CN105667507B - Self-navigation formula driverless electric automobile - Google Patents
Self-navigation formula driverless electric automobile Download PDFInfo
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- CN105667507B CN105667507B CN201610125965.2A CN201610125965A CN105667507B CN 105667507 B CN105667507 B CN 105667507B CN 201610125965 A CN201610125965 A CN 201610125965A CN 105667507 B CN105667507 B CN 105667507B
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- 238000005070 sampling Methods 0.000 claims description 3
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/10—Path keeping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
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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
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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- Automation & Control Theory (AREA)
- Radar, Positioning & Navigation (AREA)
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- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Transportation (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
The present invention relates to a kind of self-navigation formula driverless electric automobile, equipment and charging station navigator is followed the tracks of including guide tracks, the guide tracks of guide tracks tracking equipment road immediately below real-time tracking electric automobile is to realize the unmanned of electric automobile, and charging station navigator is used for the target charging station that the distance taking situation and distance electric automobile based on each charging station neighbouring selects electric automobile to go to.By means of the invention it is possible to realize the unpiloted of electric automobile meanwhile, it is capable to location is best suitable for the charging station of electric automobile so that going to charging in time.
Description
Technical field
The present invention relates to electric automobile field, particularly relate to a kind of unmanned electronic vapour of self-navigation formula
Car.
Background technology
Since traditional energy development of automobile centuries, its drawback constantly presents, the most in recent years along with warp
The development of Ji and the raising of people's living standard, the jumbo growth of private car quantity, traditional energy automobile
The shortcomings such as air pollution, sound pollution, urban congestion and the energy depletion brought become more to highlight,
Work and life to people causes adverse effect.
New-energy automobile, especially electric automobile, be increasingly becoming tradition energy owing to having the following advantages
The replacement developing direction of source automobile: 1. zero-emission, electric automobile uses electric energy, under steam without waste gas
Discharge, free from environmental pollution；2. electric automobile is higher than the energy utilization rate of gasoline engine driving automobile；③
Because using single electric energy, eliminate electromotor, variator, fuel tank, cooling and gas extraction system,
So structure is relatively simple, area occupied is relatively small；4. noise is little；5. can carry out when electricity consumption ebb
Vehicle charging, can stabilize the peak-valley difference of electrical network, makes generating equipment be fully used.Even start
The higher driverless electric automobile of intelligent level occurs.
But, owing to driverless electric automobile development time is shorter, some problems under steam exist
Still without obtaining adequate solution in prior art, even also need to manually participate in: 1. based on drawing
The driverless electric automobile control accuracy of guide rail mark is the highest, has and send out when deviateing the situation of guide tracks
Raw；2. navigation feature is the most complete, such as when electricity deficiency, it is impossible to most suitable fill near determining
Power station as target charging station to go to charging.
Accordingly, it would be desirable to a kind of new driverless electric automobile, it is possible to set up new based on guide tracks
Electric automobile drive control structure, improve unpiloted guidance accuracy, simultaneously can determine attached
While each charging station position nearly, it is possible to select the target charging station of most convenient voluntarily, thus improve
The charge efficiency of electric automobile.
Summary of the invention
In order to solve the problems referred to above, the invention provides a kind of unmanned electronic vapour of self-navigation formula
Car, the drive control apparatus of driverless electric automobile based on guide tracks in transformation prior art
Structure, improves the driving control accuracy of driverless electric automobile, meanwhile, it is capable to based on neighbouring each
The taking percentage ratio, take the GPS distance of percentage weight, each charging station neighbouring of individual charging station
The convenience degree of each charging station neighbouring with distance weighting calculating, thus the most square near automatically selecting out
Just charging station as target charging station, the perfect application function of driverless electric automobile.
According to an aspect of the present invention, it is provided that a kind of self-navigation formula driverless electric automobile, institute
Stating electric automobile and include that guide tracks follows the tracks of equipment and charging station navigator, guide tracks follows the tracks of equipment
The guide tracks of the road immediately below real-time tracking electric automobile is to realize the unmanned of electric automobile
Driving, charging station navigator takies situation and apart from electronic for based on each charging station neighbouring
The distance of automobile selects the target charging station that electric automobile goes to.
