CN108759849A - A kind of self-positioning navigation system of automobile - Google Patents
A kind of self-positioning navigation system of automobile Download PDFInfo
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- CN108759849A CN108759849A CN201810514911.4A CN201810514911A CN108759849A CN 108759849 A CN108759849 A CN 108759849A CN 201810514911 A CN201810514911 A CN 201810514911A CN 108759849 A CN108759849 A CN 108759849A
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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
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3492—Special cost functions, i.e. other than distance or default speed limit of road segments employing speed data or traffic data, e.g. real-time or historical
Abstract
The self-positioning navigation system of automobile of the present invention, including vehicle-mounted end, server and ground detection end；Vehicle-mounted end includes vehicle end apart from detection module, road conditions reminding module, auto-navigation mapping module, urgent intervention module, the advanced reminding module of emergency braking, brakes and self detection module and position oneself correcting module；Vehicle end includes the first rotary encoder, the second rotary encoder, gravity sensor, acceleration induction device, gyroscope, displacement switch, CPU, memory, the first computing unit and the second computing unit apart from detection module；Road conditions reminding module includes data download unit and data comparison unit；Auto-navigation mapping module includes blind guide module and complementary module；Urgent intervention module includes that whole story point position selection unit, route determination unit and route are cleaned the street reminding unit；The advanced reminding module of emergency braking includes emergency download unit, reaction switch unit and emergency uploading unit.
Description
Technical field
The present invention relates to bus location technical fields, and in particular to a kind of self-positioning navigation system of automobile.
Background technology
The existing more traffic complex of vehicle, in case of emergency driver reaction not in time and two neighboring vehicle with
It is closer in the case of cause many traffic accidents.There is traffic tide, traffic congestion in urban road.
Due to electronic map when existing electronic map is for remote districts and null zones or emerging road
It does not timely update, causes personnel to drive not navigating after entering the region, get lost.When traffic congestion, emergency vehicle
The loss of life or property can not be caused by the region.
Accordingly, it is desirable to provide a kind of system that can carry out self-positioning navigation, can acquire traffic information and carry out in real time
Self guiding.
Invention content
The purpose of the present invention is to provide a kind of self-positioning navigation system of automobile, cannot be carried out certainly to solve existing vehicle
The problem of I navigates.
To achieve the above object, the technical scheme is that
A kind of self-positioning navigation system of automobile, including vehicle-mounted end, server and ground detection end；
The vehicle-mounted end for detecting information of vehicles and traffic information in vehicle travel process and carrying out phase in time in real time
The prompting and operation answered；
The server be used to receive the information that the vehicle-mounted end and the ground detection end are sent and by numerical map and
Navigation information sends vehicle-mounted end；
The ground detection end is for detecting traffic information and being sent to the server and the vehicle-mounted end；
The vehicle-mounted end includes vehicle end apart from detection module, road conditions reminding module, auto-navigation mapping module, urgent intervention mould
Block, the advanced reminding module of emergency braking brake and self detection module and position oneself correcting module；
The vehicle end includes the first rotary encoder, the second rotary encoder, gravity sensor, acceleration apart from detection module
Spend inductor, gyroscope, displacement switch, CPU, memory, the first computing unit and the second computing unit；
The vehicle end apart from detection module for integrate self data, vehicle data and electronic map determine current vehicle with
The location information of the distance of Adjacent vehicles and all vehicles；
Self data are by the first rotary encoder detection data, the second rotary encoder detection data, gravity-feed tank
Answer device detection data, acceleration induction device detection data, gyroscope detection data and vehicle load delta data according to pre- imputation
Wheelpath figure is calculated in method；
The vehicle data is all vehicle driving track datas issued by the server and position data；
The electronic map is the numerical map sent by the server；
The road conditions reminding module includes data download unit and data comparison unit；
The data download unit is used to download current road segment information data, the current road segment information from the server
Data include vehicle limit for height, limiting vehicle speed, load limit；
Self data for being compared by the data comparison unit with the current road segment information data；
The auto-navigation mapping module includes blind guide module and complementary module；
