CN109269515A - A kind of vehicle using navigation system - Google Patents
A kind of vehicle using navigation system Download PDFInfo
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- CN109269515A CN109269515A CN201811116693.5A CN201811116693A CN109269515A CN 109269515 A CN109269515 A CN 109269515A CN 201811116693 A CN201811116693 A CN 201811116693A CN 109269515 A CN109269515 A CN 109269515A
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- brake
- vehicle
- braking
- streetscape
- 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
-
- 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
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Navigation (AREA)
Abstract
The present invention relates to a kind of vehicle using navigation system, navigation system includes: navigation device and multiple photographic devices set on vehicle periphery；The navigation device includes: the gyroscope for obtaining vehicle heading, for obtaining the GPS module of vehicle driving position, for storing the data storage and processor module and display module of map datum and streetscape data；The camera lens of photographic device is equipped with hood；When vehicle presses pre-set navigational path when driving, the photographic device follows the real time scene around vehicle captured in real-time current vehicle；If there are complex crossings in front, then the processor module matches the streetscape of the corresponding position prestored in the real time scene and data storage, in combination with the pre-set navigational path, position, road and correct driving direction where current vehicle are judged；Then it controls the display module and shows corresponding navigation picture.
Description
Technical field
The present invention relates to navigation field more particularly to a kind of vehicles using navigation system.
Background technique
Navigator is in practical navigation procedure, and not in time due to map rejuvenation, the more low reason of navigation signal precision causes
Vehicle driving (refers to the rotary island with multiple crossings, cross fork in the road, M shape crossing, has city high to complex crossing
The crossing etc. at frame uplink road junction) when, the instruction of navigator or navigation instruction image often lag, even malfunctions or navigation picture
As difficult and actual road conditions accurate match, this easily causes driver to drive into wrong travel route.How above-mentioned technical problem is avoided
It is the technical problem of navigation field.
Summary of the invention
The object of the present invention is to provide a kind of working method of navigation system, it can provide and update consistent with practical streetscape
Navigation picture avoid driving into wrong route to improve the reliability and ease for use navigate in complex crossing.
In order to solve the above-mentioned technical problems, the present invention provides a kind of working method of navigation system, the navigation system packets
Include: (device can be on-vehicle navigation apparatus to navigation device, be also possible to the mobile phone or tablet computer with GPS navigation function
Equal smart machines) and multiple photographic devices set on vehicle periphery；The navigation device includes: for obtaining vehicle heading
Gyroscope, for obtaining the GPS module of vehicle driving position, for store map datum and streetscape data data store
Device and processor module and display module；The camera lens of photographic device is equipped with hood；Processor module is obtained by gyroscope
Take vehicle acceleration, speed, height above sea level, reclining angle information；The working method includes: when vehicle is by pre-set navigational path
When driving, the photographic device follows the real time scene around vehicle captured in real-time current vehicle；If front there are complex crossing,
Then the processor module matches the streetscape of the corresponding position prestored in the real time scene and the data storage
(corresponding image matching technology is the prior art, wherein optionally a kind of method is the method using characteristic matching, i.e., first adopts
Collect the landmark building, and/or road sign, and/or significant streetscape etc. in the real time scene, then deposits it with the data
Corresponding portion in the streetscape of the corresponding position prestored in reservoir is compared one by one, if there is 70% or more similarity, that is, is thought
It is identical；Other known matching process can also be used), in combination with the pre-set navigational path, judge current vehicle institute
Position, road and correct driving direction；Then it controls the display module and shows corresponding navigation picture, at this
Include: the real time scene immediately ahead of current vehicle in navigation picture and is marked and navigated with arrow in the real time scene
The vehicle heading that path matches；The arrow is labeled on the road in real time scene.
Preferably, the photographic device includes at least one camera for being set to right ahead；The processor module
The streetscape in the corresponding position prestored in the real time scene and the data storage, orientation is matched, described in updating
Streetscape data；Play the role of further increasing accuracy, the reliability of images match.
Preferably, when the corresponding position that the processor module will prestore in the real time scene and the data storage
Set, the streetscape of orientation (or corresponding vehicle attitude, driving direction) is matched, include: to update the method for the streetscape data
If measuring the real time scene relative to the streetscape, there are new road sign or traffic mark or certain external wall advertisements
Board or decorative hair change more, or newly-increased building or fork in the road etc. easily by driver has found and distinguishes object when, then the processing
Device module is according to the real time scene, to the corresponding position prestored in the data storage, corresponding orientation (or corresponding vehicle appearance
State, driving direction) streetscape be updated, i.e., the new road sign or friendship are updated in the corresponding streetscape of the data storage
Logical mark or certain external wall billboard or decoration, or newly-increased building or fork in the road etc. are easily by driver has found and distinguishes object
Body when facilitating come identical place next time, can carry out quick, accurate match to corresponding image.