More specifically, in described self-navigation formula driverless electric automobile, including: light source,
It is arranged on the chassis of electric automobile, is made up of multiple highlighted white light LEDs, multiple highlighted white light LEDs
Form rectangle LED matrix and equidistantly arrange, road under electric automobile is illuminated；Photoelectric transfer
Sensor, is arranged on the chassis of electric automobile, is made up of 80 photoconductive resistance, 80 photoconductive resistance groups
Rectangular photoconductive resistance matrix and equidistantly arranging, each photoconductive resistance forms a Photoelectric Detection and leads to
Road, for detecting the intensity of reflected light of road reflection source device illumination light under electric automobile, wherein,
For each Photoelectric Detection passage, the road immediately below it is with or without guide tracks, and intensity of reflected light is not
With, the Photoelectric Detection voltage that it detects is the most different；Signal picker, before being arranged on electric automobile
In end instrumental panel, it is connected with photoelectric sensor, is used for sampling and export each Photoelectric Detection passage defeated
The Photoelectric Detection voltage gone out, the sample frequency of signal picker is 1 millisecond；Operational amplifier, is arranged
In the front end instrumental panel of electric automobile, it is connected with signal picker, for by each Photoelectric Detection
The Photoelectric Detection voltage of passage is amplified；8 analog-digital converters, are arranged on the front end of electric automobile
In instrumental panel, it is connected with operational amplifier, each the Photoelectric Detection voltage conversion after amplifying
For digital signal, to obtain corresponding digital channel voltage；Steering controller, is arranged on electric automobile
Front end instrumental panel in, with DSP process chip be connected, based on lateral deviation based on electric automobile
Calculate electric automobile tooth sector corner, the tooth sector corner of electric automobile for by electric automobile from
Deviation guide tracks recovering state is to being positioned at state directly over guide tracks；Steer motor driver, if
Put above the driving wheel of electric automobile, be connected with steering controller, for based on electric automobile
Tooth sector corner determines drive and control of electric machine signal；Turn to driving motor, be arranged on electric automobile
Drive above wheel, be connected respectively with the driving wheel of steer motor driver and electric automobile, be used for
Control to drive the steering angle of wheel based on drive and control of electric machine signal, to be drawn from deviation by electric automobile
Guide rail mark recovering state is to being positioned at state directly over guide tracks；Wireless transmitting-receiving equipments, is arranged on electronic
The outside of automobile, manages service for current GPS location based on electric automobile from the charging station of far-end
At device, the current GPS location of reception electric automobile each charging station neighbouring takies percentage ratio；GPS
Transceiver, for receiving current GPS position that GPS position location satellite sends in real time, electric automobile
Put, be additionally operable to receive in GPS electronic chart, each fills near the current GPS location of electric automobile
The GPS location in power station；Electric power detection equipment, is arranged in the accumulator of electric automobile, is used for detecting
The real-time dump energy of accumulator；DSP processes chip, is arranged in the front end instrumental panel of electric automobile,
It is connected with 8 analog-digital converters, receives the digital channel voltage of each Photoelectric Detection passage, will be every
The digital channel voltage of one Photoelectric Detection passage compares with preset number voltage threshold, when a photoelectricity
When the digital channel voltage of sense channel is more than or equal to preset number voltage threshold, by correspondence Photoelectric Detection
The deviation mark of passage is set to 1, when the digital channel voltage of a Photoelectric Detection passage is less than present count
During word voltage threshold, the deviation mark of corresponding Photoelectric Detection passage is set to 0, passes based on adjacent photo
The deviation mark of the spacing of sensor, the quantity of Photoelectric Detection passage and each Photoelectric Detection passage calculates
The lateral deviation of electric automobile；DSP process chip also with wireless transmitting-receiving equipments, electric power detection equipment and
GPS transceiver connects respectively, when real-time dump energy is less than or equal to when presetting power threshold, enters
Self-navigation pattern；Wherein, DSP process chip, in self-navigation pattern, starts wireless receiving and dispatching and sets
Standby and GPS transceiver, receives current GPS location at GPS transceiver and neighbouring each fills
The GPS location in power station, current GPS location is sent to wireless transmitting-receiving equipments with obtain near each
Charging station take percentage ratio, based on current GPS location and the GPS location of each charging station neighbouring
Determine that current GPS location arrives each charging station GPS distance of the GPS location of each charging station neighbouring,
Based on each charging station neighbouring take percentage ratio, take percentage weight, neighbouring each charging
The GPS distance stood and distance weighting calculate the convenience degree of each charging station neighbouring, take percentage ratio
The lowest, convenience degree is the highest, and GPS distance is the shortest, and convenience degree is the highest, selects convenience degree the highest
Neighbouring charging station as target charging station；Take percentage weight and distance weighting for presetting fixed number
Value；DSP processes chip and determines according to the GPS distance of target charging station and control speed in real time.
