CN105825700B - Navigation system and method for work, the navigation automobile using the navigation system - Google Patents
Navigation system and method for work, the navigation automobile using the navigation system Download PDFInfo
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- CN105825700B CN105825700B CN201510048039.5A CN201510048039A CN105825700B CN 105825700 B CN105825700 B CN 105825700B CN 201510048039 A CN201510048039 A CN 201510048039A CN 105825700 B CN105825700 B CN 105825700B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096783—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a roadside individual element
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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
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3605—Destination input or retrieval
- G01C21/3608—Destination input or retrieval using speech input, e.g. using speech recognition
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
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- Atmospheric Sciences (AREA)
- Artificial Intelligence (AREA)
- Audiology, Speech & Language Pathology (AREA)
- General Health & Medical Sciences (AREA)
- Human Computer Interaction (AREA)
- Life Sciences & Earth Sciences (AREA)
- Acoustics & Sound (AREA)
- Automation & Control Theory (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Navigation (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a kind of navigation system and method for work, the navigation automobile using the navigation system, this navigation system includes：Supervising device, it is used to shoot the current video and/or image of the crossing vehicle positioned at each crossing, and the current video and/or image is sent by wireless sending module；And on-vehicle navigation apparatus, advance travel route planning, when n-th of crossing of the traffic path that the vehicle for being configured with the on-vehicle navigation apparatus will travel to planning, the current video and/or image at (n+1)th crossing in the traffic path are received, so that driver checks；Speech recognition subsystem is provided with the on-vehicle navigation apparatus；The navigation system of invention is suitable to basis and intuitively the traffic capacity of road is judged, realizing route planning, traffic more intuitive advantage good with real-time.
Description
Technical field
The present invention relates to navigation field, more particularly to a kind of navigation system based on speech recognition, using the navigation system
Navigation automobile.
Background technology
With the development of the city, vehicle also turns into the essential vehicles；But because automobile quantity significantly increases
Add, road traffic pressure also increases therewith.
Therefore, people can usually plan traffic route in advance, select nearest route in trip；But nearest
Route may congestion, so nearest route is for traffic efficiency, not necessarily optimal path.
The companies such as Baidu add in Baidu map traffic information in order to solve the above problems, also for tour reference,
But because above-mentioned traffic information is that the crossing at each crossing, road is uploaded into service centre, then to being shown on map
Show problems be present：
Problem one, real-time are inadequate, and often 1-2 hours update once real-time road, can not react road traffic feelings in time
Condition.
Problem two, traffic information are not accurate enough, although the congestion of some crossing parts, there may also be current leeway.
Therefore, it is necessary to a kind of new navigation system be designed, to solve above-mentioned technical problem.
The content of the invention
It is an object of the invention to provide a kind of navigation system and its method of work, using the navigation automobile of the navigation system,
Navigation system and method for work based on speech recognition, it is carried out according to video directly perceived and/or image to the traffic capacity of road
Judge, provide reference to driver again path planning, and also realize phonetic entry control instruction.
In order to solve the above-mentioned technical problem, the invention provides a kind of navigation system, including：Supervising device, located at each road
It is used to shoot this on the column relative with traffic lights of mouth (crossing is crossroad or T junction or Y junction)
The current video and/or image (including the information such as traffic lights, traffic police) of crossing vehicle, and pass through 4G wireless sending modules
Send the current video and/or image；And on-vehicle navigation apparatus, including 4G wireless receiving modules, for cooking up in advance
Walking along the street line, when be configured with the on-vehicle navigation apparatus vehicle will (such as：From n-th of the crossing 30-150 rice, preferably 60 or 50
Rice) or driven to n-th of crossing of traffic path of planning (crossing is crossroad or T junction or Y words road
Mouthful) when, the current video and/or image at (n+1)th crossing in the traffic path are received, so that driver checks.
Speech recognition subsystem is provided with the on-vehicle navigation apparatus, vehicle-mounted is led to described according to the speech recognition subsystem
Navigate device input phonetic order.
Further, the supervising device includes：Image information collecting unit, to be connected with the image information collecting unit
One processor module, the output end of the processor module are connected with the wireless sending module；The on-vehicle navigation apparatus includes
Second processor module and d GPS locating module, wireless receiving module, the memory module being connected with the second processor module
And human-computer interaction interface；The second processor module is suitable to the cartographic information in d GPS locating module and memory module
Travel route planning, when vehicle travels n-th of crossing with the traffic path, the wireless receiving module receives the trip
The current video and/or image at (n+1)th crossing, are shown by human-computer interaction interface in route.
Further, in order to realize in a noisy environment, the input of phonetic order, the speech recognition subsystem are accurately realized
System, the speech recognition subsystem include：Voice acquisition module, suitable for gathering speech data to be identified；Sample memory module, fit
In storage sample voice data；The speech processing module being connected with the voice acquisition module and sample memory module, the voice
Processing module is suitable to be mixed sample, speech data to be identified to reconstruct the speech data suitable for identification；At the voice
Reason module is suitable to send the speech data after identification to second processor module.