The navigation system further include: can be with the remote server of the navigation device wireless telecommunications, the remote server
The real time scene that real-time reception is shot from multiple navigation devices；Remote server includes a three-dimensional map data library, this three
It is stored in a region in dimension map data base: position and the elevation information of navigation map data, streetscape, and/or building,
The position and elevation information on mountain range or hills and/or；The remote server extracts street therein according to the real time scene
The exterior wall image, and/or mountain range of scape, and/or building or the shape image on hills, then by the image of acquisition to three-dimensional map
The shape image of the corresponding orientation on the streetscape, and/or building of the corresponding position in database, and/or mountain range or hills carries out phase
(streetscape stored in the original three-dimensional map data library, external wall, mountain range or the shape on hills are default for the filling answered
Or blank) or update, to obtain the exterior wall image of streetscape, and/or building, and/or mountain range that have and be actually consistent
Or the three-dimensional map data library of the shape image on hills.Wherein, each image is accompanied with the information such as geographical coordinate, orientation.
When the GPS module of the navigation device is damaged or can not receive GPS signal or received GPS signal is invalid
When, streetscape that navigation device obtains current location periphery by photographic device, and/or building, and/or mountain range or hills are at least
The shape image in one orientation, then by the figure of the corresponding position, corresponding orientation that are stored in the shape image and remote server
As being matched, to find the image to match, and then the map reference and direction of current location are obtained, and on navigation map
It marks, to be accurately positioned in time, and then avoids user lost.
The navigation device carries out path navigation according to the map reference and direction of the current location.
The present invention also provides a kind of vehicles using above-mentioned navigation system.Wherein, using the vehicle of above-mentioned navigation system
For electric car；It is equipped with braking electric energy in the vehicle and recycles subsystem, the braking electric energy recycling subsystem and navigation device
It is connected, the navigation device is further adapted for calculating again the passage speed of planning path after the traffic path is planned again,
It can travel milimeter number to obtain the residue of battery in braking electric energy recycling subsystem.
Further, in order to realize the recycling to braking energy, the braking electric energy recycles subsystem, including hydraulic brake
Structure, and the brake coordination component matched with the hydraulic brake mechanism；When braking, the brake coordination component is suitable for generating
With the direction of motion opposite effect power of piston in hydraulic brake mechanism, while by wheel drive motors braking generate electric energy lead to
A boost module is crossed to charge to battery；Or the electric energy for generating wheel drive motors braking by after a boost module again
It charges through quick-charging circuit to battery.
When preferably, in order to be further implemented in brake, start brake coordination component；The braking electric energy recycles subsystem
Further include: brake assemblies, the brake assemblies are interior to be equipped with travel switch K；When braking, travel switch K is triggered, described in generating
Active force；The hydraulic brake mechanism includes the interior master cylinder for setting the piston, and the piston passes through piston rod and brake group
Part is connected.
Preferably, in order to preferably make brake assemblies cooperate brake coordination component operation；The brake assemblies include: two-sided
Rack slide；The brake coordination component includes: single-side rack sliding block；The lower end surface of the two-sided rack sliding block passes through driving cog
Wheel assembly and brake pedal cooperate, and engage a brake coordination gear between end face and the lower end surface of single-side rack sliding block thereon, should
Brake coordination gear is connected with the end of the piston rod；When brake, brake pedal controls double cog by driving gear component
Sliding block drives the rotation of brake coordination gear, and the brake coordination gear is suitable for through piston rod drive hydraulic brake mechanism to vehicle
Wheel hub generates braking；And the brake coordination component generates active force to brake coordination gear by single-side rack sliding block；It is logical
It crosses simple, reliable circuit structure and generates the active force；The brake coordination component further includes electromagnetic induction device, the electricity
Magnetic-inductive device is controlled by the auxiliary switch in the travel switch K；The electromagnetic induction device is suitable for triggering as travel switch K
Afterwards, auxiliary switch control electromagnetic induction device obtains electric, to generate the active force；The electromagnetic induction device includes: electromagnetic wire
Circle, the electromagnetic coil are suitable for obtaining electric pull-core；The iron core is connected with single-side rack sliding block, is suitable for obtaining in electromagnetic coil electric
When, drive single-side rack sliding block to generate the active force to brake coordination gear；The iron core sleeve is set in a hollow shell, institute
Electromagnetic coil is stated to be set around on the hollow shell periphery；One end of the iron core is connected by connecting rod with single-side rack sliding block,
The other end is elastically engaged in the hollow shell by compressed spring and the inner wall of end of the hollow shell；The iron core band
Have a pair of of magnetic pole, this to magnetic pole be suitable for electromagnetic coil obtain it is electric after, keep iron core mobile to compressed spring direction.
Preferably, the brake coordination component further includes charging circuit, which is suitable for driving wheel in brake
The electric energy that dynamic motor braking generates charges to battery；In order to avoid after auxiliary switch disconnects, battery drives wheel
Dynamic motor also keeps driving effect；The charging circuit includes diode；One end of the anode and electromagnetic coil of the battery
It is connected, the other end of the electromagnetic coil is connected with the cathode of the diode, the output of the anode and boost module of the diode
End is connected, and the input terminal of the boost module is connected with wheel drive motors one end, and the cathode and wheel of the battery drive
The other end of motor is connected；The auxiliary switch is normally closed switch, and the both ends of the normally closed switch are connected to boost module
The anode of input terminal, battery.
