slide block 42 that brake coordination gear 34 is produced described active force.
As a kind of optional embodiment of electromagnetic induction device, described iron core 44 is sheathed in a hollow shell 45, and described solenoid 46 is set around on this hollow shell 45 periphery；One end of described iron core 44 is connected with single-side rack slide block 42 by connecting rod 43, and the other end passes through the inner wall of end resilient engagement of compression spring 47 and described hollow shell 45 in described hollow shell 45；Described iron core 44 is with a pair magnetic pole, this magnetic pole is suitable to solenoid 46 electric after, iron core 44 is made to move to compression spring 47 direction, produce the described active force (opposition acting on brake coordination gear 34 simultaneously, i.e. with step on brake pedal 31 after, the two-sided rack slide block 36 active force passing to brake coordination gear 34 is contrary).
As the another kind of optional embodiment of electromagnetic induction device, described iron core 44 is sheathed in a hollow shell 45, and is positioned at the side of solenoid 46.
Described brake coordination assembly 4 also includes charging circuit, and this charging circuit is suitable to, when brake, the electric energy that the braking of wheel drive motors M produces be charged accumulator E.
Specific embodiment: described charging circuit includes diode VD；The positive pole of described accumulator E is connected with one end of solenoid 46, the other end of this battery coil is connected with the negative electrode of described diode VD, the anode of this diode VD is connected with the outfan of boost module, the input of described boost module is connected with wheel drive motors M one end, and the negative pole of described accumulator E is connected with the other end of wheel drive motors M；Described auxiliary switch is normally closed switch, and the two ends of this normally closed switch are connected to the positive pole of the input of boost module, accumulator E.
By the unidirectional feature of diode VD, can effectively avoid accumulator E after normally closed switch is opened, continue through solenoid 46 and wheel drive motors M is discharged；And by described boost module, can effectively improve charge efficiency.
The braking electric energy of the present invention reclaims the operation principle of subsystem:
During electric automobile during traveling, when driver does not touches on the brake pedal 31, auxiliary switch (normally closed switch) closes, and will be shorted through solenoid 46, and accumulator E supplies electric drive running car to wheel drive motors M；Now iron core 44 is by the side of compression spring 47 bullet to hollow shell 45；
When driver steps on brake pedal 31, the braking instruction of brake pedal 31 passes sequentially through first transfer gear the 32, second transfer gear 33, the two-sided rack slide block 36 passes to brake coordination gear 34, and then drive piston 24 to move, so that producing hydraulic pressure in master cylinder 23, complete skidding；Simultaneously, auxiliary switch is opened, wheel drive motors M is produced brake force and is charged accumulator E by charging circuit, charging current produces magnetic field when solenoid 46, making iron core 44 overcome the elastic force of compression spring 47 to move right, iron core 44 drives single-side rack slide block 42 to move right by connecting rod 43 so that brake coordination gear 34 rotates backward, brake coordination gear 34 rotates backward drive piston 24 and moves right, thus reduces the hydraulic pressure (brake fluid pressure) in master cylinder 23.
When driver steps on brake pedal 31, the brake force that brake force that the brake force of vehicle is consequently exerted on wheel hub 1 (hydraulic braking force that hydraulic brake mechanism 2 produces) and wheel drive motors M produce with joint efforts；When speed is the fastest, the stalling current then produced in wheel drive motors M is the biggest, motor braking power is the biggest, and the suction that solenoid 46 produces is the biggest, and the displacement that iron core 44 moves is the biggest, oil pressure in master cylinder 23 is the least, hydraulic braking force is the least, thus when automobile high-speed is braked, increases motor braking power, reduces by the conventional friction brake force of hydraulic braking, thus reduce the abrasion of friction plate in conventional brake, improve the wheel drive motors M response rate to braking energy simultaneously.
Optionally, in electric automobile during traveling, if brake coordination assembly 4 breaks down or accumulator E is in full power state, wheel drive motors M cannot be to the charging of accumulator E and/or generation brake force, now electric automobile is used conventional hydraulic mode of braking to brake by hydraulic brake mechanism 2, it is ensured that traffic safety.
Following table is the braking electric energy recovery subsystem braking distance test result under each speed of conventional hydraulic mode of braking and the present invention.
Knowable to this table, it is essentially identical with the braking effect that conventional hydraulic mode of braking produces that the braking electric energy of the present invention reclaims subsystem, therefore, present invention achieves and make a concerted effort to meet in the case of automobile brake requires in the braking both ensureing, the response rate of braking energy in braking procedure can be improved and can reduce again the loss of conventional brake friction plate.
The braking electric energy of the present invention reclaims subsystem, electric braking force and hydraulic braking force is made to be adjusted in real time continuously within the specific limits by frame for movement, eliminate prior art middle controller or single chip circuit to calculate and control and judge process, thus its coordinate braking ageing more preferably.
Fig. 3 shows that braking electric energy reclaims the structural representation of the second embodiment of subsystem.