Another aspect, present invention also offers a kind of navigation automobile for being provided with the navigation system.
Wherein, the navigation automobile is electric automobile；Braking electric energy recovery subsystem is provided with the electric automobile, it is described
Braking electric energy recovery subsystem is connected with on-vehicle navigation apparatus, and the on-vehicle navigation apparatus is further adapted for working as the traffic path again
After planning, the passage rate of path planning is calculated again, can to obtain the residue of battery in braking electric energy recovery subsystem
Travel milimeter number.
Further, in order to realize the recovery to braking energy, the braking electric energy reclaims subsystem, including hydraulic brake
Structure, and the brake coordination component being engaged with the hydraulic brake mechanism；When braking, the brake coordination component is suitable to produce
With the direction of motion opposite effect power of piston in hydraulic brake mechanism, while by wheel drive motors brake caused by electric energy lead to
A boost module is crossed to charge to battery；Or by wheel drive motors brake caused by electric energy by after a boost module again
Battery is charged through quick-charging circuit.
When preferably, in order to be further implemented in brake, start brake coordination component；The braking electric energy recovery subsystem
Also include：Brake assemblies, the brake assemblies are interior to be provided with travel switch K；When braking, travel switch K is triggered, with described in generation
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 coordinate brake coordination component operation；The brake assemblies include：It is two-sided
Rack slide；The brake coordination component includes：Single-side rack sliding block；The lower surface of the two-sided rack sliding block passes through driving cog
Wheel assembly coordinates with brake pedal, and a brake coordination gear is engaged between its upper surface and the lower surface of single-side rack sliding block, should
Brake coordination gear is connected with the end of the piston rod；During brake, brake pedal controls double cog by driving gear component
Bar sliding block drives brake coordination pinion rotation, and the brake coordination gear is suitable to drive hydraulic brake mechanism to car by piston rod
Wheel hub produces braking；And the brake coordination component acts power by single-side rack sliding block to brake coordination gear；It is logical
Cross simple, reliable circuit structure and produce the active force；The brake coordination component also includes, electromagnetic induction device, the electricity
Pond induction installation is controlled by the auxiliary switch in the travel switch K；The electromagnetic induction device is suitable to when travel switch K is triggered
Afterwards, auxiliary switch control electromagnetic induction device obtains electric, to produce the active force；The electromagnetic induction device includes：Electromagnetic wire
Circle, the magnet coil are suitable to obtain electric pull-core；The iron core is connected with single-side rack sliding block, is suitable for obtaining in magnet coil electric
When, drive single-side rack sliding block to produce the active force to brake coordination gear；The iron core sleeve is in a hollow shell, institute
Magnet 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 passes through compression spring and the inner wall of end resilient engagement of the hollow shell in the hollow shell；The iron core band
Have a pair of magnetic poles, this to magnetic pole be suitable to magnet coil obtain it is electric after, make iron core to compression spring direction move.
Preferably, the brake coordination component also includes charging circuit, and the charging circuit is suitable to, in brake, wheel be driven
Electric energy caused by dynamic motor braking charges to battery；In order to avoid after auxiliary switch disconnects, battery drives to wheel
Dynamic motor also keeps driving effect；The charging circuit includes diode；The positive pole of the battery and one end of magnet coil
It is connected, the other end of the battery coil is connected with the negative electrode of the diode, the output of the anode and boost module of the diode
End is connected, and the input of the boost module is connected with wheel drive motors one end, and negative pole and the 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 positive pole of input, battery.
Preferably, in order to realize quick charge, waste of energy is reduced, the charging circuit includes：First, second diode
And charging capacitor；The auxiliary switch is first, second normally closed switch and a normal open switch；The positive pole of the battery and first
The first end of normally closed switch is connected, and the second end of first normal open switch passes through the magnet coil and the negative electrode of the first diode
It is connected, the anode of first diode is connected with the output end of boost module, the input of the boost module and battery
Negative pole connects the both ends with wheel drive motors respectively；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 of boost module；Second diode anode and charging
Electric capacity one end, which is connected, forms the quick-charging circuit, and the quick-charging circuit 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 third aspect, present invention also offers a kind of method of work of navigation system, by speech recognition subsystem and/or
Interpersonal interactive interface is controlled instruction input.