Preferably, in order to realize quick charge, waste of energy is reduced, the charging circuit includes: the first, second diode
And charging capacitor；The auxiliary switch is the first, second normally closed switch and a normal open switch；The anode and first of the battery
The first end of normally closed switch is connected, the cathode that the second end of first normal open switch passes through the electromagnetic coil and first diode
It is connected, the anode of the first diode is connected with the output end of boost module, the input terminal of the boost module and battery
Cathode is separately connected the both ends with wheel drive motors；The second end of first normally closed switch also with the second normally closed switch one
End is connected, and the other end of second normally closed switch is connected with the input terminal of boost module；Second diode anode and charging
Capacitor one end, which is connected, constitutes the quick-charging circuit, which is parallel to battery both ends and described second
Diode anode is also connected by the normal open switch with the second end of the first normally closed switch.
The invention has the advantages that (1) real scene navigation system of the invention ties roadside streetscape with guidance path
It closes, marks the vehicle heading to match with guidance path in the streetscape of roadside to realize, have real-time good, the property guided is good
The advantages of, the reliability and ease for use in the navigation of complex crossing are improved, avoidable driver drives into the travel route of mistake；
(2) the braking electric energy recycles subsystem, can be in the case where guaranteeing that the braking resultant force of the two meets automobile brake requirement, both
The rate of recovery that braking energy in braking process can be improved can reduce the loss of conventional brake friction plate again；(3) the braking electricity
Subsystem can be recycled, realizes motor braking power and hydraulic braking force in a certain range continuously, in real time using mechanical structure
Cooperation adjusting is carried out, mechanical structure is relatively easy, cost is greatly reduced and functional reliability significantly improves；(4) this hair
It is bright that wheel drive motors can effectively be improved to the charge efficiency of battery by boost module.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 shows the functional block diagram of navigation system of the invention；
Fig. 2 shows the structural schematic diagrams of braking electric energy recycling subsystem of the invention；
Fig. 3 shows the structural schematic diagram of second of embodiment of braking electric energy recycling subsystem of the invention；
Fig. 4 shows the circuit diagram of second of charging circuit of the invention.
In figure: wheel hub 1；
Hydraulic brake mechanism 2, brake block 21, wheel cylinder 22, master cylinder 23, piston 24；
Brake assemblies 3, brake pedal 31, the first transfer gear 32, the second transfer gear 33, brake coordination gear 34, first is solid
Determine guide rail 35, the two-sided rack sliding block 36, travel switch K；
Brake coordination component 4, the second fixed guide rail 41, single-side rack sliding block 42, connecting rod 43, iron core 44, hollow shell 45, electricity
Magnetic coil 46, compressed spring 47；
Wheel drive motors M, battery E, diode VD；
First diode VD1, the second diode VD2, charging capacitor C.
Specific embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These attached drawings are simplified schematic diagram, only with
Illustration illustrates basic structure of the invention, therefore it only shows the composition relevant to the invention.
Embodiment 1
Fig. 1 shows the functional block diagram of real scene navigation system of the invention.
As shown in Figure 1, the navigation system includes: navigation dress the present invention provides a kind of working method of navigation system
It sets and photographic device；The navigation device includes: the gyroscope for obtaining vehicle heading, for obtaining vehicle driving position
The GPS module set, for storing the data storage and processor module and display module of map datum and streetscape data.
The working method include: when vehicle by pre-set navigational path when driving, the photographic device follows vehicle real
When shooting current vehicle around real time scene；If front, there are complex crossing, the processor module is by the real-time scape
As being matched with the streetscape of the corresponding position prestored in the data storage, in combination with the pre-set navigational path, sentence
Disconnected position, road and correct driving direction where current vehicle out；Then the display module is controlled to show accordingly
Navigation picture includes: the real time scene immediately ahead of current vehicle in the navigation picture and uses arrow in the real time scene
Leader goes out the vehicle heading to match with guidance path.
Wherein, the complex crossing refers to the crossing for easily leading to the route that driver drives into mistake comprising but be not limited to more
The rotary island at a crossing, Y shape crossing, M shape crossing, has overhead road of city uplink and downlink road junction or downlink road junction at cross fork in the road
Crossing etc.,
The photographic device includes the camera that at least one is set to right ahead；The processor module is by the real-time scape
As being matched with the streetscape of the corresponding position, orientation that are prestored in the data storage, to update the streetscape data.
Further, at least one camera is being set being located at vehicle two sides, rear side, respectively to obtain vehicle two sides, rear side
Image.
It is further preferred that obtaining the information such as vehicle acceleration, speed, height above sea level, reclining angle by gyroscope, pass through
The information such as vehicle travel headings, vehicle acceleration, speed, height above sea level, reclining angle constitute vehicle attitude.The processor module
The streetscape of the corresponding position prestored in the real time scene and the data storage, corresponding vehicle attitude is matched, with
Further increase accuracy, the reliability of images match.
