CN203249628U - Vehicle navigation device - Google Patents

Abstract

The utility model relates to a vehicle positioning and navigation technology in intelligent traffic, in particular to a navigation device and a method of acquiring an economical road for a vehicle. The vehicle navigation device comprises a micro controller, a voice module, a power supply module, an LCD display, a GPRS (general packet radio service) communication module, a GPS (global position system) module and an input interface, wherein the micro controller is connected with the voice module, the power supply module, the LCD display, the GPRS communication module, the GPS module and the input interface respectively. According to the vehicle navigation device and the economical road acquiring method adopting the device, the device can guide the vehicle to travel in the most economical road, and is used for optimizing and navigating the vehicle travelling path, and by means of the method, according to a relation between vehicle operating fuel economy and road distance as well as slope, K items of shortest roads are acquired, and the most economical road for vehicle operating is acquired by computing height change of each road and synthesizing the distance of each road.

Description

Vehicle navigation apparatus

Technical field

The utility model relates to vehicle positioning and navigation technology in a kind of intelligent transportation, relates in particular to the acquisition methods of a kind of guider and vehicle economy road.

Background technology

In recent years, along with the fast development of national economy, the recoverable amount cumulative year after year of domestic automobile, the continuous increase of the volume of traffic has brought very large difficulty to vehicle supervision department.In urban road construction, highway network is constantly built and is extended, and the transportation network with the city well combines.The road traffic net has been linked to be face by sheet, has formed nationwide transportation network, and this is so that Traffic Net is day by day complicated.

The development of road network in a way so that former passless problem by this problem how to get to replaced.The vehicle positioning and navigation system can provide according to driver's requirement optimum driving path, and provides guiding in the Vehicle Driving Cycle process.Current acquisition of this system used widely, and market increases sharply to its demand.

The development pole the earth of communications and transportation has improved people's living standard, has promoted social progress, but has consumed a large amount of petroleum resources.According to China's energy development report, populous, per capita resources wretched insufficiency is the fundamental realities of the country of China, under the condition that faces energy bottleneck restriction and environmental disruption, the every construction project in the Chinese Economy Development all must be adhered to principle energy-conservation, efficient, sustainable development.Energy-conservationly become a fundamental state policy, and the major issue that the energy-conservation needs that become in the traffic of traffic solve.

Along with technical developments such as computing machine, communication, electronics, the vehicle positioning and navigation system can provide optimum driving path and can guide and can realize that the function such as monitoring is obtained uses widely and develop rapidly for the driver.Although but current vehicle positioning and navigation system has possessed basic path planning function, yet the path planning of the fuel consume situation of relevant automobile energy-saving can not provide the guidance of this aspect.In the situation that the current energy is so nervous, if provide the road of vehicle fuel consume minimum at the road network of Vehicle Driving Cycle, has great importance undoubtedly and act on.In addition, under the circumstances that current traffic hazard takes place frequently, traffic safety becomes the problem that driver and vehicle supervision department are concerned about constantly.And along with China's expanding economy, car owning amount continues to increase, and unskilled driver constantly increases, on the more road of change in road slope, on the road that particularly slope change is larger, unskilled driver often can not well control Vehicle Driving Cycle, and traffic safety problem is particularly outstanding.If if can add the information of change in road slope at driver's driving procedure, help undoubtedly driver's driving, promote traffic safety.

The utility model content

Technique effect of the present utility model can overcome defects, and a kind of vehicle navigation apparatus is provided, and it can travel on most economical road by guided vehicle.

