CN103148860A - Planning method for electric vehicle recursive path - Google Patents
Planning method for electric vehicle recursive path Download PDFInfo
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- CN103148860A CN103148860A CN2011104004440A CN201110400444A CN103148860A CN 103148860 A CN103148860 A CN 103148860A CN 2011104004440 A CN2011104004440 A CN 2011104004440A CN 201110400444 A CN201110400444 A CN 201110400444A CN 103148860 A CN103148860 A CN 103148860A
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Abstract
The invention relates to a planning method for an electric vehicle recursive path. The method comprises the following steps of inputting state conditions, wherein the state conditions includes at least one start position, at least one end position, an electricity remainder range and the path distance between the start position and end position; searching all the charging stations in the full range according to longitudes and latitudes of the start position and the end position; calculating the distances from each charging station to the start position and the end position one by one; screening and deleting the charging stations that not meet the search criteria one by one; integrating the charge station list and planning at least one driving path for the electric vehicle; and when any of the state conditions changes, performing the cycle of step a to step e to regain the driving path for the electric vehicle, so that charging stations on the path can be gradually connected in series recursively, and multiple paths are planned and generated for driving selection to achieve the purpose of expanding distance of the electric vehicle trip.
Description
Technical field
The invention relates to a kind of charging system of electric powercar, espespecially a kind of electric motor car recursion paths planning method that coordinates electric weight remaining mileage planning driving path.
Background technology
in environmental consciousness surging today, seek alternative new forms of energy and become instant responsibility, although oil is still present topmost power source, but day by day exhausted in reserves, and oil and Related product thereof cause under the situation of severe contamination for environmental ecology, it is trend of the times naturally that development substitutes new forms of energy, because development cost and the cost of equipment of various new forms of energy is difficult to meet economic benefit, wind-force for example, sun power, the substitute energys such as underground heat all still need support and the subsidy of government, the input exploitation that could continue, therefore the achievement that taps a new source of energy is obviously extremely limited, yet, existing automobile is to use gasoline burn in engine and produce driving dynamics, and can directly discharge large quantity of exhaust gas, a large prime culprit of air pollution and greenhouse effect, therefore utilize the existing free of contamination energy, become the selection of moving back and asking time, hereat, the popularization of electric motor car will be the trend that meets environmental consciousness, no matter the electric power of electric motor car is to see through which kind of mode to obtain, use in electric motor car that pollution level under state is minimum is undisputable fact.
but see in detail above-mentioned existing structure and be not difficult to realize that electric motor car has remained a little weak point on using, main cause is returned as follows: the distance travelled of existing electric motor car depends mainly on the electric weight of battery, be subject to volume and the weight of battery due to electric weight, in the situation that can't increase electric weight, electric motor car still must be sought along the road with the stop charging station and charge, the estimation of this electric weight is not to be linear decrease as amount of gasoline again, and the accuracy of the residual electric weight of dynamic estimation is on the low side, cause to calculate accurately the mileage of wheeled, the puzzlement that makes the electric motor car maximum is there be not suddenly electricity in driving process, especially do not know charging station in driving process wherein, can't determine still whether electric motor car can drive to predetermined charging station even if know the position of charging station, the serious uneasiness sense that will allow the driver produce, making the driver dare not select electric motor car is the vehicles, the technical matters point that this solves for wish of the present invention.
In view of this, the inventor is engaged in manufacturing development and the design experiences of Related product in for many years, for above-mentioned target, in detail after design and scrupulous assessment, eventually the present invention of a true tool practicality.
Summary of the invention
The technical matters that institute of the present invention wish solves is to provide a kind of electric motor car recursion paths planning method for the above-mentioned disappearance of prior art existence, and its method step is as follows:
A, import status condition into, this status condition includes the path distance between at least one reference position, at least one final position, an electric weight remaining mileage and reference position and final position;
B, with total charging station in the longitude and latitude search area in reference position and final position;
C, calculate charging station to the distance in reference position and final position one by one;
D, the charging station that will not meet search condition filter one by one and remove;
E, integration charging station inventory also go out at least one electric motor car driving path with the optimal path conditional plan; And
F, when arbitrary status condition changes, execution in step a to the circulation of step e again to obtain the electric motor car driving path.