As a kind of preferred embodiment of the present embodiment, the working method of the navigation system further includes, when described
Processor module matches the streetscape in the corresponding position prestored in the real time scene and the data storage, orientation,
Include: to update the method for the streetscape data
If measuring the real time scene relative to the streetscape, there are new road sign or traffic mark or certain external wall advertisements
Board or decorative hair change more, or newly-increased building or fork in the road, then the processor module is according to the real time scene, to described
The streetscape of the corresponding position, corresponding orientation that prestore in data storage is updated, i.e., in the corresponding street of the data storage
The new road sign or traffic mark or certain external wall billboard or decoration, or newly-increased building or fork in the road are updated in scape.
Further, the navigation system further include: can be (specific with the remote server of the navigation device wireless telecommunications
, the wireless device can be realized using means of communications such as 3G/4G, belong to known technology, which is not described herein again), this is long-range
The real time scene that server real-time reception is shot from multiple navigation devices；Remote server includes a three-dimensional map data
Library is stored in a region in the three-dimensional map data library: position and the height of navigation map data, streetscape, and/or building
The position and elevation information on information and/or mountain range or hills；The remote server extracts wherein according to the real time scene
Streetscape, and/or building exterior wall image, and/or mountain range or hills shape image, then by the image of acquisition to three-dimensional
The shape image of the corresponding orientation on the streetscape, and/or building of the corresponding position in map data base, and/or mountain range or hills into
(streetscape stored in the original three-dimensional map data library, external wall, mountain range or the shape on hills are the corresponding filling of row
It is preset or blank) or update (streetscape stored in the original three-dimensional map data library, external wall, mountain range or
The shape on hills is outmoded), to obtain the exterior wall image of streetscape, and/or building, and/or mountain range that have and be actually consistent
Or the three-dimensional map data library of the shape image on hills.Wherein, each image is accompanied with the information such as geographical coordinate, orientation.
As a kind of preferred embodiment of this implementation, when the GPS module of the navigation device can not receive GPS letter
Number when, such as GPS module damage, can not receive GPS signal, received GPS signal it is invalid when, navigation device by camera shooting dress
The shape image at least one orientation on the streetscape for obtaining current location periphery, and/or building, and/or mountain range or hills is set, so
The image of the corresponding position stored in the shape image and remote server, corresponding orientation is matched afterwards, to find phase
The image matched, and then obtain the map reference and direction of current location, and mark on navigation map, to be accurately positioned in time,
And then avoid user lost.It is preferred that being less likely to occur to change shape of the scenery as reference using mountain range, hills, skyscraper etc.
Image.
The navigation device is suitable for map reference and direction according to the current location, carries out path navigation.
This preferred embodiment provides a kind of new navigation mode, and the no error accumulation of the navigation, accurate positioning can
Substitute traditional inertial navigation technology scheme when GPS signal is lost.
Embodiment 2
On that basis of example 1, the present invention also provides a kind of vehicles using above-mentioned navigation system.
The vehicle is electric car；It is equipped with braking electric energy in the vehicle and recycles subsystem, the braking electric energy recycling
Subsystem is connected with navigation device, and the navigation device is further adapted for calculating and advising again after the traffic path is planned again
The passage speed in path is drawn, can travel milimeter number to obtain the residue of battery in braking electric energy recycling subsystem.Specific place
Reason device module may be implemented to calculate the function of remaining travelable milimeter number.
Fig. 2 shows the structural schematic diagrams of braking electric energy recycling subsystem of the invention.
As shown in Fig. 2, the braking electric energy recycles subsystem, including hydraulic brake mechanism 2, and with the hydraulic brake
The brake coordination component 4 that structure 2 matches；When braking, the brake coordination component 4 is suitable in generation and hydraulic brake mechanism 2
The direction of motion opposite effect power of piston 24, while the electric energy that wheel drive motors M braking generates is passed through into a boost module
It charges to battery；Or the electric energy of wheel drive motors braking generation is passed through electric through quick charge again after a boost module
It charges to battery on road.
Wherein, the boost module can be realized using boost chip, such as, but not limited to mc34063, ICL7660；
It can also be using DC source boost module disclosed in such as patent document CN 203933389U.
Specifically, the braking electric energy recycles subsystem further include: brake assemblies 3, the brake assemblies 3 are interior to be equipped with stroke
Switch K；When braking, travel switch K is triggered, to generate the active force.
The hydraulic brake mechanism 2 includes the interior master cylinder 23 for setting the piston 24, and the piston 24 passes through piston rod
It is connected with brake assemblies 3.
As a kind of optional embodiment of this hydraulic brake mechanism, the hydraulic brake mechanism 2 further include: set respectively
In brake block 21 and wheel cylinder 22 on each wheel hub 1；The piston 24 generates hydraulic (brake fluid pressure in master cylinder 23
Power), the hydraulic conduction to wheel cylinder 22 generates corresponding hydraulic braking force and acts on wheel hub 1 by brake block 21, to realize
Brake.
