CN113283750A - Charging demand triggering and processing method based on automatic driving shared taxi - Google Patents
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Abstract
The invention discloses a charging demand triggering and processing method based on an automatic driving shared taxi, which comprises the following steps: s1, calculating the mileage of the scheme with the least mileage increment; s2, detecting the charging requirement of the automatic driving shared taxi; s3, predicting the charging completion time of the automatic driving shared taxi; and S4, processing the charging state of the automatic driving shared taxi by combining with a simulation system. The method does not need the process of driver decision, improves the efficiency of charging response of the automatic driving shared taxi, and reduces the anxiety of the mileage of passengers. The electric vehicle and the automatic driving taxi are used for combined research, and the situation of sharing passengers is considered, so that the unnecessary consumption of energy is reduced to a great extent on the premise of equally meeting the requirements of the passengers. The scheme of least increasing the mileage is utilized to discuss the charging requirement, the remaining mileage of the automatic driving shared taxi can be utilized to the maximum extent, and the charging requirement can be deactivated by using less remaining mileage of the automatic driving shared taxi.
Description
Technical Field
The invention relates to the technical field of computers and transportation, in particular to a charging demand triggering and processing method based on automatic driving shared taxis.
Background
The increasing strength of artificial intelligence and the vigorous development of mobile internet have brought forward large-scale data analysis application scenes such as internet of vehicles and the like. With the maturation of internet of vehicles technology, there are many qualitative leaps in the research of automatic driving. There is a natural synergy between shared fleets of automated vehicles and electric vehicle technology, as shared fleets of automated vehicles address the practical limitations of today's non-automated electric vehicles. When applied to taxi operations in autonomous driving, a not negligible problem is: how to complete the taxi charging requirement checking and processing process without intervention. Especially when it is further merged with the shared exit, the traditional way of artificial awareness is obviously not feasible. Therefore, a sophisticated set of auto-driving shared taxi charging check and processing methods is needed.
There is a large body of literature that studies car sharing, electric car and charging infrastructure planning, and autonomous driving of cars as separate topics. Research into shared taxis and electric autonomous vehicles in a shared environment is more limited. A case study in Singapore simulates exploration of the trip benefit of the automatic driving taxi in a paper Dynamic street management for cybercards and a paper a systematic approach to the design and evaluation of automatic mobility-on-demand systems, and proves the great potential of the automatic driving applied to the taxi; the paper "Shared Autonomous Taxi System and recommendation of Collected Travel-Time Information" constructs a scheduling model for automatic Taxi in three aspects of demand generation, Taxi allocation operation and real-Time dynamic path planning, and contrasts and analyzes the influence of real-Time data and historical data on a scheduling strategy. But it lacks the ability to work in conjunction with electric vehicles and does not suggest any charging strategy either. In the paper "Urban Mobility System Upgrade: How shaped Self-Driving Cars Countchange City Traffic Electrical charging of electric vehicles only considers equivalent fleet size compared to gasoline driven vehicles with longer range and shorter charging time. There is no combined study specifically directed to the charge demand review and handling strategy based on the shortest shared taxis with increased mileage and the operation of shared autonomous vehicles, both of which have a direct impact on the ability of the vehicle to travel to passengers and charging stations.
The above studies have taken into consideration the improvement of the automated driving sharing trip in all aspects, which is desirable, but they neglect that taxi companies are nowadays particularly sensitive to mileage anxiety and mileage persistence. In the age of rapid development, companies mostly want to increase the duration of mileage and ensure the safety of mileage while saving travel cost. These methods may not meet the maximum expectations of taxi companies.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides a charging demand triggering and processing method based on an automatic driving shared taxi, can greatly explore the continuous mileage potential of the automatic driving shared taxi, is suitable for the bypass sharing matching problem between multiple passengers and multiple vehicles, effectively and substantially reduces the average charging excitation mileage, and improves the average single-charging cruising time.
In order to achieve the purpose, the technical scheme provided by the invention is as follows:
a charge demand triggering and processing method based on an automatic driving shared taxi comprises the steps of firstly calculating various indexes, then judging whether the shared taxi needs to be charged by using a discrimination formula, if so, entering charge time estimation and state updating, otherwise, not processing, and if not, updating the state again to finish the whole charging process of the shared taxi;
the method specifically comprises the following steps:
s1, calculating the mileage of the scheme with the least mileage increment;
s2, detecting the charging requirement of the automatic driving shared taxi;
s3, predicting the charging completion time of the automatic driving shared taxi;
and S4, processing the charging state of the automatic driving shared taxi by combining with a simulation system.