Intuitively the traffic capacity of road is judged the invention has the advantages that (1) present invention is suitable to basis, it is real
Existing path planning, traffic more intuitive advantage good with real-time；(2) the braking electric energy recovery subsystem, Neng Gou
Ensure that both brakings are made a concerted effort in the case of meeting automobile brake requirement, the rate of recovery of braking energy in braking procedure can be improved
And can reduces the loss of conventional brake friction plate；(3) the braking electric energy recovery subsystem, motor is realized using mechanical structure
Brake force and hydraulic braking force within the specific limits continuously, carry out cooperation regulation in real time, mechanical structure is relatively easy,
Cost is greatly reduced and functional reliability significantly improves；(4) present invention can effectively improve wheel by boost module and drive
Charge efficiency of the motor to battery；(5) present invention is by the way that speech data is reconstructed, to improve the recognition effect of voice,
Effectively avoid the interference that in-car noise drives into voice.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 shows the theory diagram of the navigation system of the present invention；
Fig. 2 shows the theory diagram of the speech recognition subsystem of the present invention；
Fig. 3 shows the structural representation of the braking electric energy recovery subsystem of the present invention；
Fig. 4 shows the structural representation of second of embodiment of the braking electric energy recovery subsystem of the present invention；
Fig. 5 shows the circuit diagram of second of charging circuit of the present invention.
In figure：
Wheel hub 1；
Hydraulic brake mechanism 2, brake block 21, wheel cylinder 22, master cylinder 23, piston 24；
Brake assemblies 3, brake pedal 31, the first transfer gear 32, the second transfer gear 33, brake coordination gear 34, the
One fixes guide rail 35, the two-sided rack sliding block 36, travel switch K；
Brake coordination component 4, second fixes guide rail 41, single-side rack sliding block 42, connecting rod 43, iron core 44, hollow shell
45, magnet coil 46, compression spring 47；
Wheel drive motors M, battery E, diode VD；
First diode VD1, the second diode VD2, charging capacitor C.
Embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These accompanying drawings are simplified schematic diagram, only with
Illustration illustrates the basic structure of the present invention, therefore it only shows the composition relevant with the present invention.
Embodiment 1
Fig. 1 shows the theory diagram of the navigation system of the present invention.
As shown in figure 1, the navigation system of the present invention, including：
Supervising device, it is used to shoot the current video and/or image of the crossing vehicle positioned at each crossing, and passes through nothing
Line sending module sends the current video and/or image.
On-vehicle navigation apparatus, advance travel route planning, when the vehicle for being configured with the on-vehicle navigation apparatus will travel to
The traffic path of planning n-th of crossing (such as：From n-th of the crossing 30-150 rice, preferably 60 or 50 meters) when, receive this and go out
The current video and/or image at (n+1)th crossing in walking along the street line, so that driver checks, and then by driver according to preceding
Fang Lukuang, determine whether to get around (n+1)th crossing.
Preferable scheme is, will only reach in the vehicle (such as：From n-th of the crossing 30-150 rice, preferably 60 or
50 meters) n-th of crossing or in traffic lights such as n-th of crossings, described in the on-vehicle navigation apparatus is just shown
The current video and/or image at (n+1)th crossing, avoid driver from taking sb's mind off sth when driving, to improve driving
Security.
Speech recognition subsystem is provided with the on-vehicle navigation apparatus, vehicle-mounted is led to described according to the speech recognition subsystem
Navigate device input phonetic order.
Further, the supervising device includes：Image information collecting unit, to be connected with the image information collecting unit
One processor module, the output end of the processor module are connected with the wireless sending module；The on-vehicle navigation apparatus includes
Second processor module and d GPS locating module, wireless receiving module, the memory module being connected with the second processor module
And human-computer interaction interface；The second processor module is suitable to the cartographic information in d GPS locating module and memory module
Travel route planning, when vehicle travels n-th of crossing with the traffic path, the wireless receiving module receives the trip
The current video and/or image at (n+1)th crossing, are shown by human-computer interaction interface in route.
Wherein, first, second processor module such as, but not limited to uses single-chip microcomputer, embedded chip etc. to handle
Device.Human-computer interaction interface can use touch-screen.The positive integer of n >=1 in n-th of crossing.Described image information acquisition unit can
Using wide-angle, high-definition camera, to be installed at crossing.Wireless sending module and wireless receiving module can use WiFi module
Realize.
Fig. 2 shows the theory diagram of the speech recognition subsystem of the present invention.
As shown in Fig. 2 the speech recognition subsystem includes：Voice acquisition module, suitable for gathering speech data to be identified；
Sample memory module, suitable for storing sample voice data；The voice being connected with the voice acquisition module and sample memory module
Processing module, the speech processing module are suitable to be mixed sample, speech data to be identified to reconstruct the voice suitable for identification
Data；The speech processing module is suitable to send the speech data after identification to second processor module.
The operation principle of the speech recognition subsystem is by the non-standard mandarin of phonetic entry and phase in sample data
The pronunciation for closing vocabulary carries out combined training, to reconstruct a kind of speech data for being suitable to identify, and effectively in-car can be avoided to make an uproar
Interference of the sound to speech recognition.
Further, the speech processing module includes：
Training unit, suitable for being trained after sample, speech data to be identified are carried out into characteristic parameter extraction respectively；Conversion
Synthesis unit, then the characteristic parameter of sample is changed with training result, and synthesize and obtain the speech data.