The brake assemblies 3 include: the two-sided rack sliding block 36；The brake coordination component 4 includes: single-side rack sliding block
42；The lower end surface of the two-sided rack sliding block 36 is cooperated by driving gear component and brake pedal 31, thereon end face and single side
A brake coordination gear 34, the end of the brake coordination gear 34 and the piston rod are engaged between the lower end surface of rack slide 42
It is connected.Specifically, the two-sided rack sliding block 36 is mounted on the first fixed guide rail 35 and the first fixed guide rail 35 can be relied on to slide；With
And single-side rack sliding block 42 is movably disposed on the second fixed guide rail 41, suitable for being slided on the second fixed guide rail 41.
When braking, brake pedal 31 controls the two-sided rack sliding block 36 by driving gear component and drives brake coordination gear
34 rotations, and the brake coordination gear 34 is suitable for driving hydraulic brake mechanism 2 to generate braking to wheel hub 1 by piston rod；With
And the brake coordination component 4 generates the active force to brake coordination gear 34 by single-side rack sliding block 42.
Wherein driving gear component includes: the first, second transfer gear 33, first transfer gear 32 and brake pedal
31 are connected, and the braking instruction of brake pedal 31 passes sequentially through the first transfer gear 32, the second transfer gear 33, the two-sided rack sliding block
36 pass to brake coordination gear 34, and then mobile with piston 24, so as to generate hydraulic, completion brake system in master cylinder 23
It is dynamic.At the same time, since travel switch K is triggered, the active force acting in opposition that brake coordination component 4 generates is in brake coordination
Gear 34 forces the hydraulic pressure value in master cylinder suitably to reduce, and reduces the kinetic energy consumed by braking, and the kinetic energy is driven by wheel
Dynamic motor M braking is converted into electric energy to store.
The brake coordination component 4 further includes electromagnetic induction device, and the electromagnetic induction device is by the travel switch K
Auxiliary switch control；The electromagnetic induction device is suitable for after travel switch K triggering, and auxiliary switch controls electromagnetic induction device
Must be electric, to generate the active force.
The specific embodiment of the electromagnetic induction device includes: electromagnetic coil 46, which is suitable for obtaining electric suction
Close iron core 44；The iron core 44 is connected with single-side rack sliding block 42, is suitable for driving single-side rack when electromagnetic coil 46 obtains electric
Sliding block 42 generates the active force to brake coordination gear 34.
As a kind of optional embodiment of electromagnetic induction device, the iron core 44 is sheathed in a hollow shell 45, institute
Electromagnetic coil 46 is stated to be set around on 45 periphery of hollow shell；One end of the iron core 44 is sliding by connecting rod 43 and single-side rack
Block 42 is connected, and the other end passes through the inner wall of end of compressed spring 47 and the hollow shell 45 elasticity in the hollow shell 45
Cooperation；The iron core 44 has a pair of of magnetic pole, this to magnetic pole be suitable for electromagnetic coil 46 it is electric after, make iron core 44 to compressed spring
47 directions are mobile, at the same generate act on brake coordination gear 34 the active force (opposition, i.e., with step on brake and step on
After plate 31, the active force for passing to brake coordination gear 34 by the two-sided rack sliding block 36 is opposite).
As another optional embodiment of electromagnetic induction device, the iron core 44 is sheathed in a hollow shell 45,
And it is located at the side of electromagnetic coil 46.
The brake coordination component 4 further includes charging circuit, which is suitable in brake, by wheel drive motors
The electric energy that M braking generates charges to battery E.
Specific embodiment: the charging circuit includes diode VD；Anode and the electromagnetic coil 46 of the battery E
One end be connected, the other end of the electromagnetic coil is connected with the cathode of the diode VD, the anode of diode VD and boosting
The output end of module is connected, and the input terminal of the boost module is connected with the one end wheel drive motors M, and the battery E's is negative
Pole is connected with the other end of wheel drive motors M；The auxiliary switch is normally closed switch, and the both ends of the normally closed switch are separately connected
In the input terminal of boost module, the anode of battery E.
The characteristics of by the one-way of diode VD, can effectively avoid battery E after normally closed switch opening, continue to lead to
Electromagnetic coil 46 is crossed to discharge to wheel drive motors M；And by the boost module, it can effectively improve charging effect
Rate.