The blind guide module is used to form wheelpath figure using self data when lacking network, is utilized when making a return voyage
The wheelpath figure navigates；
The complementary module is used to enter electronic map in network environment, to the area for lacking mark of the electronic map
Domain is uploaded onto the server to supplement existing electronic map by the wheelpath figure；
The urgent intervention module includes that whole story point position selection unit, route determination unit and route are cleaned the street reminding unit；
The whole story point position selection unit is used to determine set out starting point and the final target to be achieved of emergency vehicle
Point；
The traffic route that the route determination unit is used to be suitble to according to the Origin And Destination arrangement of the emergency vehicle；
The route cleans the street reminding unit for sending prompt letter to the vehicle in the traffic route, is opened in advance
Road；
The advanced reminding module of emergency braking includes in emergency download unit, reaction switch unit and emergency
Leaflet member；
The emergency download unit is used to download the emergency occurred in the traffic route from the server；
The reaction switch unit prompts driver's road ahead situation for controlling vehicle itself pre- brake in advance；
The emergency uploading unit is used for stop in emergency situation or the adjacent vehicle of the front that current vehicle occur
Occur situation of stopping in emergency upload to the server；
Self detection module of brake includes data collection module, data comparison unit and judges prompt unit；
The data collection module is used to acquire the mobile data of brake pedal by displacement switch, passes through acceleration induction
Device detects deceleration acceleration information, and carries out the mobile data and the deceleration acceleration information that ratio is calculated；
The data comparison unit compares the two neighboring ratio for being compared multiple ratios
Compared with, and variation size of the current ratio relative to previous ratio is judged according to comparison result；
It is described judge prompt unit for according to the ratio change differentiate brake system whether aging or miopragia；
The correcting module of positioning oneself includes manual correction unit and automatic amending unit；
The manual correction unit is used to pass through hand input-data revised version vehicle position；
The automatic amending unit is for being automatically corrected vehicle location by pressure sensor and infrared emission head.
Wherein, the ground detection end includes spud pile, pressure detecting band, dsp controller and infrared emission head；
The spud pile includes amending unit and road conditions detection unit；
The amending unit carries out positioning amendment by pressure detecting band to vehicle；
The road conditions detection unit be used for detect on road on the influential information of vehicle traveling.
Wherein, first rotary encoder is fixed on wheel hub and is used to measure the first spin data of wheel and is sent to
First computing unit；
Second rotary encoder is fixed on the second spin data at steering wheel for measurement direction disk and is sent to
First computing unit；
First computing unit calculates vehicle flat according to first spin data and second spin data
The first track and First Speed in face simultaneously send second computing unit；
The acceleration induction device is used to measure the acceleration change of vehicle, when vehicle emergency brake slides, root
The data measured according to the acceleration induction device extrapolate coasting distance, and then correct first rotary encoder and described the
The error that two rotary encoders generate；
The gravity sensor includes the first measuring unit and the second measuring unit；
First measuring unit is used for the second track when measuring vehicle driving up and descending and second speed and sends institute
State the second computing unit；
Second measuring unit be used for measure vehicle in motion wave data；
Second computing unit is calculated according to first track, the First Speed, the second track and second speed
Go out three-dimensional track and the speed of vehicle；
The gyroscope is used to improve the measurement accuracy of the acceleration induction device, while judging operation side described in vehicle
To.
Wherein, further include wireless communication module, voice cue module, display module and power supply；
The wireless communication module for realizing the vehicle-mounted end and the server wireless communication；
The voice cue module after the order for receiving the CPU for sending out information of voice prompt；The voice
Reminding module includes loudspeaker and alarm lamp；
The display module for showing electronic map and prompt message, the display module be vehicle self-carrying display or
Person's external-connection displayer；
The power supply is used to power for the vehicle-mounted end, and the power supply is accumulator；
The CPU drives brake cable to realize braking for controlling stepper motor rotation, by stepper motor.
Wherein, further include data processing and control mould, the data processing and control module includes under data input cell, map
It is downloaded from positioning unit, surrounding vehicles data download unit, brake control unit, vehicle self-test unit, route allocation unit, failure
Processing unit and positioning amending unit.