For achieving the above object, the utility model adopts following technical scheme: it comprises microcontroller, voice module, power module, LCD display, GPRS communication module, GPS module, input interface, and microcontroller is connected with voice module, power module, LCD display, GPRS communication module, GPS module, input interface respectively;

Wherein, microcontroller is embedded system or microcomputer system, and it is responsible for the work of whole device;

Voice module comprises voice case, voice synthetic module and transmitting voice signal module, the transmitting voice signal module connects voice case and controller, voice synthetic module is connected with the voice case, voice module is responsible for the voice guide in the Vehicle Driving Cycle process, microcontroller is pointed out current road grade information in real time according to path, the real time position of Vehicle Driving Cycle to the driver;

LCD display is responsible for showing the most economical path of road network, selection and the real time position of vehicle;

The GPRS communication module couples together whole device and cordless communication network, carries out the mutual of wireless messages, for realizing that vehicle monitoring provides interface;

The positional information of GPS module Real-time Obtaining vehicle, and data are passed to microprocessor.

The model of microcontroller is S3C2410A.

The online road of above-mentioned three-dimensional road network electronic map guiding also has altitude figures except longitude and latitude, electronic chart is deposited with the form of database.

Another purpose of the present utility model provides a kind of economy road acquisition methods that adopts this device, comprises the steps:

(1) according to the K shortest path first K road then that obtains origin-to-destination then;

(2) based on the three-dimensional road electronic map database, obtain the then height of node of road of K;

(3) according to resulting road height of node, calculate the height change of road, draw the slope change situation of road;

(4) according to the resulting K change in road slope situation of road and calculating then, comprehensively obtain most economical road.

Wherein, the K in the step (1) then shortest path first adopt the label set algorithm.

Road network in the three-dimensional road electronic map database in the step (2) has two-dimensional coordinate, road height information, and road height is comprised of the height of road circuit node.

The node of the road in the step (2) be taken as road city, small towns, village, freeway toll station, bridge, the tunnel of process.

In the step (3), then obtain the elevation of node according to the altitude figures of road network, and then calculate the then slope change situation of road of K, detailed process is:

(1) at first according to the road network node elevation data of storing, obtains the then elevation of shortest path node of K

H={H ₁,H ₂,…,H _k}，

H ₁={h ₁,h ₂,…,h _n1}，

H ₂={h ₁,h ₂,…,h _n2}，

H _k={h ₁,h ₂,…,h _nk}，

Wherein H represents then all node set of shortest path node of K, H ₁Expression road L ₁Node set, H ₂Expression road L ₂Node set, H _kExpression road L _kNode set, n ₁, n ₂..., n _kRepresent respectively road L ₁, L ₂..., L _KThe node number, h _iThe elevation of expression node i;

(2) calculate the then relative value hr of shortest path node elevation of all K, specific as follows:

1. calculate the minimum elevation of every road:

h _min,i=minH _i

Wherein, h _{Min, i}Expression road L _iThe minimum elevation of node,

MinH _iExpression is from road L _iNode elevation set in obtain minimum elevation;

2. the calculating K relative altitude of all nodes of road then:

hr _i,j=h _i,j-h _min,i

Wherein, hr _{I, j}Expression L _iThe relative altitude of node j on the road,

i=1,j=1,2,…,n ₁

i=2,j=1,2,…,n ₂

i=k,j=1,2,…,n _k；

(3) mean value of calculating road relative altitude

The quadratic sum S of square error, maximal value hr _MaxWith minimum value hr _Min:

1. K then the mean value calculation formula of shortest path relative altitude be:

2. K then the computing formula of the quadratic sum of the square error of shortest path relative altitude be:

3. the K maximal value hr of shortest path relative altitude then _MaxWith minimum value hr _Min:

(4) the calculating K slope change situation of road then:

Quadratic sum S, maximal value hr with the square error of road relative altitude _MaxWith minimum value hr _MinThe slope change situation of the weighted mean value Integrative expression road of three parameters, K then the gradient of road respectively with P _L1, P _L2..., P _LKExpression, computing formula is:

P _Li=a ₁S _i+a ₂h _max,i+a ₃h _min，j

Wherein, i=1,2 ..., K, a ₁, a ₂And a ₃Be weights, and a ₁+ a ₂+ a ₃=1.

According to the as a result P that calculates _LiValue is less to represent that then the road grade value is little, i.e. variation is less, and this road is comparatively smooth, and vehicle is few at the fuel consume of this road driving vehicle under equal transportation condition.