The training unit includes：
Speech decomposition module, speech decomposition is carried out respectively to sample, speech data to be identified；Parameter pretreatment module, will
Sample, the result of speech decomposition to be identified are alignd after carrying out characteristic parameter extraction；And characteristic parameter training module, by each feature
Parameter carries out mixed Gaussian random process training.
Wherein, the speech decomposition module is suitable to speech decomposition into voiced sound, Unvoiced signal.
Specifically, voice signal is fixed the framing of duration.In a frame voice, the auto-correlation letter of the voice is solved
Number, using the first side lobe peak of auto-correlation function come approximate evaluation pitch period, the inverse of pitch period is fundamental frequency.
According to obtained fundamental frequency value (voiceless sound 0, voiced sound are non-zero), it is voiceless sound or voiced sound to determine the frame voice.If
Voiced sound, then maximum voiced sound frequency component is set for it, for dividing the main energy area of harmonic components and random element.
Frequency range below maximum voiced sound frequency, is modeled to signal --- using the superposition of several sine waves come fitted signal.Profit
With least-squares algorithm come the discrete amplitude values and phase value of constraint solving sine wave.
The parameter pretreatment module includes：Characteristic parameter extraction submodule, believed suitable for extraction by the voiced sound, voiceless sound
Number characteristic parameter, to obtain the characteristic parameter of the sample or speech data to be identified；Characteristic parameter alignment submodule, it is right
In sample and characteristic parameter to be identified, Corresponding matching is realized using time map, i.e., using dynamic time warping algorithm by its
In a characteristic parameter time shaft it is nonlinear be mapped on the time shaft of another feature parameter, realize one-to-one matching.
It is suitable to extraction in characteristic parameter extraction submodule and passes through the voiced sound, the method bag of the characteristic parameter of Unvoiced signal
Include：
Extracting the method for the voiced sound characteristic parameter includes：The amplitude of the discrete sine ripple is asked for square, the numerical value
It is discrete power spectral function to be approximately considered.
According to the one-to-one relationship of power spectral density function and auto-correlation function, numerical value inverse transformation is composed to discrete power,
Approximate auto-correlation function can be obtained, according to Linear prediction analysis method, can solve to obtain using auto-correlation function linearly pre-
Survey coefficient；The dual function that linear predictor coefficient is formed, as its root on Z frequency domains, linear spectral coefficient of frequency, the coefficient are
For voiced sound characteristic parameter；Extracting the method for the voiceless sound characteristic parameter includes：If frame signal is in voiceless sound, classical line is utilized
Property predictive analysis it is analyzed, establish an all-pole modeling, and utilize least square method constraint solving model system
Number, so as to obtain linear predictor coefficient, as voiceless sound characteristic parameter.
The method that the characteristic parameter training module carries out each characteristic parameter mixed Gaussian random process training includes：
Structure includes the Gaussian random process model of mixed structure, then in the set of given input and output vector, (collection is combined into
The characteristic parameter of the sample of extraction) on the premise of, output vector sequence is approximately equal to the weighted array of multiple Gaussian random processes.
Wherein, the input of Gaussian random process is given input vector sequence.All weight coefficients and each gaussian random mistake
The average and variance parameter of journey, it is unknown parameter to be estimated；Weighed with Markov chain Monte-Carlo method come approximate evaluation
The joint posterior probability density function of coefficient and model parameter (average and variance of Gaussian process), that is, assume initially that weight coefficient and
Meet separate characteristic between model parameter, both probability density functions are then progressively estimated by way of iteration, often
In secondary iterative process, first fix a kind of known variables, then another known variables are sampled, with a large amount of sampled datas come
Weight coefficient, is finally multiplied, can obtain joint posterior probability letter by its approximate probability distribution with the probability-distribution function of model parameter
Number；Marginalisation is carried out to joint probability density function, respectively obtains the probability point of the probability distribution and model parameter to weight coefficient
The estimation of cloth, so far, mixed Gaussian random process model structure are determined.
The conversion synthesis unit includes：
Modular converter, it is used to carry out the extraction characteristic parameter of training result and sample by mixed Gaussian random process
Transfer reconstruction；Specific method includes：It is random according to the mixed Gaussian trained under conditions of given input observation vector set
The structural parameters of process, the membership function value of current speech frame is asked for, so-called membership function, refers to normalizing posteriority power
The ratio of coefficient；According to angle value is subordinate to, differentiate which Gauss subconstiuent is current speech belong to, then in the son of each sub-clustering
In space, according to the definition of Gaussian random process, corresponding output is produced；The output result of all compositions is superimposed
Come, weight coefficient is exactly the value of membership function, finally gives the speech characteristic parameter after mapping.Wherein, the speech characteristic parameter
In order to sample, the voiced sound of speech data to be identified, voiceless sound characteristic parameter；The conversion synthesis unit also includes：Phonetic synthesis
Module, for the Voiced signal in the characteristic parameter of converted Restructuring Module to be overlapped with Unvoiced signal, reconstructed
The speech data；Specifically, the voice synthetic module is suitable to the discrete harmonic amplitude of Voiced signal and phase value is used as just
After the range value and phase value of string signal are overlapped, with being overlapped Unvoiced signal by an all-pole filter, obtain
To the speech data.