Further, the automatic driving shared taxi stores a virtual dynamically updated trip schedule, which is composed of a string of mission sites of the vehicles and corresponding predicted arrival times.
Further, the specific process of finding the mileage of the plan with the least increased mileage in step S1 is as follows:
s1-1, inserting the order starting point into the corresponding trip schedule of the automatic driving shared taxi, and calculating the mileage m increased after the order starting point is inserted in a false modeoc；
S1-2, inserting the order end point into the corresponding trip schedule of the automatic driving shared taxi, and calculating the mileage m increased after the order end point is inserted in a false modeod；
S1-3, obtaining the increased mileage m after false order insertion through the formula (1)c；
mc＝moc+mod (1)
S1-4, sharing all possible insertion points of the taxi journey schedule by traversing the automatic driving, and then comparing the increased mileage m after inserting the order for each insertion schemecTaking the scheme of the minimum mileage added after the order is inserted, wherein the added mileage of the scheme is defined as mmc。
Further, in step S2, the specific process of detecting the charging requirement of the automatic driving shared taxi based on the trip schedule is as follows:
s2-1, iteratively calculating the distance between each task location by using a shortest path Flouard algorithm until the travel task of the automatic driving shared taxi is finished to obtain the total mileage V of the automatic driving shared taxi after running out of the travel plan table of the automatic driving shared taxitm；
S2-2, checking the remaining mileage V of the automatic driving shared taxi based on the travel schedulerm；
S2-3, sharing the remaining mileage V of the taxi by automatic drivingrmSharing the total running-out of taxi's schedule with automatic drivingMileage VtmPredicting the remaining mileage V of the automatic driving shared taxi to finish the current trip schedulerm', can be obtained by the formula (2):
Vrm′＝Vrm-Vtm (2)
s2-4, calculating the distance between the last task place of the automatic driving shared taxi journey schedule and the charging pile closest to the task place through a shortest path Floeidde algorithm to obtain Vcm；
S2-5, detecting whether the automatic driving shared taxi needs to be charged through a comparison judgment formula (3):
Vrm′<(Vcm+mmc)×λ (3)
if equation (3) is true, the process moves to the charging demand process, otherwise no charging is required, and the scheme of the least mileage increase is implemented on the trip schedule of the automatic driving shared taxi, wherein lambda is a constant, namely the safety factor.
Further, the specific process of predicting the charging completion time of the automatic driving shared taxi in the step S3 is as follows:
s3-1, inquiring the predicted arrival time T of the last task place of the travel schedule of the automatic driving shared taxivsNamely, the predicted time for automatically driving the shared taxi to finish the current travel schedule of the shared taxi;
s3-2, calculating the time required by the last task place of the automatic driving shared taxi journey schedule and the charging pile closest to the task place through a shortest path Floeidde algorithm to obtain Vct；
S3-3, predicting the charging completion time T of the automatic driving shared taxi through a formula (4)vc；
In the formula (4), MAXMSharing the number of kilometers that a taxi can travel when fully charged, V, for automatic drivingrm' sharing taxi for automatic drivingRemaining mileage after running the trip plan table, VtmThe total mileage required for automatically driving the shared taxi journey schedule is C, and the mileage of charging can be taken every minute.
Further, in step S4, the specific process of processing the charging status of the taxi shared by automatic driving is as follows:
s4-1, predicting time T for charging completion of automatic driving shared taxivcAnd the current time T of the simulation systemnowComparison was carried out:
Tvc>Tnow (5)
if the formula (5) is true, judging the formula (6), otherwise, indicating that the charging is finished, and considering that the automatic driving shared taxi receives a new order;
Tvc-Tnow≤1 (6)
if the formula (6) is satisfied, the charging is about to be completed, and the remaining mileage of the automatically-driven shared taxi is modified through the formula (7):
Vrm＝MAXM (7)
in the formula (7), MAXMAnd updating the current position of the automatic driving shared taxi as the position of the charging pile for the kilometers that the automatic driving shared taxi can travel when being fully charged.
Compared with the prior art, the principle and the advantages of the scheme are as follows:
1. the process of driver decision making is not needed, the efficiency of taxi charging response is improved, and the mileage anxiety of passengers is reduced.
2. The electric vehicle and the automatic driving taxi are used for combined research, and the situation of sharing passengers is considered, so that the unnecessary consumption of energy is reduced to a great extent on the premise of equally meeting the requirements of the passengers.