More specifically, in described self-navigation formula driverless electric automobile, described electric automobile is also
Including: rack and pinion steering gear, for driving motor being turned to be connected with the driving wheel of electric automobile.
More specifically, in described self-navigation formula driverless electric automobile: rack and pinion steering gear
It is arranged on above the driving wheel of electric automobile.
More specifically, in described self-navigation formula driverless electric automobile, described electric automobile is also
Including storage device, it is used for prestoring and takies percentage weight and distance weighting.
More specifically, in described self-navigation formula driverless electric automobile: storage device is arranged on
In the front end instrumental panel of electric automobile, and process chip electric connection with DSP.
Accompanying drawing explanation
Below with reference to accompanying drawing, embodiment of the present invention are described, wherein:
Fig. 1 is the knot according to the self-navigation formula driverless electric automobile shown in embodiment of the present invention
Structure block diagram.
Fig. 2 is the nothing according to the self-navigation formula driverless electric automobile shown in embodiment of the present invention
The block diagram of line transceiver.
Reference: 1 guide tracks follows the tracks of equipment；2 charging station navigator；3 wireless receivings connect
Mouthful；4 wireless transmission interfaces；5 microcontrollers
Detailed description of the invention
Embodiment party to the self-navigation formula driverless electric automobile of the present invention below with reference to accompanying drawings
Case is described in detail.
Electric automobile is increasingly paid close attention to by people, and world powers's competition in electric automobile field is also
Grow in intensity.Electric automobile refers to, with vehicle power as power, drive wheels travel with motor, meets
Road traffic, the vehicle of security legislation requirements.Owing to the relatively conventional automobile of effect on environment is less,
Its prospect is extensively had an optimistic view of, and even starts driverless electric automobile occur, but current techniques does not becomes
Ripe.
The operation principle of electric automobile is as follows: battery current electric governor is electronic
Mechanomotive force transmission system drives running car.The kind of electric automobile is as follows: pure electronic vapour
Car (BEV), hybrid vehicle (PHEV), fuel cell car (FCEV).Electronic vapour
Car, for relative fuel-engined vehicle, main difference is that four big parts: drive motor, speed setting controller,
Electrokinetic cell, onboard charger.For gas station, he has public charging station.Electric automobile
Quality discrepancy depend on this four big parts, it is worth height and also depends on the quality of these four big parts.
The purposes of electric automobile is also directly related at the selection and deployment of four big parts.
Currently, the R&D direction of driverless electric automobile manufacturer essentially consists in electric automobile normal row
The realization of some automatic functions when sailing, but owing to development time is limited, these automatic functions itself are inadequate
Perfect, such as based on guide tracks driverless electric automobile the most still there will be partially
Leave the right or normal track the situation of mark, it is impossible in the face of complicated road environment, and structure remains a need for improving.
It addition, the scene for some specific application the most more lacks concern, such as, unmanned electricity
When electrical automobile electric power deficiency needs charging, prior art provides only with satellite navigation
Basic navigation Service, including position and the relevant routes of each charging station neighbouring, but cannot be electronic
Automobile selects most suitable charging station to be charged, and intelligent level still has much room for improvement.
In order to overcome above-mentioned deficiency, the present invention has built the unmanned electronic vapour of a kind of self-navigation formula
Car, on the one hand, the driving control structure of driverless electric automobile based on guide tracks is carried out excellent
Change, improve the control accuracy road environment with the various complexity of reply, on the other hand, in satellite navigation
On the basis of add the function that charging station comfort level compares, select energy for driverless electric automobile
Enough the soonest for the target charging station of its offer charging service.
Fig. 1 is the knot according to the self-navigation formula driverless electric automobile shown in embodiment of the present invention
Structure block diagram, described electric automobile includes that guide tracks follows the tracks of equipment and charging station navigator, guides
The guide tracks of track following equipment road immediately below real-time tracking electric automobile is to realize electricity
Electrical automobile unmanned, charging station navigator takies feelings for based on each charging station neighbouring
The distance of condition and distance electric automobile selects the target charging station that electric automobile goes to.
Then, continue the concrete structure of the self-navigation formula driverless electric automobile of the present invention is carried out
Further instruction.
Described electric automobile includes: light source, is arranged on the chassis of electric automobile, by multiple highlighted
White light LEDs forms, and multiple highlighted white light LEDs form rectangle LED matrix and equidistantly arrange, right
Under electric automobile, road is illuminated.