Speech recognition subsystem in the present invention can effectively improve speech recognition capabilities, ignore in-car noise and voice is known
Other influence.
Embodiment 2
On the basis of embodiment 1, present invention also offers a kind of navigation automobile using the navigation system.
Wherein, the vehicle is electric automobile；Braking electric energy recovery subsystem, the braking are provided with the electric automobile
Electric energy recovery subsystem is connected with on-vehicle navigation apparatus, and the on-vehicle navigation apparatus is further adapted for when the traffic path is planned again
Afterwards, the passage rate of path planning is calculated again, to obtain the remaining wheeled of battery in braking electric energy recovery subsystem
Milimeter number.
Fig. 3 shows the structural representation of the braking electric energy recovery subsystem of the present invention.
As shown in figure 3, the braking electric energy recovery subsystem, including hydraulic brake mechanism 2, and with the hydraulic brake
The brake coordination component 4 that structure 2 is engaged；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 electric energy caused by wheel drive motors M brakings is passed through into a boost module
Battery is charged；Or by wheel drive motors brake caused by electric energy pass through after a boost module again through quick charge electricity
Battery is charged on road.
Wherein, the boost module can be realized using boost chip, such as, but not limited to mc34063, ICL7660；
The DC source boost module for example disclosed in patent document CN 203933389U can also be used.
Specifically, the braking electric energy recovery subsystem also includes：Brake assemblies 3, the brake assemblies 3 are interior to be provided with stroke
Switch K；When braking, travel switch K is triggered, to produce 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 also includes：Set respectively
In brake block 21 and wheel cylinder 22 on each wheel hub 1；The piston 24 produces hydraulic pressure (brake fluid pressure in master cylinder 23
Power), the hydraulic conduction to wheel cylinder 22 produces 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 surface of the two-sided rack sliding block 36 is coordinated by driving gear component and brake pedal 31, its upper surface and one side
A brake coordination gear 34 is engaged between the lower surface of rack slide 42, the end of the brake coordination gear 34 and the piston rod
It is connected.Specifically, the two-sided rack sliding block 36 is arranged on the first fixation guide rail 35 and the first fixation guide rail 35 can be relied on to slide；With
And single-side rack sliding block 42 is movably disposed on the second fixation guide rail 41, suitable for being slided on the second fixation guide rail 41.
When braking, brake pedal 31 controls the two-sided rack sliding block 36 to drive brake coordination gear by driving gear component
34 rotate, and the brake coordination gear 34 is suitable to drive hydraulic brake mechanism 2 to produce braking to wheel hub 1 by piston rod；With
And the brake coordination component 4 produces the active force by single-side rack sliding block 42 to brake coordination gear 34.
Wherein driving gear component includes：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 are moved with piston 24, so as to produce hydraulic pressure in master cylinder 23, complete brake system
It is dynamic.At the same time, because travel switch K is triggered, the active force acting in opposition is in brake coordination caused by brake coordination component 4
Gear 34, force the hydraulic pressure value in master cylinder suitably to reduce, reduce by the consumed kinetic energy that brakes, and the kinetic energy is driven by wheel
Dynamic motor M brakings are converted into electric energy to store.
The brake coordination component 4 also includes, electromagnetic induction device, and the battery sensing device is by the travel switch K
Auxiliary switch control；The electromagnetic induction device is suitable to after travel switch K is triggered, auxiliary switch control electromagnetic induction device
Must be electric, to produce the active force.
The specific embodiment of the electromagnetic induction device includes：Magnet coil 46, the magnet coil 46 are suitable to obtain electric suction
Close iron core 44；The iron core 44 is connected with single-side rack sliding block 42, is suitable for, when magnet coil 46 obtains electric, driving single-side rack
Sliding block 42 produces 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
Magnet coil 46 is stated to be set around on the periphery of hollow shell 45；Slided by connecting rod 43 and single-side rack one end of the iron core 44
Block 42 is connected, and the other end passes through the inner wall of end of compression spring 47 and the hollow shell 45 elasticity in the hollow shell 45
Coordinate；The iron core 44 carries a pair of magnetic poles, this to magnetic pole be suitable to magnet coil 46 it is electric after, make iron core 44 to compression spring
47 directions are moved, while the active force acted in brake coordination gear 34 (opposition, i.e., is stepped on stepping on brake
After plate 31, the active force that brake coordination gear 34 is passed to 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 positioned at the side of magnet coil 46.
The brake coordination component 4 also includes charging circuit, and the charging circuit is suitable in brake, by wheel drive motors
Electric energy caused by M brakings charges to battery E.