In the step (4), the K that can obtain the desired starting point O of user and destination D according to the calculating of step (1) is shortest path L then ₁, L ₂..., L _K, and obtain its corresponding distance, be made as D _L1, D _L2..., D _LKThen can calculate then shortest path L of K according to the described method of step (3) ₁, L ₂..., L _KThe gradient, be respectively P _L1, P _L2..., P _LKCalculate the economy value of vehicle running path, computing formula is:

E _Li=b ₁D _Li+b ₂P _Li

Wherein, i=1,2 ..., K, b ₁And b ₂Be weights, and b ₁+ b ₂=1;

Then can obtain the most economical road of Vehicle Driving Cycle, i.e. the road of path economy value minimum, computing formula is:

$E_{L\min }=\underset{1\≤i\≤K}{\mathrm{Min}}{E}_{\mathrm{Li}}$

I=1 wherein, 2 ..., K.

Vehicle economy is the fuel consume of vehicle, and the fuel consume of vehicle is good economy performance at least, otherwise then poor.The factor that affects the Vehicle Driving Cycle fuel consume is a lot, and except the design performance and traffic of vehicle self, the distance of road and the gradient are the key factors that affects vehicle oil consumption.Under ad eundem road and identical transportation condition, Vehicle Driving Cycle lacks at the fuel consume of the short road vehicle than distance of distance.Under ad eundem road and identical transportation condition, Vehicle Driving Cycle is smooth than distance and there is the fuel consume of the road vehicle on gradient road surface to lack on the short and road surface of distance, i.e. the good economy performance of vehicle.Can calculate the height change of road according to the electronic three-dimensional map data of vehicle-mounted road network, the variation of road height can represent the gradient situation of road.Begin at Vehicle Driving Cycle, reference position and final position according to driver's input can calculate then shortest path of K according to road net data.For the K that obtains shortest path then, calculate its height change, namely obtain the gradient change situation of road.Then the distance of road and the gradient of road can obtain the minimum road of Fuel consumption, the i.e. road of economy optimum according to K.

The utility model vehicle navigation apparatus and the economy road acquisition methods that adopts this device, this device can travel on most economical road by guided vehicle, be used for optimization and navigation to vehicle running path, the method is according to the relation of vehicle operating fuel economy and road distance and the gradient, with the K that obtains then the distance of the height change comprehensive road of shortest path by calculating each road obtain the most economical road of vehicle operating.

Description of drawings

Fig. 1 is algorithm flow schematic diagram of the present utility model;

Fig. 2 is module diagram of the present utility model.

Embodiment

Below in conjunction with the drawings and specific embodiments the utility model is described in detail:

Accompanying drawing 1 is for obtaining the process flow diagram of the most economical road algorithm of Vehicle Driving Cycle, and the method has comprised following step.

1, according to the three-dimensional data base of road network, utilize K then shortest route-planning algorithm calculate the departure place to the K of destination shortest path then.

Wherein K then path planning algorithm can adopt label set algorithm etc.

In addition, about choosing of K, the minimum path of fuel consume is the most relevant with the distance in path, when only having distance to differ less, the driver just can make a choice according to the gradient situation of road, if distance differs larger, unless the less road grade situation extreme difference of distance, just understand the larger road of selected distance otherwise the less road of meeting chosen distance.Therefore, choosing of K can according to actual conditions, be chosen so that setpoint distance is poor.

2, K obtaining of shortest path node then.If the K that obtains then shortest path is L ₁, L ₂..., L _KThe calculating of road grade need to obtain first the node of road, node can be taken as road administrative city, small towns, the village of process, if highway also can be by way of the road the charge station of process, also can be by way of important symbol such as bridge, the tunnel etc. of road process.The more many slope change relations that more can better represent road of the number of road circuit node.