Fundamental purpose of the present invention is, the present invention sees through the progressively charging station on tandem paths of recursive fashion at the electric motor car middle energy that travels, and planning produces multi-path to provide driving to select, automatically assist thus and seek charging station, eliminate the driver for the uneasiness sense of electric motor car charging problem, to reach the purpose of expanding the electric motor car stroke.
Secondary objective of the present invention is, this rear end supervisory system has to be upgraded and the function of integrating charging station information and owner information, and initiatively upgrade the storing information of electric motor car with wireless transmission method, and the use state of the interior charging station of real-time repaying scope, separately send terrestrial reference news in brief to car owner's hand-held action device by the rear end supervisory system, making the car owner directly check in terrestrial reference news in brief perhaps is loaded in navigational system, effectively grasp thus real time status and synchronize the charging station information of upgrading, in order to do to improve its application.
Other purpose, advantage and novel characteristics of the present invention will be more obvious from the following detailed description and related drawings.
Description of drawings
Fig. 1: the process flow diagram that is planning driving path of the present invention.
Fig. 2: be that the present invention removes the process flow diagram of charging station with search condition.
Fig. 3: the process flow diagram that is correction type remaining mileage estimation algorithm of the present invention.
Fig. 4: the schematic diagram that is total charging station in filter area of the present invention.
Fig. 5: be that the present invention removes the schematic diagram () of charging station with search condition.
Fig. 6: be that the present invention removes the schematic diagram (two) of charging station with search condition.
Fig. 7: be that the present invention upgrades the schematic diagram of driving path with new reference position.
Fig. 8: the process flow diagram that is battery remaining capacity estimation of the present invention.
Fig. 9: the use state flow chart that is rear end of the present invention supervisory system.
The main element symbol description
The present invention's part:
Step------a～f
Reference position---11 final position----12
Electric weight remaining mileage--13 path distance----14
Correction type remaining mileage estimation algorithm--21
Electric motor car-----31 coulombs of detection methods---32
Battery remaining capacity--33 open-circuit voltages are estimated method-34
Battery correction electric weight--35
Rear end supervisory system--41 wireless transmission----42
Send terrestrial reference news in brief--43 hand-held action device--44
Embodiment
Understand and understanding for your juror can be had further purpose of the present invention, feature and effect, below hereby please coordinate [description of drawings] to describe in detail as after:
First please by Fig. 1, Fig. 2, Fig. 3 coordinate sight shown in Figure 4 it, a kind of electric motor car recursion paths planning method, its method is as follows:
Step a, import status condition into, this status condition includes the path distance 14 between at least one reference position 11, at least one final position 12, an electric weight remaining mileage 13 and reference position 11 and final position 12, this reference position 11, final position 12 and path distance 14 are all and can change coordinate (changing with driver's setting and traveling-position), and the path distance 14 between this reference position 11, final position 12 and reference position 11 and final position 12 is by Global Positioning System (GPS) (Global Positioning System; GPS) calculate and get, this electric weight remaining mileage 13 is to utilize correction type remaining mileage estimation algorithm 21 to obtain;
Step b, with total charging station (total charging station comprises the A point to the I point) in the longitude and latitude search area in reference position 11 and final position 12;
Step c, calculate each charging station A-I to reference position 11 distance with final position 12 one by one;
steps d, the charging station A-I that does not meet search condition is filtered one by one remove, this search condition is that between charging station A-I and reference position 11, distance surpasses electric weight remaining mileage 13, further by Fig. 5 explanation, in figure charging station I to the distance of reference position 11 greater than reference position 11 distance of 12 of positions to terminal, make electric weight remaining mileage 13 can't support electric motor car directly to arrive charging station I position, therefore be unsuitable charging station I, by search condition, it is excluded in outside the charging station inventory, this another search condition is that charging station A-I and final position 12 distances are greater than the distance in 12, reference position 11 and final position again, again please by shown in Figure 6, in figure, charging station F and final position 12 distances are far to surpass this reference position 11 and final position 12 distances, make electric weight remaining mileage 13 can't support electric motor car directly to open position 12 to terminal by charging station F position, therefore be unsuitable charging station F, by search condition, it is excluded in outside the charging station inventory,
Step e, integrate the charging station inventory and also go out at least one electric motor car driving path with the optimal path conditional plan, this optimal path condition can be preferential, preferential, the minimum charging times of stroke bee-line of stroke shortest time preferentially, the shortest duration of charging preferentially and the preferential wherein one of direction of traffic select; And
step f, when arbitrary status condition changes, execution in step a to the circulation of step e again to obtain the electric motor car driving path, separately see also shown in Figure 7, when electric motor car travels to charging station A, because reference position 11 changes to charging station A position, and path distance 14 is along with reference position 11 is changed, make native system re-execute above-mentioned steps a to step e, and then the make new advances best driving path of reference position 11 of planning, in like manner, when final position 12 changes, also or electric weight remaining mileage 13 because of road conditions, vehicle condition, when battery performance changes, native system also can be planned suitable driving path again, can see through the progressively charging station A-I on tandem paths of recursive fashion, and planning produces multi-path to provide driving to select, automatically assist thus and seek charging station A-I, eliminate the driver for the uneasiness sense of electric motor car charging problem, to reach the purpose of expanding the electric motor car stroke.