Specific embodiment：The charging circuit includes diode VD；The positive pole of the battery E and magnet coil 46
One end be connected, the other end of the battery coil is connected with the negative electrode of the diode VD, diode VD anode and boosting
The output end of module is connected, and the input of the boost module is connected with wheel drive motors M one end, and the battery E's is negative
Pole is connected with the wheel drive motors M other end；The auxiliary switch is normally closed switch, and the both ends of the normally closed switch connect respectively
Input, battery E positive pole in boost module.
The characteristics of by diode VD one-way, battery E can be effectively avoided to continue to lead to after normally closed switch opening
Magnet coil 46 is crossed to discharge to wheel drive motors M；And by the boost module, it can effectively improve charging effect
Rate.
The present invention braking electric energy reclaim subsystem operation principle be：
During electric automobile during traveling, when driver does not touch on the brake pedal 31, auxiliary switch (normally closed switch) closure,
It will be short-circuited by magnet coil 46, battery E powers to wheel drive motors M and drives running car；Now iron core 44 is pressed
The bullet of contracting spring 47 is to the side of hollow shell 45；
When driver steps on brake pedal 31, the braking instruction of brake pedal 31 pass 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 are moved with piston 24, so that braking
Hydraulic pressure is produced in master cylinder 23, completes skidding；Meanwhile auxiliary switch is opened, wheel drive motors M produces brake force and passed through
Charging circuit charges to battery E, and charging current produces magnetic field when passing through magnet coil 46 so that iron core 44 overcomes compression 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 tooth
Wheel 34 rotates backward, and the counter-rotating belts piston 24 of brake coordination gear 34 moves right, so as to reduce in master cylinder 23
Hydraulic pressure (brake fluid pressure).
When driver steps on brake pedal 31, the brake force of vehicle is consequently exerted at brake force (the hydraulic pressure system on wheel hub 1
Hydraulic braking force caused by motivation structure 2) and wheel drive motors M caused by brake force make a concerted effort；When speed is faster, then wheel drives
Caused stalling current is bigger in dynamic motor M, and motor braking power is bigger, and suction caused by magnet coil 46 is bigger, iron
The displacement that core 44 moves is bigger, and for the oil pressure in master cylinder 23 with regard to smaller, hydraulic braking force is smaller, so as to work as automobile high-speed
During braking, increase motor braking power, reduction are rubbed by the conventional friction brake force of hydraulic braking so as to reduce in conventional brake
The abrasion of piece, while improve the rate of recovery of the wheel drive motors M to 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 is charged without normal direction battery E and/or generation brake force, and now electric automobile is by hydraulic brake mechanism 2
Braked using conventional hydraulic mode of braking, ensure traffic safety.
Following table be conventional hydraulic mode of braking and the present invention braking electric energy reclaim brake of the subsystem under each speed away from
From test result.
It was found from the table, braking electric energy of the invention recovery subsystem and braking effect caused by conventional hydraulic mode of braking
Essentially identical, therefore, the present invention is realized in the case where the braking for ensureing both makes a concerted effort to meet automobile brake requirement, Ji Nengti
The rate of recovery and can of braking energy reduces the loss of conventional brake friction plate in high braking procedure.
The braking electric energy recovery subsystem of the present invention, makes electric braking force with hydraulic braking force in certain model by mechanical structure
Enclose it is interior be continuously adjusted in real time, eliminate controller in the prior art or single chip circuit and calculate control and deterministic process,
Thus its coordinate braking it is ageing more preferably.
Fig. 4 shows the structural representation of second of embodiment of braking electric energy recovery subsystem.
As shown in figure 4, the single-side rack sliding block in the brake coordination component can also be driven by leading screw and be moved left and right
To include instead of electromagnetic induction device, concrete scheme：
The leading screw is driven by motor, and the motor is controlled by a MCU module, and the MCU module passes through Hall sensor
Current value caused by wheel drive motors M brakings is gathered with controlled motor moment of torsion, and then adjusts the displacement of single-side rack sliding block.
Fig. 5 shows the circuit diagram of second of charging circuit of the present invention.
As shown in figure 5, concrete scheme includes：The charging circuit includes：First, second diode and charging capacitor C；Institute
It is first, second normally closed switch and a normal open switch to state auxiliary switch；The positive pole 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 magnet coil with the first diode VD1 negative electrode, and this
One diode VD1 anode is connected with the output end of boost module, the input of the boost module and battery E negative pole point
Lian Jie not be with wheel drive motors M both ends；One end phase of second end of first normally closed switch also with the second normally closed switch
Even, the other end of second normally closed switch is connected with the input of boost module；The second diode VD2 anodes and charging electricity
Hold the connected composition quick-charging circuit in C one end, the quick-charging circuit is parallel to battery E both ends, and described second
Diode VD2 anodes are also connected by the normal open switch with the second end of the first normally closed switch.
Wherein, charging capacitor C can use some bulky capacitors are in parallel to realize, because electric capacity charging response speed compares battery
It is fast, disappeared so electric current caused by often causing to brake has little time to charge to battery E, therefore, charging effect
Rate is very low, in order to overcome the technical problem, can effectively avoid braking caused waste of energy by quick charge capacitor, improves
Charge efficiency.