3, K road slope calculation then.Obtain K then behind the node of road, then can obtain the elevation of node according to the altitude figures of road network, and then can calculate the then slope change situation of road of K, detailed process is:

(1) at first according to the road network node elevation data of storing, obtains the then elevation H={H of shortest path node of K ₁, H ₂..., H _k, H ₁={ h ₁, h ₂..., h _N1, H ₂={ h ₁, h ₂..., h _N2..., H _k={ h ₁, h ₂..., h _Nk, wherein H represents then all node set of shortest path node of K, H ₁Expression road L ₁Node set, H ₂Expression road L ₂Node set ..., H _kExpression road L _kNode set, n ₁, n ₂..., n _kRepresent respectively road L ₁, L ₂..., L _KThe node number, h _iThe elevation of expression node i.

(2) calculate the then relative value hr of shortest path node elevation of all K, specific as follows:

1. calculate the minimum elevation of every road:

h _min,i＝minH _i

Wherein, h _{Min, i}Expression road L _iThe minimum elevation of node

MinH _iExpression is from road L _iNode elevation set in obtain minimum elevation

2. the calculating K relative altitude of all nodes of road then:

hr _i,j=h _i,j-h _min,i

Wherein, hr _{I, j}Expression L _iThe relative altitude of node j on the road

i=1,j=1,2,…,n ₁

i=2,j=1,2,…,n ₂

i=k,j=1,2,…,n _k

(3) mean value of calculating road relative altitude

The quadratic sum S of square error, maximal value hr _MaxWith minimum value hr _Min

1. K then the mean value calculation formula of shortest path relative altitude be:

${\stackrel{\‾}{\mathrm{hr}}}_i=\frac{\underset{j=1}{\overset{n_i}{\mathrm{\Σ}}}{\mathrm{hr}}_{i,j}}{n_i}(i=\mathrm{1,2},...,k)$

2. K then the computing formula of the quadratic sum of the square error of shortest path relative altitude be:

$S_i=\underset{j=1}{\overset{n_i}{\mathrm{\Σ}}}{({\mathrm{hr}}_{i,j}-{\stackrel{\‾}{\mathrm{hr}}}_i)}^2(i=\mathrm{1,2},...,k)$

3. the K maximal value hr of shortest path relative altitude then _MaxWith minimum value hr _Min:

$h_{\min ,i}=\underset{1\≤j\≤n_i}{\mathrm{Min}}{\mathrm{hr}}_{i,j}$

$h_{\max ,i}=\underset{1\≤j\≤n_i}{\mathrm{Max}}{\mathrm{hr}}_{i,j}$

(4) the calculating K slope change situation of road then

Quadratic sum S, maximal value hr with the square error of road relative altitude _MaxWith minimum value hr _MinThe slope change situation of the weighted mean value Integrative expression road of three parameters, K then the gradient of road respectively with P _L1, P _L2..., P _LKExpression, computing formula is:

P _Li=a ₁S _i+a ₂h _max,i+a ₃h _min,j

Wherein, i=1,2 ..., K, a ₁, a ₂And a ₃Be weights, and a ₁+ a ₂+ a ₃=1.

According to the as a result P that calculates _LiValue is less to represent that then the road grade value is little, i.e. variation is less, that is to say that this road is comparatively smooth, and vehicle is few at the fuel consume of this road driving vehicle under equal transportation condition.

4, the most economical road of Vehicle Driving Cycle obtains

The K that calculating according to 1 can obtain the desired starting point O of user and destination D is shortest path L then ₁, L ₂..., L _K, and obtain its corresponding distance, be made as D _L1, D _L2..., D _LKThen can calculate then shortest path L of K according to 3 described methods ₁, L ₂..., L _KThe gradient, be respectively P _L1, P _L2..., P _LKThen can calculate the economy value of vehicle running path, computing formula is:

E _Li=b ₁D _Li+b ₂P _Li

Wherein, i=1,2 ..., K, b ₁And b ₂Be weights, and b ₁+ b ₂=1.