The working principle of braking electric energy recycling subsystem of the invention is:
During electric automobile during traveling, when driver does not touch on the brake pedal 31, auxiliary switch (normally closed switch) closure will be through
It crosses electromagnetic coil 46 to be short-circuited, battery E is to wheel drive motors M for electric drive running car；Iron core 44 is by compression bullet at this time
47 bullet of spring is to the side of hollow shell 45；
When driver steps on brake pedal 31, the braking instruction of brake pedal 31 passes sequentially through the first transfer gear 32, second
Transfer gear 33, the two-sided rack sliding block 36 pass to brake coordination gear 34, and then mobile with piston 24, so that master cylinder
Hydraulic, completion brake is generated in 23；Meanwhile auxiliary switch is opened, wheel drive motors M generates brake force and passes through charging
Circuit charges to battery E, and charging current generates magnetic field when passing through electromagnetic coil 46, so that iron core 44 overcomes compressed spring 47
Elastic force moves right, and iron core 44 drives single-side rack sliding block 42 to move right by connecting rod 43, so that brake coordination gear 34
It rotates backward, 34 counter-rotating belts piston 24 of brake coordination gear moves right, to reduce hydraulic in master cylinder 23
(brake fluid pressure).
When driver steps on brake pedal 31, the brake force of vehicle is consequently exerted at brake force (the hydraulic system on wheel hub 1
Motivation structure 2 generate hydraulic braking force) and wheel drive motors M generation brake force resultant force；When speed is faster, then wheel drives
The stalling current generated in dynamic motor M is bigger, and motor braking power is bigger, and the suction that electromagnetic coil 46 generates is bigger, iron
The mobile displacement of core 44 is bigger, and for the oil pressure in master cylinder 23 with regard to smaller, hydraulic braking force is smaller, to work as automobile high-speed
When braking, increase motor braking power, reduce the conventional friction brake force by hydraulic braking, rubs to reduce in conventional brake
The abrasion of piece, while wheel drive motors M is improved to the rate of recovery of braking energy.
Optionally, in electric automobile during traveling, if brake coordination component 4 breaks down or battery E is in full power state
When, wheel drive motors M charges and/or generates brake force without normal direction battery E, and electric car is by hydraulic brake mechanism 2 at this time
It is braked using conventional hydraulic mode of braking, guarantees traffic safety.
Following table is conventional hydraulic mode of braking and braking electric energy of the invention recycle brake of the subsystem under each speed away from
From test result.
From the table it is found that the braking effect that braking electric energy recycling subsystem of the invention and conventional hydraulic mode of braking generate
Essentially identical, therefore, the present invention is realized in the case where guaranteeing that the braking resultant force of the two meets automobile brake requirement, Ji Nengti
The rate of recovery of braking energy can reduce the loss of conventional brake friction plate again in high braking process.
Braking electric energy of the invention recycles subsystem, makes electric braking force and hydraulic braking force in certain model by mechanical structure
Enclose it is interior be continuously adjusted in real time, controller in the prior art or single chip circuit is omitted and calculates control and deterministic process,
Thus it coordinates the timeliness braked more preferably.
Fig. 3 shows the structural schematic diagram of second of embodiment of braking electric energy recycling subsystem.
As shown in figure 3, the single-side rack sliding block in the brake coordination component can also be driven by lead screw and be moved left and right
To replace electromagnetic induction device, concrete scheme includes:
The lead screw is controlled by motor driven, the motor by a MCU module, and the MCU module is acquired by Hall sensor
The current value that wheel drive motors M braking generates adjusts the displacement of single-side rack sliding block to control Motor torque.
Fig. 4 shows the circuit diagram of second of charging circuit of the invention.
As shown in figure 4, it includes: the first, second diode and charging capacitor C that concrete scheme, which includes: the charging circuit,；Institute
Stating auxiliary switch is the first, second normally closed switch and a normal open switch；The anode of the battery E and the of the first normally closed switch
One end is connected, and the second end of first normal open switch is connected by the electromagnetic coil with the cathode of first diode VD1, this
The anode of one diode VD1 is connected with the output end of boost module, the input terminal of the boost module and the cathode point of battery E
It Lian Jie not be with the both ends of wheel drive motors M；The second end of first normally closed switch also with one end phase of the second normally closed switch
Even, the other end of second normally closed switch is connected with the input terminal of boost module；The second diode VD2 anode and charging electricity
Hold the connected composition quick-charging circuit in the one end C, which is parallel to the both ends battery E and described second
Diode VD2 anode is also connected by the normal open switch with the second end of the first normally closed switch.
Wherein, charging capacitor C can be realized using several bulky capacitor parallel connections, since capacitor charging response speed compares battery
It is fast, it is disappeared so often will cause the electric current that braking generates and have little time to charge to battery E, therefore, charging effect
Rate is very low, and in order to overcome the technical problem, the waste of energy that can effectively avoid braking from generating by quick charge capacitor is improved
Charge efficiency.
Concrete principle is first to carry out quick charge to charging capacitor, is then carried out again by the second diode VD2 to battery
Electric discharge.
Taking the above-mentioned ideal embodiment according to the present invention as inspiration, through the above description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property range is not limited to the contents of the specification, it is necessary to which the technical scope thereof is determined according to the scope of the claim.