Wherein, the data input cell is used to cause in tire touchdown point and tire using due to vehicle load changing
The variance data that heart point distance change obtains is modified first spin data；
Map download makes bit location by oneself for downloading electronic map from the server, and by the electronic map
It is compared with the measurement data of the vehicle selftest module, to realize to the self-positioning of vehicle；
The progress for the surrounding vehicles that the surrounding vehicles data download unit is used to receiving and showing that the server is sent
The information of emergency operation, and for reminding driver；
The brake control unit includes that detecting signal unit, cutting unit, pre- brake units, judging unit and switching are single
Member；
The detecting signal unit is used to acquire the movable signal of the displacement switch when throttle is operated；
The pre- brake units, which are used to trigger the CPU when detecting preceding vehicle brake, sends pre- braking commands to institute
It states electric brake and realizes pre- brake；
Whether the judging unit is emergency for judging the preceding vehicle brake, if it is sends and reminds letter
Breath；
After the switch unit sends signal to the CPU, the CPU controls the electric brake and starts to brake, simultaneously
Throttle disconnects；If continuing to trample throttle, throttle is converted to brake by the CPU controls, and throttle tread-on quantity is brake pedal amount；
The switch unit includes anti-tampering judging unit, for judging whether current be the case where needing brake, in turn
Ensure accurately to brake；The vehicle self-test unit includes data acquisition unit, statistic unit, comparing unit and prompt unit；Institute
State data acquisition unit for acquire braking vane trampled brief acceleration inductor collected deceleration when acceleration value
Displacement magnitude corresponding with displacement switch；The statistic unit is used to calculate the target of the acceleration value and the displacement magnitude
Ratio；
The comparing unit is used for the ratio of actual acceleration value and actual displacement magnitude and the target ratio
It is compared to obtain and compares difference；The prompt unit is used to be believed according to the prompt that the relatively difference sends out brake system failure
Breath；The route allocation unit is used to receive the route that the server is sent, and the server is believed according to the destination of vehicle
Breath formulates the route；The fault processing unit is used to collected road traffic accident information or traffic congestion information being sent to institute
State server；The positioning amending unit is used for when the error of vehicle location and physical location is more than preset difference value according to opposite
Object of reference carries out position correction, and the opposite object of reference includes two adjacent vehicles.
Wherein, the pressure detecting band, infrared emission head electrical connection are electrically connected with the dsp controller.
Wherein, the pressure detecting band includes multirow pressure sensor, often goes the pressure sensor along width of roadway
Direction extends；The number of the infrared emission head is n；The pressure detecting band is divided into n pressure by the n infrared emission heads
Power detection zone；Each infrared emission head corresponds to a pressure detecting region；
The collected pressure value for rolling vehicle thereon is sent to the DSP and controlled by the pressure detecting region
Device, the dsp controller control and the infrared emission head in the pressure detecting region send infrared ray；The infrared receiver
Head receives the infrared ray that the infrared emission head is sent.
The invention has the advantages that：
The self-positioning navigation system of automobile of the present invention, including vehicle-mounted end, server and ground detection end；
The vehicle-mounted end for detecting information of vehicles and traffic information in vehicle travel process and carrying out phase in time in real time
The prompting and operation answered；
The server be used to receive the information that the vehicle-mounted end and the ground detection end are sent and by numerical map and
Navigation information sends vehicle-mounted end；
The ground detection end is for detecting traffic information and being sent to the server and the vehicle-mounted end；
The vehicle-mounted end includes vehicle end apart from detection module, road conditions reminding module, auto-navigation mapping module, urgent intervention mould
Block, the advanced reminding module of emergency braking brake and self detection module and position oneself correcting module；
The vehicle end includes the first rotary encoder, the second rotary encoder, gravity sensor, acceleration apart from detection module
Spend inductor, gyroscope, displacement switch, CPU, memory, the first computing unit and the second computing unit；
The vehicle end apart from detection module for integrate self data, vehicle data and electronic map determine current vehicle with
The location information of the distance of Adjacent vehicles and all vehicles；
Self data are by the first rotary encoder detection data, the second rotary encoder detection data, gravity-feed tank
Answer device detection data, acceleration induction device detection data, gyroscope detection data and vehicle load delta data according to pre- imputation
Wheelpath figure is calculated in method；
The vehicle data is all vehicle driving track datas issued by the server and position data；
The electronic map is the numerical map sent by the server；
The road conditions reminding module includes data download unit and data comparison unit；
The data download unit is used to download current road segment information data, the current road segment information from the server
Data include vehicle limit for height, limiting vehicle speed, load limit；
Self data for being compared by the data comparison unit with the current road segment information data；
The auto-navigation mapping module includes blind guide module and complementary module；
The blind guide module is used to form wheelpath figure using self data when lacking network, is utilized when making a return voyage