Then can obtain the most economical road of Vehicle Driving Cycle, i.e. the road of path economy value minimum, computing formula is:

$E_{L\min }=\underset{1\≤i\≤K}{\mathrm{Min}}{E}_{\mathrm{Li}}$

I=1 wherein, 2 ..., K

Accompanying drawing 2 obtains and the guider schematic diagram for the most economical path of vehicle, comprise microcontroller, voice module, power module, LCD display, GPRS communication module, GPS module, input interface, microcontroller is connected with voice module, power module, LCD display, GPRS communication module, GPS module, input interface respectively;

Wherein, microcontroller is embedded system or microcomputer system, and it is responsible for the work of whole device;

Voice module comprises voice case, voice synthetic module and transmitting voice signal module, the transmitting voice signal module connects voice case and controller, voice synthetic module is connected with the voice case, voice module is responsible for the voice guide in the Vehicle Driving Cycle process, microcontroller is pointed out current road grade information in real time according to path, the real time position of Vehicle Driving Cycle to the driver;

LCD display is responsible for showing the most economical path of road network, selection and the real time position of vehicle;

The GPRS communication module couples together whole device and cordless communication network, carries out the mutual of wireless messages, for realizing that vehicle monitoring provides interface;

The positional information of GPS module Real-time Obtaining vehicle, and data are passed to microprocessor.Concrete implementation process is described below:

(1) after device started, liquid crystal display can be inputted departure place and destination by prompting user, and behind user's input validation, device with reference to the accompanying drawings 1 computing method calculates the most economical road that arrives the destination from the departure place, and shows in liquid crystal display.The most economical road grade data that will obtain according to the calculating in this step simultaneously store.

(2) in the Vehicle Driving Cycle process, GPS will obtain the position of vehicle in real time, be the information such as current longitude, latitude and height, this information is deposited in storer, microcontroller takes out vehicle location from storer and also shows from display in real time, according to the change in road slope situation data of storing, microprocessor is according to the real time position of vehicle, with change in road slope situation sending voice control module simultaneously.

(3) speech control module is responsible for the voice guide in the Vehicle Driving Cycle process, microcontroller is according to path, the real time position of Vehicle Driving Cycle, current road grade information is pointed out to the driver in real time, when particularly change in road slope is larger, to forecast to the driver, can improve preferably traffic safety.

(4) the GPRS module is wireless communication module, is the interface of car-mounted device and wireless communication system, can realize the control and command center at rear and the information interaction of vehicle.When the rear requirement communicated with vehicle, the rear was sent information request by wireless network to car-mounted device, and GPRS can make corresponding reflection according to the content of request after receiving request, mainly is returning of vehicle position information.Simultaneously, car-mounted device also can carry out with the control and command center request of information, such as vehicle abnormality information etc.

(5) because the required voltage of the disparate modules of car-mounted device is different, therefore need carry out the design of power module, mainly comprise the radio communication mold block power supply, the conversion of vehicle power, GPS locating module power supply and power supply of microprocessor.

Claims (2)

1. vehicle navigation apparatus, it is characterized in that, comprise microcontroller, voice module, power module, LCD display, GPRS communication module, GPS module, input interface, microcontroller is connected with voice module, power module, LCD display, GPRS communication module, GPS module, input interface respectively;

Wherein, microcontroller is embedded system or microcomputer system, and it is responsible for the work of whole device; Voice module comprises voice case, voice synthetic module and transmitting voice signal module, the transmitting voice signal module connects voice case and controller, voice synthetic module is connected with the voice case, voice module is responsible for the voice guide in the Vehicle Driving Cycle process, microcontroller is pointed out current road grade information in real time according to path, the real time position of Vehicle Driving Cycle to the driver;

LCD display is responsible for showing the most economical path of road network, selection and the real time position of vehicle;

The GPRS communication module couples together whole device and cordless communication network, carries out the mutual of wireless messages, for realizing that vehicle monitoring provides interface;

The positional information of GPS module Real-time Obtaining vehicle, and data are passed to microprocessor.

2. vehicle navigation apparatus according to claim 1 is characterized in that, the model of microcontroller is S3C2410A.

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