Claims (1)
1. a kind of vehicle using navigation system, which is characterized in that the navigation system include: navigation device and it is multiple be set to vehicle
The photographic device of periphery；The navigation device includes: the gyroscope for obtaining vehicle heading, for obtaining vehicle row
The GPS module for sailing position, for store map datum and streetscape data data storage and processor module and display mould
Block；The camera lens of photographic device is equipped with hood；
Processor module obtains vehicle acceleration, speed, height above sea level, reclining angle information by gyroscope；
The working method of the navigation system includes:
When vehicle presses pre-set navigational path when driving, the photographic device follows real-time around vehicle captured in real-time current vehicle
Scene；
If there are complex crossing, the processor modules will prestore corresponding in the real time scene and data storage in front
The streetscape of position is matched, in combination with the pre-set navigational path, judge position where current vehicle, road, with
And correct driving direction；
Then it controls the display module and shows corresponding navigation picture, include: immediately ahead of current vehicle in the navigation picture
Real time scene and mark the vehicle heading to match with guidance path with arrow in the real time scene；
The photographic device includes the camera that at least one is set to right ahead；
The processor module by the streetscape of the corresponding position, orientation that are prestored in the real time scene and the data storage into
Row matching, to update the streetscape data；
The working method of the navigation system further includes, when the processor module is by the real time scene and the data
The streetscape of the corresponding position, orientation that prestore in memory is matched, and includes: to update the method for the streetscape data
If measuring the real time scene, relative to the streetscape, there are new road sign or traffic marks or certain external wall advertisement
Board or decorative hair change more, or newly-increased building or fork in the road, then the processor module is according to the real time scene, to institute
State the corresponding position prestored in data storage, the streetscape in corresponding orientation is updated, i.e., in the corresponding of the data storage
The new road sign or traffic mark or certain external wall billboard, or decoration, or newly-increased building, or trouble are updated in streetscape
Crossing；
The vehicle is electric car；It is equipped with braking electric energy in the vehicle and recycles subsystem, the braking electric energy recycles subsystem
System is connected with navigation device, and the navigation device is further adapted for calculating after the traffic path is planned again and planning road again
The passage speed of diameter can travel milimeter number to obtain the residue of battery in braking electric energy recycling subsystem；
The braking electric energy recycles subsystem, including hydraulic brake mechanism, and the braking matched with the hydraulic brake mechanism
Coordination component；
When braking, the brake coordination component is suitable for generating the direction of motion opposite effect with piston in hydraulic brake mechanism
Power, while the electric energy that wheel drive motors braking generates charging to battery by a boost module；
The braking electric energy recycles subsystem further include: brake assemblies, the brake assemblies are interior to be equipped with travel switch K；
When braking, travel switch K is triggered, to generate the active force；
The hydraulic brake mechanism includes the interior master cylinder for setting the piston, and the piston passes through piston rod and brake assemblies phase
Even；
The brake assemblies include: the two-sided rack sliding block；The brake coordination component includes: single-side rack sliding block；
The lower end surface of the two-sided rack sliding block is cooperated by driving gear component and brake pedal, thereon end face and single-side rack
A brake coordination gear is engaged between the lower end surface of sliding block, which is connected with the end of the piston rod；
When brake, brake pedal controls the two-sided rack sliding block by driving gear component and brake coordination gear is driven to rotate, and should
Brake coordination gear is suitable for driving hydraulic brake mechanism to generate braking to wheel hub by piston rod；And the brake coordination group
Part generates active force to brake coordination gear by single-side rack sliding block；
The brake coordination component further includes electromagnetic induction device, and the electromagnetic induction device is by the auxiliary in the travel switch K
Switch control；The electromagnetic induction device be suitable for when travel switch K triggering after, auxiliary switch control electromagnetic induction device obtain it is electric,
To generate the active force；
The electromagnetic induction device includes: electromagnetic coil, which is suitable for obtaining electric pull-core；The iron core and single cog
Sliding block is connected, and is suitable for when electromagnetic coil obtains electric, and single-side rack sliding block is driven to generate the effect to brake coordination gear
Power；The iron core sleeve is set in a hollow shell, and the electromagnetic coil is set around on the hollow shell periphery；The one of the iron core
End is connected by connecting rod with single-side rack sliding block, and the other end passes through compressed spring and the hollow shell in the hollow shell