As it is shown on figure 3, the single-side rack slide block in described brake coordination assembly can also be driven by leading screw and move left and right to replace electromagnetic induction device, concrete scheme to include:
Described leading screw is driven by motor, and this motor is controlled by a MCU module, described MCU module by Hall element gather wheel drive motors M braking produce current value to control Motor torque, and then regulate single-side rack slide block displacement.
Fig. 4 shows the circuit diagram of the second charging circuit of the present invention.
As shown in Figure 4, concrete scheme includes: described charging circuit includes: first, second diode and charging capacitor C；Described auxiliary switch is first, second normally closed switch and a normal open switch；The positive pole of described accumulator E and the first end of the first normally closed switch are connected, second end of this first normal open switch is connected by the negative electrode of described solenoid and the first diode VD1, the anode of this first diode VD1 is connected with the outfan of boost module, and the input of described boost module is connected the two ends with wheel drive motors M respectively with the negative pole of accumulator E；Second end of described first normally closed switch also one end with the second normally closed switch is connected, and the other end of this second normally closed switch is connected with the input of boost module；Described second diode VD2 anode is connected with charging capacitor C one end and constitutes described quick-charging circuit, this quick-charging circuit is parallel to accumulator E two ends, and described second diode VD2 anode is connected also by the second end of described normal open switch and the first normally closed switch.
Wherein, charging capacitor C can use some bulky capacitor parallel connections to realize, owing to electric capacity charging response speed is faster than accumulator, so the electric current often causing braking to produce has little time to be charged accumulator E i.e. disappearing, therefore, charge efficiency is the lowest, in order to overcome this technical problem, can effectively be avoided the waste of energy of braking generation by quick charge capacitor, improve charge efficiency.
Concrete principle is charging capacitor first to carry out quick charge, is discharged battery by the second diode VD2.
With the above-mentioned desirable embodiment according to the present invention for enlightenment, by above-mentioned description, relevant staff can carry out various change and amendment completely in the range of without departing from this invention technological thought.The content that the technical scope of this invention is not limited in description, it is necessary to determine its technical scope according to right.
Claims (10)
1. the method for work of a navigation system, it is characterised in that described navigation system includes: guider and multiple camera head being located at vehicle periphery；Described guider includes: for obtaining the gyroscope of vehicle heading, for obtaining the GPS module of vehicle traveling-position, for storing map datum and the data storage of streetscape data, and processor module and display module；The camera lens of camera head is provided with shade；
Processor module obtains vehicle acceleration, speed, height above sea level, reclining angle information by gyroscope；
Described method of work includes:
When vehicle is travelled by pre-set navigational path, the real time scene around vehicle captured in real-time Current vehicle followed by described camera head；
If there is complex crossing in front, the streetscape of described real time scene with the correspondence position prestored in data storage is mated by the most described processor module, in combination with described pre-set navigational path, it is judged that the position at Current vehicle place, road and correct travel direction；
Then control described display module and show corresponding navigation picture, include at this navigation picture: the real time scene of Current vehicle dead ahead and mark the vehicle heading matched with guidance path in this real time scene with arrow.
The method of work of navigation system the most according to claim 1, it is characterised in that described camera head includes that at least one is located at the photographic head of right ahead；
Described real time scene is mated by described processor module with the correspondence position prestored in described data storage, the streetscape in orientation, to update described streetscape data.
The method of work of navigation system the most according to claim 2, characterized by further comprising, when described real time scene is mated by described processor module with the correspondence position prestored in described data storage, the streetscape in orientation, include updating the method for described streetscape data:
If recording described real time scene to there is new road sign relative to described streetscape, or traffic mark, or certain external wall billboard, or decorative hair changes more, or newly-increased building, or fork in the road, the most described processor module is according to described real time scene, the streetscape of the correspondence position prestored in described data storage, corresponding orientation is updated, in the corresponding streetscape of described data storage, i.e. updates described new road sign, or traffic mark, or certain external wall billboard, or decoration, or newly-increased building, or fork in the road.
The method of work of navigation system the most according to claim 3, it is characterized in that, described navigation system also includes: can be with the remote server of described guider wireless telecommunications, the real time scene that this remote server real-time reception shoots from multiple guiders；
Described remote server includes a three-dimensional map data storehouse, in this three-dimensional map data storehouse, storage has a region: navigation map data, streetscape, and/or the position of building and elevation information, and/or mountain range or the position on hills and elevation information；
Described remote server extracts streetscape therein according to described real time scene, and/or the exterior wall image of building, and/or the outline drawing picture on mountain range or hills, then this image streetscape to the relevant position in three-dimensional map data storehouse that will obtain, and/or build, and/or the outline drawing picture of the corresponding orientation on mountain range or hills is filled accordingly or updates.
The method of work of navigation system the most according to claim 4, it is characterized in that, when the GPS module of described guider is damaged, maybe cannot receive gps signal, or receive gps signal invalid time, guider obtains the streetscape of current location periphery by camera head, and/or building, and/or the outline drawing picture at least one orientation on mountain range or hills, then by this outline drawing picture and the relevant position of storage in remote server, the image of corresponding orientation mates, to find the image matched, and then draw current location map reference and towards, and mark on navigation map.