Described electric automobile includes: photoelectric sensor, is arranged on the chassis of electric automobile, by 80
Photoconductive resistance forms, and 80 photoconductive resistance form the photosensitive resistor matrixes of rectangle and equidistantly arrange, each
Individual photoconductive resistance one Photoelectric Detection passage of composition, is used for detecting road reflection source under electric automobile
The intensity of reflected light of device illumination light, wherein, for each Photoelectric Detection passage, immediately below it
Road is with or without guide tracks, and intensity of reflected light is different, and the Photoelectric Detection voltage that it detects is the most different.
Described electric automobile includes: signal picker, is arranged in the front end instrumental panel of electric automobile,
It is connected with photoelectric sensor, for sampling and exporting the Photoelectric Detection that each Photoelectric Detection passage exports
Voltage, the sample frequency of signal picker is 1 millisecond.
Described electric automobile includes: operational amplifier, is arranged in the front end instrumental panel of electric automobile,
It is connected with signal picker, for the Photoelectric Detection voltage of each Photoelectric Detection passage is put
Greatly；8 analog-digital converters, are arranged in the front end instrumental panel of electric automobile, with operational amplifier even
Connecing, each the Photoelectric Detection voltage after amplifying is converted to digital signal, to obtain correspondence
Digital channel voltage.
Described electric automobile includes: steering controller, is arranged in the front end instrumental panel of electric automobile,
Process chip with DSP to be connected, calculate turning to of electric automobile for lateral deviation based on electric automobile
Gear corner, the tooth sector corner of electric automobile is used for electric automobile from deviation guide tracks state
Return to be positioned at state directly over guide tracks.
Described electric automobile includes: steer motor driver, is arranged on the driving wheel of electric automobile
Side, is connected with steering controller, determines that motor drives for tooth sector corner based on electric automobile
Control signal；Turn to driving motor, be arranged on above the driving wheel of electric automobile, with steer motor
The driving wheel of driver and electric automobile connects respectively, for controlling based on drive and control of electric machine signal
Drive wheel steering angle, with by electric automobile from deviation guide tracks recovering state to being positioned at guiding
State directly over track.
As in figure 2 it is shown, described electric automobile includes: wireless transmitting-receiving equipments, it is arranged on electric automobile
Outside, connects at the charging station management server of far-end for current GPS location based on electric automobile
Near the current GPS location of receipts electric automobile, each charging station takies percentage ratio；Wherein wireless receiving and dispatching
Equipment includes wireless receiving interface, wireless transmission interface and microcontroller, and microcontroller is respectively with wireless
Receiving interface and wireless transmission interface connect to realize respectively connecing wireless receiving interface and wireless transmission
The transmitting-receiving of mouth controls.
Described electric automobile includes: GPS transceiver, is used for receiving GPS position location satellite and sends in real time
, the current GPS location of electric automobile, be additionally operable to receive in GPS electronic chart, electric automobile
Current GPS location near the GPS location of each charging station；Electric power detection equipment, is arranged on electricity
In the accumulator of electrical automobile, for detecting the real-time dump energy of accumulator.
Described electric automobile includes: DSP processes chip, is arranged in the front end instrumental panel of electric automobile,
It is connected with 8 analog-digital converters, receives the digital channel voltage of each Photoelectric Detection passage, will be every
The digital channel voltage of one Photoelectric Detection passage compares with preset number voltage threshold, when a photoelectricity
When the digital channel voltage of sense channel is more than or equal to preset number voltage threshold, by correspondence Photoelectric Detection
The deviation mark of passage is set to 1, when the digital channel voltage of a Photoelectric Detection passage is less than present count
During word voltage threshold, the deviation mark of corresponding Photoelectric Detection passage is set to 0, passes based on adjacent photo
The deviation mark of the spacing of sensor, the quantity of Photoelectric Detection passage and each Photoelectric Detection passage calculates
The lateral deviation of electric automobile.
Wherein, DSP process chip also sets with wireless transmitting-receiving equipments, electric power detection equipment and GPS transmitting-receiving
Back-up does not connect, and when real-time dump energy is less than or equal to when presetting power threshold, enters self-navigation mould
Formula；Wherein, DSP process chip, in self-navigation pattern, starts wireless transmitting-receiving equipments and GPS
Transceiver, receives current GPS location and the GPS of each charging station neighbouring at GPS transceiver
Position, is sent to wireless transmitting-receiving equipments to obtain taking of each charging station neighbouring by current GPS location
Percentage ratio, GPS location based on current GPS location and each charging station neighbouring determines current GPS
Position to each charging station GPS distance of the GPS location of each charging station neighbouring, based on neighbouring often
One charging station take percentage ratio, take percentage weight, each charging station neighbouring GPS away from
Near calculating with distance weighting, the convenience degree of each charging station, takies percentage ratio the lowest, convenient
Degree is the highest, and GPS distance is the shortest, and convenience degree is the highest, selects the neighbouring charging that convenience degree is the highest
Stand as target charging station.