The wheelpath figure navigates；
The complementary module is used to enter electronic map in network environment, to the area for lacking mark of the electronic map
Domain is uploaded onto the server to supplement existing electronic map by the wheelpath figure；
The urgent intervention module includes that whole story point position selection unit, route determination unit and route are cleaned the street reminding unit；
The whole story point position selection unit is used to determine set out starting point and the final target to be achieved of emergency vehicle
Point；
The traffic route that the route determination unit is used to be suitble to according to the Origin And Destination arrangement of the emergency vehicle；
The route cleans the street reminding unit for sending prompt letter to the vehicle in the traffic route, is opened in advance
Road；
The advanced reminding module of emergency braking includes in emergency download unit, reaction switch unit and emergency
Leaflet member；
The emergency download unit is used to download the emergency occurred in the traffic route from the server；
The reaction switch unit prompts driver's road ahead situation for controlling vehicle itself pre- brake in advance；
The emergency uploading unit is used for stop in emergency situation or the adjacent vehicle of the front that current vehicle occur
Occur situation of stopping in emergency upload to the server；
Self detection module of brake includes data collection module, data comparison unit and judges prompt unit；
The data collection module is used to acquire the mobile data of brake pedal by displacement switch, passes through acceleration induction
Device detects deceleration acceleration information, and carries out the mobile data and the deceleration acceleration information that ratio is calculated；
The data comparison unit compares the two neighboring ratio for being compared multiple ratios
Compared with, and variation size of the current ratio relative to previous ratio is judged according to comparison result；
It is described judge prompt unit for according to the ratio change differentiate brake system whether aging or miopragia；
The correcting module of positioning oneself includes manual correction unit and automatic amending unit；
The manual correction unit is used to pass through hand input-data revised version vehicle position；
The automatic amending unit is for being automatically corrected vehicle location by pressure sensor and infrared emission head；
The vehicle-mounted end detects information of vehicles and traffic information in vehicle travel process and carries out in time corresponding in real time
It reminds and operates；Surrounding vehicles information can be acquired in real time, avoids car accident, improve driving safety rate, the vehicle
Prompting can be sent out according to collected traffic information to driver by carrying end, provide correct planning driving path, reduce vehicle traveling
Mistaken ideas；The road information of acquisition and traffic information can be presented to driver by the vehicle-mounted end, use self-navigation；It is described
Server receives the information of the vehicle-mounted end and ground detection end transmission and sends numerical map and navigation information vehicle-mounted
End；
Cartographic information can be sent the vehicle-mounted end by the server, and driver leads according to the cartographic information of reception
Boat；
It detects traffic information and is sent to the server and the vehicle-mounted end in the ground detection end；The ground detection
The traffic information detected can be sent the server and the vehicle-mounted end by end, and the vehicle-mounted end is according to the road conditions received
Information correction position and planning driving path again improve navigation and positioning accuracy.
Description of the drawings
Fig. 1 is the functional block diagram of the self-positioning navigation system of automobile of the present invention.
Fig. 2 is the schematic diagram that the application of the pressure detecting band and infrared emission head of the present invention is.
1- infrared emission heads；2- pressure detecting bands.
Specific implementation mode
The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention..
Embodiment 1
The self-positioning navigation system of automobile of the present embodiment 1, including vehicle-mounted end, server and ground detection end；
The vehicle-mounted end for detecting information of vehicles and traffic information in vehicle travel process and carrying out phase in time in real time
The prompting and operation answered；
The server be used to receive the information that the vehicle-mounted end and the ground detection end are sent and by numerical map and
Navigation information sends vehicle-mounted end；
The ground detection end is for detecting traffic information and being sent to the server and the vehicle-mounted end；
The vehicle-mounted end includes vehicle end apart from detection module, road conditions reminding module, auto-navigation mapping module, urgent intervention mould
Block, the advanced reminding module of emergency braking brake and self detection module and position oneself correcting module；
The vehicle end includes the first rotary encoder, the second rotary encoder, gravity sensor, acceleration apart from detection module
Spend inductor, gyroscope, displacement switch, CPU, memory, the first computing unit and the second computing unit；
The vehicle end apart from detection module for integrate self data, vehicle data and electronic map determine current vehicle with
The location information of the distance of Adjacent vehicles and all vehicles；
Self data are by the first rotary encoder detection data, the second rotary encoder detection data, gravity-feed tank
Answer device detection data, acceleration induction device detection data, gyroscope detection data and vehicle load delta data according to pre- imputation
Wheelpath figure is calculated in method；
The vehicle data is all vehicle driving track datas issued by the server and position data；
The electronic map is the numerical map sent by the server；
The road conditions reminding module includes data download unit and data comparison unit；