further illustrate again, again please by sight shown in Figure 3 it, this correction type remaining mileage estimation algorithm 21 calculates and gets according to battery remaining capacity (SOC%) and operating range, and along with successively decreasing of battery remaining capacity (SOC%) continues to revise, this correction type remaining mileage estimation algorithm 21 at first will be operating range (km) divided by the electric quantity consumption ratio (%) of operating range, and obtain unit distance power consumption (km/%), taken advantage of in battery remaining capacity (SOC%) by unit distance power consumption (km/%) at last, and obtain electric weight remaining mileage 13 (km), wherein, electric weight remaining mileage (km) is the abbreviation of the remaining mileage of remaining capacity (SOC%) wheeled, further illustrate again the estimation mode of correction type remaining mileage estimation algorithm 21, please coordinate shown in table one, for utilize correction type remaining mileage estimation algorithm 21 with real data estimate for example:
Table one
Annotate: with this example, the electric motor car consumption 50% actual concurrence of electric weight has been sailed 95km, otherwise estimates in general remaining mileage mode, will obtain the result (50% multiply by 2.5km/% equals 125km) of 50% electric weight wheeled 125km.
see also again shown in Figure 8, this battery remaining capacity (SOC%) is when electric motor car 31 starting state, utilize enclosed pasture detection method 32 to obtain battery remaining capacity 33, separately when closed condition, utilize open-circuit voltage estimation method 34 to obtain battery correction electric weight 35, and use battery correction electric weight 35 to revise battery remaining capacity 33 under correction conditions in satisfying, the first correction conditions is in the battery charging, the second correction conditions is the battery standing appropriate time, the 3rd correction conditions is not equal to battery correction electric weight 35 for this battery remaining capacity 33, namely see through open-circuit voltage estimation method 34 and revise the enclosed pasture detection method 32 that produces cumulative errors, to improve enclosed pasture detection method 32 in the accuracy of dynamic measurement, allow correction type remaining mileage estimation algorithm 21 utilize battery remaining capacity 33 calculating to obtain electric weight remaining mileage 13, reach the practical function of effective planning driving path.
Continuous please by sight shown in Figure 4 it, the present invention also includes an early warning system (figure does not indicate), in without the situation of setting final position 12, less than early warning door fare register, initiatively provide charging station A-I position scope in inventory by early warning system when electric weight remaining mileage 13 (coordinating shown in Figure 3).
separately please by sight shown in Figure 9 it, the present invention also includes a rear end supervisory system 41, this rear end supervisory system 41 has to be upgraded and the function of integrating charging station information and owner information, and initiatively upgrade the storing information of electric motor car in wireless transmission 42 modes, and the use state of the interior charging station of real-time repaying scope, this rear end supervisory system 41 obtains electric motor car position and electric weight remaining mileage 13 (coordinating shown in Figure 3) by owner information again, and see through the charging station coordinate that the charging station database analysis is obtained bee-line, and then by rear end supervisory system 41, this charging station coordinate is sent to car owner's a hand-held running gear 44 in terrestrial reference news in brief 43 (GeoSMS) mode, or for being loaded in a navigational system, wherein, this hand-held action device 44 can be an intelligent mobile phone, one PDA running gear, can effectively grasp thus real time status and synchronize renewal charging station information, to improve its application.