Wherein, percentage weight and distance weighting are taken for presetting fixed numbers；DSP processes chip also
GPS distance according to target charging station determines and controls speed in real time.
Alternatively, described electric automobile also includes: rack and pinion steering gear, for turning to driving electricity
Machine is connected with the driving wheel of electric automobile；Rack and pinion steering gear is arranged on the driving car of electric automobile
Above wheel；Also include: storage device, be used for prestoring and take percentage weight and distance weighting；
Storage device is arranged in the front end instrumental panel of electric automobile, and processes chip electric connection with DSP.
It addition, operational amplifier (being called for short " amplifier ") is the circuit unit with very high-amplification-factor.
In side circuit, generally combine feedback network and collectively constitute certain functional module.He be a kind of with
Special Coupling circuit and the amplifier of feedback.Its output signal can be input signal add, subtract or differential,
The result of the mathematical operations such as integration.Owing to being applied in analogue computer in early days, in order to realize mathematics fortune
Calculate, therefore gain the name " operational amplifier ".
Amplifier is a circuit unit named from the angle of function, can be realized by discrete device,
Can also realize in the middle of semiconductor chip.Along with the development of semiconductor technology, most amplifier is
Presented in single-chip.Amplifier of a great variety, is widely used in the middle of electron trade.
Use the self-navigation formula driverless electric automobile of the present invention, unmanned for prior art
Electric automobile drives control accuracy low and lacks charging station and selects the technical problem of mechanism, existing by transformation
The structure of some electric automobile drive control apparatus, improves driverless electric automobile and drives control essence
Degree, more it is essential that on the basis of satellite navigation, service condition based on neighbouring charging station and
Navigation distance is selected to provide the soonest the charging station of charging service, thus enriches unmanned electronic
The navigation feature of automobile, solves above-mentioned technical problem.
Although it is understood that the present invention discloses as above with preferred embodiment, but above-mentioned enforcement
Example is not limited to the present invention.For any those of ordinary skill in the art, without departing from
Under technical solution of the present invention ambit, all may utilize the technology contents of the disclosure above to the technology of the present invention
Scheme makes many possible variations and modification, or is revised as the Equivalent embodiments of equivalent variations.Therefore,
Every content without departing from technical solution of the present invention, the technical spirit of the foundation present invention is to above example
Any simple modification, equivalent variations and the modification done, all still falls within technical solution of the present invention protection
In the range of.
Claims (1)
1. a self-navigation formula driverless electric automobile, described electric automobile includes guide tracks
Tracking equipment and charging station navigator, guide tracks for real-time tracking electric automobile is just following the tracks of equipment
The guide tracks of the road of lower section is to realize the unmanned of electric automobile, and charging station navigator is used for
The distance taking situation and distance electric automobile based on each charging station neighbouring selects electric automobile
The target charging station gone to；
It is characterized in that, described electric automobile includes:
Light source, is arranged on the chassis of electric automobile, is made up of multiple highlighted white light LEDs, multiple
Highlighted white light LEDs forms rectangle LED matrix and equidistantly arranges, and enters road under electric automobile
Row illumination；
Photoelectric sensor, is arranged on the chassis of electric automobile, is made up of 80 photoconductive resistance, 80
Photoconductive resistance forms the photosensitive resistor matrix of rectangle and equidistantly arranges, and each photoconductive resistance forms one
Photoelectric Detection passage, for detecting the reflection light of road reflection source device illumination light under electric automobile
Intensity, wherein, for each Photoelectric Detection passage, the road immediately below it with or without guide tracks,
Intensity of reflected light is different, and the Photoelectric Detection voltage that it detects is the most different；
Signal picker, is arranged in the front end instrumental panel of electric automobile, is connected with photoelectric sensor,
For sampling and exporting the Photoelectric Detection voltage that each Photoelectric Detection passage exports, signal picker
Sample frequency is 1 millisecond；
Operational amplifier, is arranged in the front end instrumental panel of electric automobile, is connected with signal picker,
For the Photoelectric Detection voltage of each Photoelectric Detection passage is amplified；