Concrete principle is first to carry out quick charge to charging capacitor, and then battery is carried out by the second diode VD2 again
Electric discharge.
Preferably, speech recognition subsystem is additionally provided with the on-vehicle navigation apparatus, to improve speech recognition capabilities.
Embodiment 3
On the basis of embodiment 1, present invention also offers a kind of method of work of navigation system, and it passes through speech recognition
System and/or interpersonal interactive interface are controlled instruction input.
The navigation system also has path optimization's air navigation aid, and this method comprises the following steps：
Step S1, the current video of the traffic lights at the crossing, vehicle is shot by the supervising device positioned at each crossing
And/or image, and the current video and/or image are sent by wireless sending module.
Step S2, by the advance travel route planning of on-vehicle navigation apparatus, and suitable for driving to going out for planning when vehicle
During n-th of crossing of walking along the street line, the current video and/or image at (n+1)th crossing in the traffic path are received, for driving
The person of sailing checks；Wherein, only n-th of crossing will be reached or in traffic lights such as n-th of crossings in the vehicle
When, the on-vehicle navigation apparatus just shows the current video and/or image at (n+1)th crossing.
Specifically the concrete mode on navigation system and speech recognition subsystem may refer in the part of embodiment 1
Hold.
It is complete by above-mentioned description, relevant staff using the above-mentioned desirable embodiment according to the present invention as enlightenment
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 scope is not limited to the content on specification, it is necessary to determines its technical scope according to right.
Claims (1)
1. a kind of navigation automobile for being provided with navigation system, it is characterised in that navigation system includes：
Supervising device, on the column relative with traffic lights at each crossing, regarded for shooting the current of the crossing vehicle
Frequently, and by 4G wireless sending modules send the current video；
On-vehicle navigation apparatus, including 4G wireless receiving modules, for advance travel route planning, filled when being configured with the vehicle mounted guidance
When the vehicle put will travel to n-th of crossing of the traffic path of planning, the institute at (n+1)th crossing in the traffic path is received
Current video is stated, so that driver checks；
Speech recognition subsystem is provided with the on-vehicle navigation apparatus, the vehicle mounted guidance is filled according to the speech recognition subsystem
Put input phonetic order；
The navigation automobile is electric automobile；
Braking electric energy recovery subsystem, the braking electric energy recovery subsystem and on-vehicle navigation apparatus are provided with the electric automobile
It is connected, the on-vehicle navigation apparatus is further adapted for after the traffic path is planned again, calculates again the current of path planning
Speed, to obtain the remaining wheeled milimeter number of battery in braking electric energy recovery subsystem；
The braking electric energy recovery subsystem, including hydraulic brake mechanism, and the braking being engaged with the hydraulic brake mechanism
Coordination component；
When braking, the brake coordination component is suitable to produce the direction of motion opposite effect with piston in hydraulic brake mechanism
Power, at the same by wheel drive motors brake caused by electric energy battery is charged by a boost module；The braking electricity
Subsystem, which can be reclaimed, also to be included：Brake assemblies, the brake assemblies are interior to be provided with travel switch K；
When braking, travel switch K is triggered, to produce 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 surface of the two-sided rack sliding block is coordinated by driving gear component and brake pedal, its upper surface and single-side rack
A brake coordination gear is engaged between the lower surface of sliding block, the brake coordination gear is connected with the end of the piston rod；
During brake, brake pedal controls the two-sided rack sliding block to drive brake coordination pinion rotation by driving gear component, and should
Brake coordination gear is suitable to drive hydraulic brake mechanism to produce braking to wheel hub by piston rod；And the brake coordination group
Part acts power by single-side rack sliding block to brake coordination gear；
The brake coordination component also includes, electromagnetic induction device, and the electromagnetic induction device is by auxiliary in the travel switch K
Help switch control；
The electromagnetic induction device is suitable to after travel switch K is triggered, and it is electric that auxiliary switch controls electromagnetic induction device to obtain, to produce
The active force；
The electromagnetic induction device includes：Magnet coil, the magnet coil are suitable to obtain electric pull-core；
The iron core is connected with single-side rack sliding block, is suitable for when magnet coil obtains electric, drives single-side rack sliding block to braking
Coordinate gear and produce the active force；
In a hollow shell, the magnet coil is set around on the hollow shell periphery iron core sleeve；
One end of the iron core is connected by connecting rod with single-side rack sliding block, and the other end passes through compression in the hollow shell