The data download unit is used to download current road segment information data, the current road segment information from the server
Data include vehicle limit for height, limiting vehicle speed, load limit；
Self data for being compared by the data comparison unit with the current road segment information data；
The auto-navigation mapping module includes blind guide module and complementary module；
The blind guide module is used to form wheelpath figure using self data when lacking network, is utilized when making a return voyage
The wheelpath figure navigates；
The complementary module is used to enter electronic map in network environment, to the area for lacking mark of the electronic map
Domain is uploaded onto the server to supplement existing electronic map by the wheelpath figure；
The urgent intervention module includes that whole story point position selection unit, route determination unit and route are cleaned the street reminding unit；
The whole story point position selection unit is used to determine set out starting point and the final target to be achieved of emergency vehicle
Point；
The traffic route that the route determination unit is used to be suitble to according to the Origin And Destination arrangement of the emergency vehicle；
The route cleans the street reminding unit for sending prompt letter to the vehicle in the traffic route, is opened in advance
Road；
The advanced reminding module of emergency braking includes in emergency download unit, reaction switch unit and emergency
Leaflet member；
The emergency download unit is used to download the emergency occurred in the traffic route from the server；
The reaction switch unit prompts driver's road ahead situation for controlling vehicle itself pre- brake in advance；
The emergency uploading unit is used for stop in emergency situation or the adjacent vehicle of the front that current vehicle occur
Occur situation of stopping in emergency upload to the server；
Self detection module of brake includes data collection module, data comparison unit and judges prompt unit；
The data collection module is used to acquire the mobile data of brake pedal by displacement switch, passes through acceleration induction
Device detects deceleration acceleration information, and carries out the mobile data and the deceleration acceleration information that ratio is calculated；
The data comparison unit compares the two neighboring ratio for being compared multiple ratios
Compared with, and variation size of the current ratio relative to previous ratio is judged according to comparison result；
It is described judge prompt unit for according to the ratio change differentiate brake system whether aging or miopragia；
The correcting module of positioning oneself includes manual correction unit and automatic amending unit；
The manual correction unit is used to pass through hand input-data revised version vehicle position；
The automatic amending unit is for being automatically corrected vehicle location by pressure sensor and infrared emission head.
The vehicle-mounted end detects information of vehicles and traffic information in vehicle travel process and carries out in time corresponding in real time
It reminds and operates；Surrounding vehicles information can be acquired in real time, avoids car accident, improve driving safety rate, the vehicle
Prompting can be sent out according to collected traffic information to driver by carrying end, provide correct planning driving path, reduce vehicle traveling
Mistaken ideas；The road information of acquisition and traffic information can be presented to driver by the vehicle-mounted end, use self-navigation；It is described
Server receives the information of the vehicle-mounted end and ground detection end transmission and sends numerical map and navigation information vehicle-mounted
End；
Cartographic information can be sent the vehicle-mounted end by the server, and driver leads according to the cartographic information of reception
Boat；
It detects traffic information and is sent to the server and the vehicle-mounted end in the ground detection end；The ground detection
The traffic information detected can be sent the server and the vehicle-mounted end by end, and the vehicle-mounted end is according to the road conditions received
Information correction position and planning driving path again improve navigation and positioning accuracy.
Embodiment 2
Further, on the basis of embodiment 1：
The ground detection end includes spud pile, pressure detecting band, dsp controller and infrared emission head；The spud pile
Including amending unit and road conditions detection unit；The amending unit carries out positioning amendment by pressure detecting band to vehicle；
The road conditions detection unit be used for detect on road on the influential information of vehicle traveling.
First rotary encoder is fixed on wheel hub and is used to measure the first spin data of wheel and is sent to described
First computing unit；The second spin data that second rotary encoder is fixed at steering wheel for measurement direction disk is concurrent
It is sent to first computing unit；First computing unit is according to first spin data and the second spin data meter
It calculates vehicle the first track planar and First Speed and sends second computing unit；The acceleration induction device is used
In the acceleration change for measuring vehicle, when vehicle emergency brake slides, according to the number of acceleration induction device measurement
It is estimated that going out coasting distance, and then correct the error that first rotary encoder and second rotary encoder generate；
The gravity sensor includes the first measuring unit and the second measuring unit；First measuring unit is for measuring
The second track and second speed when vehicle driving up and descending simultaneously send second computing unit；Second measuring unit is used
In measure vehicle in motion wave data；Second computing unit is according to first track, the First Speed,
Two tracks and second speed calculate three-dimensional track and the speed of vehicle；
The gyroscope is used to improve the measurement accuracy of the acceleration induction device, while judging operation side described in vehicle
To.