In sum, the present invention has reached breakthrough structural design really, and has the summary of the invention of improvement, can reach again simultaneously usability and progressive on industry, and the present invention does not see any publication, also have a novelty, the regulation when meeting the relevant law of Patent Law proposes application for a patent for invention in accordance with the law.
The above is only a preferred embodiment of the present invention, when can not with restriction scope of the invention process; The equalization of namely generally doing according to the present patent application the scope of the claims changes and modifies, and all should still remain within the scope of the patent.
Claims (10)
1. an electric motor car recursion paths planning method, is characterized in that, method is as follows:
A, import status condition into, this status condition includes the path distance between at least one reference position, at least one final position, an electric weight remaining mileage and reference position and final position;
B, with total charging station in the longitude and latitude search area in reference position and final position;
C, calculate each charging station to the distance in reference position and final position one by one;
D, the charging station that will not meet search condition filter one by one and remove;
E, integration charging station inventory also go out at least one electric motor car driving path with the optimal path conditional plan; And
F, when arbitrary status condition changes, execution in step a to the circulation of step e again to obtain the electric motor car driving path, can see through the progressively charging station on tandem paths of recursive fashion, and planning produces multi-path and selects to provide to drive, to reach the purpose of expanding the electric motor car stroke.
2. electric motor car recursion paths planning method according to claim 1, is characterized in that, the path distance between this reference position, final position and reference position and final position is calculated and got by Global Positioning System (GPS).
3. electric motor car recursion paths planning method according to claim 1, it is characterized in that, this electric weight remaining mileage is to utilize correction type remaining mileage estimation algorithm to obtain, again should correction type remaining mileage estimation algorithm be to calculate and get according to battery remaining capacity and operating range, and along with successively decreasing of battery remaining capacity continues to revise.
4. electric motor car recursion paths planning method according to claim 3, it is characterized in that, this correction type remaining mileage estimation algorithm at first will be operating range obtain unit distance power consumption divided by the electric quantity consumption ratio of operating range, taken advantage of in battery remaining capacity by unit distance power consumption at last and obtain the electric weight remaining mileage.
5. electric motor car recursion paths planning method according to claim 4, it is characterized in that, this battery remaining capacity utilizes the enclosed pasture detection method to obtain battery remaining capacity when the electric motor car starting state, separately utilize open-circuit voltage estimation method to obtain battery correction electric weight when closed condition, and use battery correction electric weight correction battery remaining capacity under correction conditions in satisfying, the first correction conditions is in the battery charging, the second correction conditions is the battery standing appropriate time, the 3rd correction conditions is not equal to battery correction electric weight for this battery remaining capacity, namely see through the enclosed pasture detection method that the correction of open-circuit voltage estimation method produces cumulative errors.
6. electric motor car recursion paths planning method according to claim 1, it is characterized in that, this search condition is that between charging station and reference position, distance surpasses the electric weight remaining mileage, and charging station and final position distance are than greater than the distance between reference position and final position.
7. electric motor car recursion paths planning method according to claim 1, it is characterized in that, this optimal path condition be, stroke bee-line preferential, minimum charging times preferential by the stroke shortest time preferentially, the shortest duration of charging preferentially and the excellent wherein one of direction of traffic first select.
8. electric motor car recursion paths planning method according to claim 1, it is characterized in that, also include an early warning system, in without the situation of setting the final position, less than an early warning door fare register, initiatively provide charging station position scope in inventory by early warning system when the electric weight remaining mileage.
9. electric motor car recursion paths planning method according to claim 1, it is characterized in that, also include a rear end supervisory system, this rear end supervisory system has to be upgraded and the function of integrating charging station information and owner information, and initiatively upgrade the storing information of electric motor car with wireless transmission method, and the use state of charging station in the real-time repaying scope.