8 analog-digital converters, are arranged in the front end instrumental panel of electric automobile, with operational amplifier even
Connecing, each the Photoelectric Detection voltage after amplifying is converted to digital signal, to obtain correspondence
Digital channel voltage；
Steering controller, is arranged in the front end instrumental panel of electric automobile, processes chip with DSP and is connected,
The tooth sector corner of electric automobile is calculated for lateral deviation based on electric automobile, electric automobile
Tooth sector corner is used for electric automobile from deviateing guide tracks recovering state to being positioned at guide tracks
Surface state；
Steer motor driver, is arranged on above the driving wheel of electric automobile, with steering controller even
Connect, determine drive and control of electric machine signal for tooth sector corner based on electric automobile；
Turn to driving motor, be arranged on above the driving wheel of electric automobile, with steer motor driver
Connect respectively with the driving wheel of electric automobile, for controlling to drive car based on drive and control of electric machine signal
Wheel steering angle, with by electric automobile from deviation guide tracks recovering state to being just positioned at guide tracks
Upper states；
Wireless transmitting-receiving equipments, is arranged on the outside of electric automobile, for current GPS based on electric automobile
Position receives near the current GPS location of electric automobile each at the charging station management server of far-end
Individual charging station take percentage ratio；
GPS transceiver, for receiving the current of that GPS position location satellite sends in real time, electric automobile
GPS location, is additionally operable to receive in GPS electronic chart, near the current GPS location of electric automobile
The GPS location of each charging station；
Electric power detection equipment, is arranged in the accumulator of electric automobile, for detecting the real-time of accumulator
Dump energy；
DSP processes chip, is arranged in the front end instrumental panel of electric automobile, with 8 analog-digital converters
Connect, receive the digital channel voltage of each Photoelectric Detection passage, by each Photoelectric Detection passage
Digital channel voltage compare with preset number voltage threshold, when a Photoelectric Detection passage numeral lead to
When road voltage is more than or equal to preset number voltage threshold, the deviation mark of corresponding Photoelectric Detection passage is set
It is 1, when the digital channel voltage of a Photoelectric Detection passage is less than preset number voltage threshold, will
The deviation mark of corresponding Photoelectric Detection passage is set to 0, spacing based on adjacent photosensors, photoelectricity
The deviation mark of the quantity of sense channel and each Photoelectric Detection passage calculates the horizontal of electric automobile
Deviation；DSP processes chip and also divides with wireless transmitting-receiving equipments, electric power detection equipment and GPS transceiver
Do not connect, when real-time dump energy is less than or equal to when presetting power threshold, enter self-navigation pattern；
Wherein, DSP process chip, in self-navigation pattern, starts wireless transmitting-receiving equipments and GPS
Transceiver, receives current GPS location and the GPS of each charging station neighbouring at GPS transceiver
Position, is sent to wireless transmitting-receiving equipments to obtain taking of each charging station neighbouring by current GPS location
Percentage ratio, GPS location based on current GPS location and each charging station neighbouring determines current GPS
Position to each charging station GPS distance of the GPS location of each charging station neighbouring, based on neighbouring often
One charging station take percentage ratio, take percentage weight, each charging station neighbouring GPS away from
Near calculating with distance weighting, the convenience degree of each charging station, takies percentage ratio the lowest, convenient
Degree is the highest, and GPS distance is the shortest, and convenience degree is the highest, selects the neighbouring charging that convenience degree is the highest
Stand as target charging station；
Wherein, percentage weight and distance weighting are taken for presetting fixed numbers；
Wherein, DSP processes chip and determines according to the GPS distance of target charging station and control speed in real time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN106406310A (en) * | 2016-10-10 | 2017-02-15 | 杭州锣卜科技有限公司 | Driverless low-speed electric car |
| CN108614569B (en) * | 2018-06-22 | 2021-01-15 | 北京敏捷动力科技有限公司 | Method for tracking and controlling controlled moving object |
| CN110515087B (en) * | 2019-07-22 | 2022-12-23 | 中国民航大学 | Portable road surface wheel mark testing device |
| CN112058558A (en) * | 2020-09-18 | 2020-12-11 | 南京安铁防腐技术有限公司 | Intelligent spraying device for steel box girder bottom plate |
| CN115969287B (en) * | 2023-03-21 | 2023-09-26 | 科大讯飞股份有限公司 | Cleaning robot and electric quantity management method and device thereof and storage medium |
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