Further include wireless communication module, voice cue module, display module and power supply；The wireless communication module is for real
The wireless communication of the existing vehicle-mounted end and the server；The voice cue module is used in the order for receiving the CPU
After send out information of voice prompt；The voice cue module includes loudspeaker and alarm lamp；The display module is for showing electronics
Map and prompt message, the display module are vehicle self-carrying display or external-connection displayer；The power supply is for being described
Vehicle-mounted end is powered, and the power supply is accumulator；The CPU drives brake cable for controlling stepper motor rotation by stepper motor
Realize braking.
Further include data processing and control mould, the data processing and control module includes being downloaded under data input cell, map
Positioning unit, surrounding vehicles data download unit, brake control unit, vehicle self-test unit, route allocation unit, troubleshooting
Unit and positioning amending unit.
The data input cell is used to lead to tire touchdown point and tire centerline point using due to vehicle load changing
The variance data that distance change obtains is modified first spin data；
Map download makes bit location by oneself for downloading electronic map from the server, and by the electronic map
It is compared with the measurement data of the vehicle selftest module, to realize to the self-positioning of vehicle；The surrounding vehicles data
Download unit is used to receive and show the information of the progress emergency operation for the surrounding vehicles that the server is sent, and for driving
The person of sailing is reminded；The brake control unit include detecting signal unit, cutting unit, pre- brake units, judging unit and
Switch unit；The detecting signal unit is used to acquire the movable signal of the displacement switch when throttle is operated；It is described pre-
Brake units are used to trigger the pre- braking commands of the CPU transmissions when detecting preceding vehicle brake and are realized to the electric brake
Pre- brake；Whether the judging unit is emergency for judging the preceding vehicle brake, if it is sends and reminds letter
Breath；After the switch unit sends signal to the CPU, the CPU controls the electric brake and starts to brake, while throttle is disconnected
It opens；If continuing to trample throttle, throttle is converted to brake by the CPU controls, and throttle tread-on quantity is brake pedal amount；The vehicle
Self-test unit includes data acquisition unit, statistic unit, comparing unit and prompt unit；The switch unit includes anti-tampering sentencing
Disconnected unit, for judging whether current be and then to ensure accurately to brake the case where needing brake；
The data acquisition unit is for acquiring when braking vane is trampled the collected deceleration of institute of brief acceleration inductor
Acceleration value displacement magnitude corresponding with displacement switch；The statistic unit is for calculating the acceleration value and the displacement
The target ratio of magnitude；The comparing unit is used for the ratio of actual acceleration value and actual displacement magnitude and the mesh
Mark ratio, which is compared to obtain, compares difference；The prompt unit is used to send out brake system failure according to the relatively difference
Prompt message；The route allocation unit is used to receive the route that the server is sent, and the server is according to the mesh of vehicle
Ground information formulate the route；The fault processing unit is used for collected road traffic accident information or traffic congestion information hair
It is sent to the server；The positioning amending unit is used for the root when the error of vehicle location and physical location is more than preset difference value
Position correction is carried out according to opposite object of reference, the opposite object of reference includes two adjacent vehicles.
Embodiment 3
Further, on the basis of embodiment 2：
The pressure detecting band 2, the infrared emission head 1 are electrically connected equal to be electrically connected with the dsp controller.
The pressure detecting band 2 includes multirow pressure sensor, often goes the pressure sensor along width of roadway direction
Extend；The number of the infrared emission head 1 is n；The pressure detecting band 2 is divided into n pressure by the n infrared emission heads 1
Power detection zone；Each infrared emission head 1 corresponds to a pressure detecting region；The present embodiment n is 100.
The collected pressure value for rolling vehicle thereon is sent to the DSP and controlled by the pressure detecting region
Device, the dsp controller control and the infrared emission head in the pressure detecting region send infrared ray；The infrared receiver
Head receives the infrared ray that the infrared emission head 1 is sent.
Although above having used general explanation and specific embodiment, the present invention is described in detail, at this
On the basis of invention, it can be made some modifications or improvements, this will be apparent to those skilled in the art.Therefore,
These modifications or improvements without departing from theon the basis of the spirit of the present invention belong to the scope of protection of present invention.