The method of work of navigation system the most according to claim 5, it is characterised in that described guider according to the map reference of described current location and towards, carry out path navigation.
7. the vehicle of the navigation system applied described in claim 1 or 2, it is characterised in that described vehicle is electric automobile；
It is provided with braking electric energy in described vehicle and reclaims subsystem, described braking electric energy reclaims subsystem and is connected with guider, described guider 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.
Vehicle the most according to claim 7, 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.
Vehicle the most according to claim 8, 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.
Vehicle the most according to claim 9, 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.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510124699.7A CN106032990B (en) | 2015-03-21 | 2015-03-21 | The working method of real scene navigation system |
| CN201811116687.XA CN109297504A (en) | 2015-03-21 | 2015-03-21 | Using the vehicle of real scene navigation system |
| CN201811115554.0A CN109249808A (en) | 2015-03-21 | 2015-03-21 | Using the vehicle of navigation system and braking electric energy recycling subsystem |
| CN201811116693.5A CN109269515A (en) | 2015-03-21 | 2015-03-21 | A kind of vehicle using navigation system |
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| CN201510124699.7A CN106032990B (en) | 2015-03-21 | 2015-03-21 | The working method of real scene navigation system |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811116687.XA Division CN109297504A (en) | 2015-03-21 | 2015-03-21 | Using the vehicle of real scene navigation system |
| CN201811116693.5A Division CN109269515A (en) | 2015-03-21 | 2015-03-21 | A kind of vehicle using navigation system |
| CN201811115554.0A Division CN109249808A (en) | 2015-03-21 | 2015-03-21 | Using the vehicle of navigation system and braking electric energy recycling subsystem |
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| Publication Number | Publication Date |
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| CN106032990A true CN106032990A (en) | 2016-10-19 |
| CN106032990B CN106032990B (en) | 2019-01-08 |
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| CN201811115554.0A Withdrawn CN109249808A (en) | 2015-03-21 | 2015-03-21 | Using the vehicle of navigation system and braking electric energy recycling subsystem |
| CN201811116693.5A Withdrawn CN109269515A (en) | 2015-03-21 | 2015-03-21 | A kind of vehicle using navigation system |
| CN201510124699.7A Active CN106032990B (en) | 2015-03-21 | 2015-03-21 | The working method of real scene navigation system |
| CN201811116687.XA Withdrawn CN109297504A (en) | 2015-03-21 | 2015-03-21 | Using the vehicle of real scene navigation system |
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| CN201811115554.0A Withdrawn CN109249808A (en) | 2015-03-21 | 2015-03-21 | Using the vehicle of navigation system and braking electric energy recycling subsystem |
| CN201811116693.5A Withdrawn CN109269515A (en) | 2015-03-21 | 2015-03-21 | A kind of vehicle using navigation system |
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| CN201811116687.XA Withdrawn CN109297504A (en) | 2015-03-21 | 2015-03-21 | Using the vehicle of real scene navigation system |
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| CN112050826A (en) * | 2020-09-14 | 2020-12-08 | 深圳市掌锐电子有限公司 | Low-delay high-definition AR multi-path navigation system |
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| CN108151759A (en) * | 2017-10-31 | 2018-06-12 | 捷开通讯(深圳)有限公司 | A kind of air navigation aid, intelligent terminal and navigation server |
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| CN109506658B (en) * | 2018-12-26 | 2021-06-08 | 广州市申迪计算机系统有限公司 | Robot autonomous positioning method and system |
| CN110297936A (en) * | 2019-06-24 | 2019-10-01 | 福建工程学院 | A kind of automatic geographical semantics localization method of video image and system |
| CN110514211A (en) * | 2019-09-10 | 2019-11-29 | 北京百度网讯科技有限公司 | Localization method, device, equipment and medium |
| CN112859107A (en) * | 2019-11-12 | 2021-05-28 | 亚庆股份有限公司 | Vehicle navigation switching equipment of golf course self-driving vehicle |
| CN112859107B (en) * | 2019-11-12 | 2023-11-24 | 亚庆股份有限公司 | Vehicle navigation switching device of golf course self-driving vehicle |
| CN110986978A (en) * | 2019-11-27 | 2020-04-10 | 常州新途软件有限公司 | Real scene auxiliary navigation system and navigation method thereof |
| CN111829544A (en) * | 2020-09-14 | 2020-10-27 | 南京酷朗电子有限公司 | Interactive live-action navigation method |
| CN112050826A (en) * | 2020-09-14 | 2020-12-08 | 深圳市掌锐电子有限公司 | Low-delay high-definition AR multi-path navigation system |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN109297504A (en) | 2019-02-01 |
| CN109269515A (en) | 2019-01-25 |
| CN106032990B (en) | 2019-01-08 |
| CN109249808A (en) | 2019-01-22 |
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