10. electric motor car recursion paths planning method according to claim 9, it is characterized in that, this rear end supervisory system obtains electric motor car position and electric weight remaining mileage by owner information, and see through the charging station coordinate that the charging station database analysis is obtained bee-line, by the rear end supervisory system, this charging station coordinate being sent to car owner's a hand-held running gear in terrestrial reference news in brief mode, or for being loaded in a navigational system.
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| CN105004345A (en) * | 2015-06-26 | 2015-10-28 | 深圳市凯立德欣软件技术有限公司 | Method and equipment for planning navigation path |
| CN105043399A (en) * | 2015-06-18 | 2015-11-11 | 安徽师范大学 | Electromobile navigation method and device based on positions of charging piles |
| CN106160056A (en) * | 2015-04-21 | 2016-11-23 | 日立(中国)研究开发有限公司 | The driving path planing method of electric automobile and car-mounted device |
| CN106740178A (en) * | 2016-11-30 | 2017-05-31 | 北京国网普瑞特高压输电技术有限公司 | A kind of electric automobile section wireless charging control method |
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| CN104121921B (en) * | 2014-07-01 | 2018-06-19 | 王玉娇 | A kind of electric vehicle charging air navigation aid, system and relevant device |
| CN106160056A (en) * | 2015-04-21 | 2016-11-23 | 日立(中国)研究开发有限公司 | The driving path planing method of electric automobile and car-mounted device |
| CN105043399A (en) * | 2015-06-18 | 2015-11-11 | 安徽师范大学 | Electromobile navigation method and device based on positions of charging piles |
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| CN106740178A (en) * | 2016-11-30 | 2017-05-31 | 北京国网普瑞特高压输电技术有限公司 | A kind of electric automobile section wireless charging control method |
| CN106871917A (en) * | 2017-01-23 | 2017-06-20 | 深圳充电网科技有限公司 | A kind of electric motor car route planning method and device |
| CN107132480A (en) * | 2017-03-13 | 2017-09-05 | 苏州飞崧通讯技术有限公司 | A kind of measuring method of electric vehicle course continuation mileage |
| CN106991497A (en) * | 2017-04-01 | 2017-07-28 | 成都为蓝科技有限公司 | A kind of chargeable path planning system of electric automobile and its application method |
| CN108957328A (en) * | 2017-05-19 | 2018-12-07 | 江苏猎吧科技有限公司 | A kind of electricity load-balancing algorithm of automobile-used identifying system |
| CN107367285A (en) * | 2017-05-23 | 2017-11-21 | 西安交通大学 | A kind of pure electric bus running route planing method matched based on battery capacity decline with live load inverted order |
| CN107367285B (en) * | 2017-05-23 | 2020-04-10 | 西安交通大学 | Pure electric bus running route planning method based on battery capacity decline and workload reverse order matching |
| CN110015127A (en) * | 2017-08-21 | 2019-07-16 | 大石祖耀 | The charging station method for searching of electric vehicle |
| CN107734161A (en) * | 2017-09-30 | 2018-02-23 | 北京快刷刷信息技术有限公司 | The method that charging service is found in automatic triggering |
| CN109596137A (en) * | 2018-12-24 | 2019-04-09 | 北京新能源汽车股份有限公司 | Method and device for dynamically searching charging pile path planning and navigation |
| CN112172602A (en) * | 2019-07-01 | 2021-01-05 | 汉能移动能源控股集团有限公司 | Electric vehicle monitoring system |
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| CN112009307A (en) * | 2020-09-03 | 2020-12-01 | 三一专用汽车有限责任公司 | Voice prompt method and voice prompt system of vehicle and vehicle |
| CN112993981A (en) * | 2021-02-20 | 2021-06-18 | 成都卓源网络科技有限公司 | Intelligent planning method for vehicle-mounted network |
| CN113253722A (en) * | 2021-04-30 | 2021-08-13 | 浙江吉利控股集团有限公司 | Electric vehicle charging path planning method, device and system |
| CN113253722B (en) * | 2021-04-30 | 2023-05-02 | 浙江吉利控股集团有限公司 | Method, device and system for planning charging path of electric vehicle |
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