Claims (8)
1. a kind of self-positioning navigation system of automobile, which is characterized in that including vehicle-mounted end, server and ground detection end；
The vehicle-mounted end for detecting information of vehicles and traffic information in vehicle travel process and carrying out in time corresponding in real time
It reminds and operates；
The server is used to receive the information that the vehicle-mounted end and the ground detection end are sent and by numerical map and navigation
Information sends vehicle-mounted end；
The ground detection end is for detecting traffic information and being sent to the server and the vehicle-mounted end；
The vehicle-mounted end include vehicle end apart from detection module, road conditions reminding module, auto-navigation mapping module, urgent intervention module,
The advanced reminding module of emergency braking brakes and self detection module and positions oneself correcting module；
The vehicle end includes the first rotary encoder, the second rotary encoder, gravity sensor, acceleration sense apart from detection module
Answer device, gyroscope, displacement switch, CPU, memory, the first computing unit and the second computing unit；
The vehicle end apart from detection module for integrate self data, vehicle data and electronic map determine current vehicle with it is adjacent
The location information of the distance of vehicle and all vehicles；
Self data are by the first rotary encoder detection data, the second rotary encoder detection data, gravity sensor
Detection data, acceleration induction device detection data, gyroscope detection data and vehicle load delta data are according to preset algorithm meter
Calculation obtains wheelpath figure；
The vehicle data is all vehicle driving track datas issued by the server and position data；
The electronic map is the numerical map sent by the server；
The road conditions reminding module includes data download unit and data comparison unit；
The data download unit is used to download current road segment information data, the current road segment information data from the server
Including vehicle limit for height, limiting vehicle speed, load limit；
Self data for being compared by the data comparison unit with the current road segment information data；
The auto-navigation mapping module includes blind guide module and complementary module；
The blind guide module is used to form wheelpath figure using self data when lacking network, using described when making a return voyage
Wheelpath figure navigates；
The complementary module is used to enter electronic map in network environment, will to the region for lacking mark of the electronic map
The wheelpath figure is uploaded onto the server to supplement existing electronic map；
The urgent intervention module includes that whole story point position selection unit, route determination unit and route are cleaned the street reminding unit；
The whole story point position selection unit is used to determine set out starting point and the final target point to be achieved of emergency vehicle；
The traffic route that the route determination unit is used to be suitble to according to the Origin And Destination arrangement of the emergency vehicle；
The route cleans the street reminding unit for sending prompt letter to the vehicle in the traffic route, is cleared the way in advance；
The advanced reminding module of emergency braking includes emergency download unit, reacts leaflet in switch unit and emergency
Member；
The emergency download unit is used to download the emergency occurred in the traffic route from the server；
The reaction switch unit prompts driver's road ahead situation for controlling vehicle itself pre- brake in advance；
The emergency uploading unit be used for by current vehicle occur stop in emergency situation or the front Adjacent vehicles go out
Existing situation of stopping in emergency uploads to the server；
Self detection module of brake includes data collection module, data comparison unit and judges prompt unit；
The data collection module is used to acquire the mobile data of brake pedal by displacement switch, is examined by acceleration induction device
Deceleration acceleration information is surveyed, and carries out the mobile data and the deceleration acceleration information that ratio is calculated；
The two neighboring ratio is compared by the data comparison unit for being compared multiple ratios,
And variation size of the current ratio relative to previous ratio is judged according to comparison result；
It is described judge prompt unit for according to the ratio change differentiate brake system whether aging or miopragia；
The correcting module of positioning oneself includes manual correction unit and automatic amending unit；
The manual correction unit is used to pass through hand input-data revised version vehicle position；
The automatic amending unit is for being automatically corrected vehicle location by pressure sensor and infrared emission head.
2. the self-positioning navigation system of automobile according to claim 1, which is characterized in that the ground detection end includes fixing
Stake, pressure detecting band, dsp controller and infrared emission head；
The spud pile includes amending unit and road conditions detection unit；
The amending unit carries out positioning amendment by pressure detecting band to vehicle；
The road conditions detection unit be used for detect on road on the influential information of vehicle traveling.
3. the self-positioning navigation system of automobile according to claim 2, which is characterized in that first rotary encoder is fixed on
Wheel hub is used to measure the first spin data of wheel and is sent to first computing unit；
Second rotary encoder is fixed on the second spin data at steering wheel for measurement direction disk and is sent to described
First computing unit；
First computing unit calculates vehicle planar according to first spin data and second spin data
The first track and First Speed and send second computing unit；
The acceleration induction device is used to measure the acceleration change of vehicle, when vehicle emergency brake slides, according to institute
The data for stating the measurement of acceleration induction device extrapolate coasting distance, and then correct first rotary encoder and second rotation
Turn the error of encoder generation；
The gravity sensor includes the first measuring unit and the second measuring unit；
First measuring unit is used for the second track when measuring vehicle driving up and descending and second speed and sends described the
Two computing units；
Second measuring unit be used for measure vehicle in motion wave data；
Second computing unit calculates vehicle according to first track, the First Speed, the second track and second speed
Three-dimensional track and speed；
The gyroscope is used to improve the measurement accuracy of the acceleration induction device, while judging traffic direction described in vehicle.