The inner wall of end of body is elastically engaged；The iron core has a pair of of magnetic pole, this to magnetic pole be suitable for electromagnetic coil obtain it is electric after, make iron core
It is mobile to compressed spring direction；
The brake coordination component further includes charging circuit, which is suitable for braking wheel drive motors in brake
The electric energy of generation charges to battery；
The charging circuit includes diode；
The anode of the battery is connected with one end of electromagnetic coil, the cathode of the other end of the electromagnetic coil and the diode
It is connected, the anode of the diode is connected with the output end of boost module, the input terminal and wheel drive motors of the boost module
One end is connected, and the cathode of the battery is connected with the other end of wheel drive motors；
The auxiliary switch is normally closed switch, and the both ends of the normally closed switch are connected to the input terminal of boost module, battery
Anode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811116693.5A CN109269515A (en) | 2015-03-21 | 2015-03-21 | A kind of vehicle using navigation system |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811116693.5A CN109269515A (en) | 2015-03-21 | 2015-03-21 | A kind of vehicle using navigation system |
| CN201510124699.7A CN106032990B (en) | 2015-03-21 | 2015-03-21 | The working method of real scene navigation system |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510124699.7A Division CN106032990B (en) | 2015-03-21 | 2015-03-21 | The working method of real scene navigation system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109269515A true CN109269515A (en) | 2019-01-25 |
Family
ID=57148843
Family Applications (4)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| 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 |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811115554.0A Withdrawn CN109249808A (en) | 2015-03-21 | 2015-03-21 | Using the vehicle of navigation system and braking electric energy recycling subsystem |
Family Applications After (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| 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 |
Country Status (1)
| Country | Link |
|---|---|
| CN (4) | CN109249808A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113320426A (en) * | 2021-08-03 | 2021-08-31 | 车主邦（北京）科技有限公司 | Energy-saving emission-reducing charging navigation method and device |
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| CN107966158B (en) * | 2016-10-20 | 2021-11-23 | 奥迪股份公司 | Navigation system and method for indoor parking lot |
| CN108151759B (en) * | 2017-10-31 | 2022-02-11 | 捷开通讯(深圳)有限公司 | Navigation method, intelligent terminal and navigation server |
| WO2019172941A1 (en) * | 2018-03-07 | 2019-09-12 | Google Llc | Methods and systems for determining geographic orientation based on imagery |
| 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 |
| CN110385996B (en) * | 2019-06-26 | 2021-08-17 | 厦门金龙旅行车有限公司 | Electric feedback braking method, device and equipment for electric bus |
| CN110514211B (en) * | 2019-09-10 | 2021-05-28 | 北京百度网讯科技有限公司 | Positioning method, apparatus, device and medium |
| TWI725611B (en) * | 2019-11-12 | 2021-04-21 | 亞慶股份有限公司 | Vehicle navigation switching device for golf course self-driving cars |
| CN110986978B (en) * | 2019-11-27 | 2023-06-02 | 常州新途软件有限公司 | Live-action auxiliary navigation system and navigation method thereof |
| CN112050826B (en) * | 2020-09-14 | 2021-06-04 | 深圳市掌锐电子有限公司 | Low-delay high-definition AR multi-path navigation system |
| CN111829544B (en) * | 2020-09-14 | 2020-12-08 | 南京酷朗电子有限公司 | Interactive live-action navigation method |
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| US20040251095A1 (en) * | 2003-06-12 | 2004-12-16 | Hydro-Quebec | Electric vehicle braking system |
| DE102008026940A1 (en) * | 2008-06-05 | 2009-12-10 | Volkswagen Ag | Brake system for a motor vehicle |
| CN101758826B (en) * | 2008-12-26 | 2013-01-09 | 比亚迪股份有限公司 | Boosting brake system |
| CN101524995B (en) * | 2009-04-09 | 2010-09-29 | 吉林大学 | Hybrid power car braking coordinated control system and control method thereof |
| FR2948331B1 (en) * | 2009-07-27 | 2011-08-19 | Commissariat Energie Atomique | HYBRID BRAKE SYSTEM FOR MOTOR VEHICLE HAVING AN IMPROVED BRAKE DISTRIBUTION |
| CN102980570A (en) * | 2011-09-06 | 2013-03-20 | 上海博路信息技术有限公司 | Live-scene augmented reality navigation system |
| KR102021050B1 (en) * | 2012-06-06 | 2019-09-11 | 삼성전자주식회사 | Method for providing navigation information, machine-readable storage medium, mobile terminal and server |
| CN102829788A (en) * | 2012-08-27 | 2012-12-19 | 北京百度网讯科技有限公司 | Live action navigation method and live action navigation device |
| CN102889892B (en) * | 2012-09-13 | 2015-11-25 | 东莞宇龙通信科技有限公司 | The method of real scene navigation and navigation terminal |
| CN104118416B (en) * | 2014-08-06 | 2017-01-25 | 邓伟文 | Electro-hydraulic combined braking system with electric power function and applicable to regenerative braking automobile |
-
2015
- 2015-03-21 CN CN201811115554.0A patent/CN109249808A/en not_active Withdrawn
- 2015-03-21 CN CN201811116693.5A patent/CN109269515A/en not_active Withdrawn
- 2015-03-21 CN CN201510124699.7A patent/CN106032990B/en active Active
- 2015-03-21 CN CN201811116687.XA patent/CN109297504A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113320426A (en) * | 2021-08-03 | 2021-08-31 | 车主邦（北京）科技有限公司 | Energy-saving emission-reducing charging navigation method and device |
| CN113320426B (en) * | 2021-08-03 | 2022-04-05 | 车主邦（北京）科技有限公司 | Energy-saving emission-reducing charging navigation method and device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106032990A (en) | 2016-10-19 |
| CN109249808A (en) | 2019-01-22 |
| CN106032990B (en) | 2019-01-08 |
| CN109297504A (en) | 2019-02-01 |
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