The inner wall of end resilient engagement of spring and the hollow shell；
The iron core carries a pair of magnetic poles, this to magnetic pole be suitable to magnet coil obtain it is electric after, make iron core to compression spring direction move
It is dynamic.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711285604.5A CN107798899A (en) | 2015-01-29 | 2015-01-29 | Navigation system based on speech recognition, navigation automobile |
| CN201711285568.2A CN108039054A (en) | 2015-01-29 | 2015-01-29 | Navigation system, the navigation automobile of road passage capability are judged according to video directly perceived |
| CN201711287196.7A CN108062866B (en) | 2015-01-29 | 2015-01-29 | Navigation system, automobile and working method for judging road traffic capacity according to images |
| CN201510048039.5A CN105825700B (en) | 2015-01-29 | 2015-01-29 | Navigation system and method for work, the navigation automobile using the navigation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510048039.5A CN105825700B (en) | 2015-01-29 | 2015-01-29 | Navigation system and method for work, the navigation automobile using the navigation system |
Related Child Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711287196.7A Division CN108062866B (en) | 2015-01-29 | 2015-01-29 | Navigation system, automobile and working method for judging road traffic capacity according to images |
| CN201711285568.2A Division CN108039054A (en) | 2015-01-29 | 2015-01-29 | Navigation system, the navigation automobile of road passage capability are judged according to video directly perceived |
| CN201711285604.5A Division CN107798899A (en) | 2015-01-29 | 2015-01-29 | Navigation system based on speech recognition, navigation automobile |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105825700A CN105825700A (en) | 2016-08-03 |
| CN105825700B true CN105825700B (en) | 2018-01-02 |
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ID=56514358
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510048039.5A Active CN105825700B (en) | 2015-01-29 | 2015-01-29 | Navigation system and method for work, the navigation automobile using the navigation system |
| CN201711287196.7A Active CN108062866B (en) | 2015-01-29 | 2015-01-29 | Navigation system, automobile and working method for judging road traffic capacity according to images |
| CN201711285568.2A Withdrawn CN108039054A (en) | 2015-01-29 | 2015-01-29 | Navigation system, the navigation automobile of road passage capability are judged according to video directly perceived |
| CN201711285604.5A Withdrawn CN107798899A (en) | 2015-01-29 | 2015-01-29 | Navigation system based on speech recognition, navigation automobile |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711287196.7A Active CN108062866B (en) | 2015-01-29 | 2015-01-29 | Navigation system, automobile and working method for judging road traffic capacity according to images |
| CN201711285568.2A Withdrawn CN108039054A (en) | 2015-01-29 | 2015-01-29 | Navigation system, the navigation automobile of road passage capability are judged according to video directly perceived |
| CN201711285604.5A Withdrawn CN107798899A (en) | 2015-01-29 | 2015-01-29 | Navigation system based on speech recognition, navigation automobile |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107274679B (en) * | 2017-06-06 | 2019-08-30 | 东莞理工学院 | Vehicle identification method, device, equipment and computer readable storage medium |
| CN108340846B (en) * | 2018-02-02 | 2019-08-13 | 上海宏英智能科技有限公司 | A kind of onboard navigation system for new-energy automobile based on Internet of Things |
| CN108981727A (en) * | 2018-07-24 | 2018-12-11 | 佛山市高明曦逻科技有限公司 | Automobile ad hoc network navigation map system |
| CN108592934A (en) * | 2018-07-24 | 2018-09-28 | 佛山市高明曦逻科技有限公司 | Road information navigation map system based on range delineation |
| CN109334665B (en) * | 2018-11-09 | 2020-06-02 | 瑞安市欣炜汽车部件有限公司 | Tracking device for vehicle |
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| CN1141696C (en) * | 2000-03-31 | 2004-03-10 | 清华大学 | Non-particular human speech recognition and prompt method based on special speech recognition chip |
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| CN203557964U (en) * | 2013-11-07 | 2014-04-23 | 华北电力大学（保定） | Electric vehicle auxiliary brake system with energy recovery function |
| CN104091592B (en) * | 2014-07-02 | 2017-11-14 | 常州工学院 | A kind of speech conversion system based on hidden Gaussian random field |
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2015
- 2015-01-29 CN CN201510048039.5A patent/CN105825700B/en active Active
- 2015-01-29 CN CN201711287196.7A patent/CN108062866B/en active Active
- 2015-01-29 CN CN201711285568.2A patent/CN108039054A/en not_active Withdrawn
- 2015-01-29 CN CN201711285604.5A patent/CN107798899A/en not_active Withdrawn
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101079262A (en) * | 2006-05-25 | 2007-11-28 | 三星电子株式会社 | Method of setting a navigation terminal for a destination and an apparatus therefor |
| CN102248946A (en) * | 2010-04-08 | 2011-11-23 | 罗伯特·博世有限公司 | Management method of reachable scope of vehicle with motor drive and apparatus thereof |
| CN102881157A (en) * | 2012-10-09 | 2013-01-16 | 北京易华录信息技术股份有限公司 | Individualized traffic guidance method and individualized traffic guidance system on basis of mobile terminal display |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN108039054A (en) | 2018-05-15 |
| CN105825700A (en) | 2016-08-03 |
| CN107798899A (en) | 2018-03-13 |
| CN108062866B (en) | 2020-12-22 |
| CN108062866A (en) | 2018-05-22 |
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