4. the self-positioning navigation system of automobile according to claim 3, which is characterized in that further include wireless communication module, voice
Reminding module, display module and power supply；
The wireless communication module for realizing the vehicle-mounted end and the server wireless communication；
The voice cue module after the order for receiving the CPU for sending out information of voice prompt；The voice prompt
Module includes loudspeaker and alarm lamp；
For the display module for showing electronic map and prompt message, the display module is vehicle self-carrying display or outer
Connect display；
The power supply is used to power for the vehicle-mounted end, and the power supply is accumulator；
The CPU drives brake cable to realize braking for controlling stepper motor rotation, by stepper motor.
5. the self-positioning navigation system of automobile according to claim 4, which is characterized in that further include data processing and control mould, institute
State data processing and control module include data input cell, map download make by oneself bit location, surrounding vehicles data download unit, stop
Vehicle control unit, vehicle self-test unit, route allocation unit, fault processing unit and positioning amending unit.
6. the self-positioning navigation system of automobile according to claim 5, which is characterized in that the data input cell is for utilizing
Cause the variance data that tire touchdown point is obtained with tire centerline point distance change to described first since vehicle load changes
Spin data is modified；
Map download makes bit location by oneself for downloading electronic map from the server, and by the electronic map and institute
The measurement data for stating vehicle selftest module is compared, to realize to the self-positioning of vehicle；
The carry out for the surrounding vehicles that the surrounding vehicles data download unit is used to receiving and showing that the server is sent is urgent
The information of operation, and for reminding driver；
The brake control unit includes detecting signal unit, cutting unit, pre- brake units, judging unit and switch unit；
The detecting signal unit is used to acquire the movable signal of the displacement switch when throttle is operated；
The pre- brake units, which are used to trigger the CPU when detecting preceding vehicle brake, sends pre- braking commands to the electricity
Pre- brake is realized in son brake；
Whether the judging unit is emergency for judging the preceding vehicle brake, if it is sends prompting message；
After the switch unit sends signal to the CPU, the CPU controls the electric brake and starts to brake, while throttle
It disconnects；If continuing to trample throttle, throttle is converted to brake by the CPU controls, and throttle tread-on quantity is brake pedal amount；
The switch unit includes anti-tampering judging unit, for judging whether current be and then to ensure the case where needing brake
Accurate brake；
The vehicle self-test unit includes data acquisition unit, statistic unit, comparing unit and prompt unit；
The data acquisition unit be used for acquire braking vane trampled brief acceleration inductor collected deceleration when add
Velocity amplitude displacement magnitude corresponding with displacement switch；
The statistic unit is used to calculate the target ratio of the acceleration value and the displacement magnitude；
The comparing unit is used to carry out the ratio of actual acceleration value and actual displacement magnitude and the target ratio
Compare to obtain and compares difference；
The prompt unit is used to send out the prompt message of brake system failure according to the relatively difference；
The route allocation unit is used to receive the route that the server is sent, and the server is believed according to the destination of vehicle
Breath formulates the route；
The fault processing unit is used to collected road traffic accident information or traffic congestion information being sent to the server；
The positioning amending unit is used for when the error of vehicle location and physical location is more than preset difference value according to opposite reference
Object carries out position correction, and the opposite object of reference includes two adjacent vehicles.
7. the self-positioning navigation system of automobile according to claim 6, which is characterized in that the pressure detecting band (2), described red
Outer emitting head (1) electrical connection is electrically connected with the dsp controller.
8. the self-positioning navigation system of automobile according to claim 7, which is characterized in that the pressure detecting band (2) includes more
Row pressure sensor, the pressure sensor of often going extend along width of roadway direction；The number of the infrared emission head (1) is
n；The pressure detecting band (2) is divided into n pressure detecting region by the n infrared emission heads (1)；Each infrared hair
It penetrates head (1) and corresponds to a pressure detecting region；
The collected pressure value for rolling vehicle thereon is sent to the dsp controller, institute by the pressure detecting region
It states dsp controller control and the infrared emission head in the pressure detecting region sends infrared ray；The infrared receiving terminal connects
Receive the infrared ray of the infrared emission head (1) transmission.
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