3. The charging requirement is discussed by using the scheme of increasing the mileage at least, the remaining mileage of the taxi can be utilized to the maximum extent, and the charging requirement can be deactivated by using less remaining mileage of the taxi.
4. The involved algorithm has lower calculation complexity, and the calculation cost meets the industrial requirement.
5. The compatibility is strong, and the method is suitable for automatically driving a taxi fleet and is also suitable for a taxi sharing mode.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the services required for the embodiments or the technical solutions in the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic flow chart of a charging demand triggering and processing method based on an automatic driving shared taxi according to the invention.
Detailed Description
The invention will be further illustrated with reference to specific examples:
as shown in fig. 1, a method for triggering and processing a charging demand based on an automatic driving shared taxi specifically includes the following steps:
s1, finding the mileage of the scheme with the least mileage increment comprises the following steps:
s1-1, inserting the order starting point into the corresponding trip schedule of the automatic driving shared taxi, and calculating the mileage m increased after the order starting point is inserted in a false modeoc；
S1-2, inserting the order end point into the corresponding trip schedule of the automatic driving shared taxi, and calculating the mileage m increased after the order end point is inserted in a false modeod；
S1-3, obtaining the increased mileage m after false order insertion through the formula (1)c；
mc＝moc+mod (1)
S1-4, sharing all possible insertion points of the taxi journey schedule by traversing the automatic driving, and then comparing the increased mileage m after inserting the order for each insertion schemecTaking the scheme of the minimum mileage added after the order is inserted, wherein the added mileage of the scheme is defined as mmc。
S2, detecting the charging requirement of the automatic driving shared taxi;
in this step, a virtual dynamically updated itinerary schedule stored in the shared taxi is required, the itinerary schedule is composed of a series of mission sites of the vehicles and corresponding predicted arrival times, and the specific process of detection is as follows:
s2-1, iteratively calculating the distance between each task location by using a shortest path Flouard algorithm until the travel task of the automatic driving shared taxi is finished to obtain the total mileage V of the automatic driving shared taxi after running out of the travel plan table of the automatic driving shared taxitm；
S2-2, checking the remaining mileage V of the automatic driving shared taxi based on the travel schedulerm；
S2-3, sharing the remaining mileage V of the taxi by automatic drivingrmTotal mileage V sharing taxi running out of its timetable with automatic drivingtmPredicting the remaining mileage V of the automatic driving shared taxi to finish the current trip schedulerm', can be obtained by the formula (2):
Vrm′＝Vrm-Vtm (2)
s2-4, calculating the distance between the last task place of the automatic driving shared taxi journey schedule and the charging pile closest to the task place through a shortest path Floeidde algorithm to obtain Vcm；
S2-5, detecting whether the automatic driving shared taxi needs to be charged through a comparison judgment formula (3):
Vrm′<(Vcm+mmc)×λ (3)
if equation (3) is true, the process moves to the charging demand process, otherwise no charging is required, and the scheme of the least mileage increase is implemented on the trip schedule of the automatic driving shared taxi, wherein lambda is a constant, namely the safety factor.
S3, predicting the charging completion time of the automatic driving shared taxi, comprising the following steps:
s3-1, inquiring last task place of travel schedule of automatic driving shared taxiPredicted arrival time TvsNamely, the predicted time for automatically driving the shared taxi to finish the current travel schedule of the shared taxi;
s3-2, calculating the time required by the last task place of the automatic driving shared taxi journey schedule and the charging pile closest to the task place through a shortest path Floeidde algorithm to obtain Vct；
S3-3, predicting the charging completion time T of the automatic driving shared taxi through a formula (4)vc；
In the formula (4), MAXMSharing the number of kilometers that a taxi can travel when fully charged, V, for automatic drivingrm' for automatic driving, sharing the remaining mileage, V, after the taxi runs out of the scheduletmThe total mileage required for automatically driving the shared taxi journey schedule is C, and the mileage of charging can be taken every minute.
S4, combining with the simulation system, processing the charging state of the automatic driving shared taxi, including:
s4-1, predicting time T for charging completion of automatic driving shared taxivcAnd the current time T of the simulation systemnowComparison was carried out:
Tvc>Tnow (5)
if the formula (5) is true, judging the formula (6), otherwise, indicating that the charging is finished, and considering that the automatic driving shared taxi receives a new order;
Tvc-Tnow≤1 (6)
if the formula (6) is satisfied, the charging is about to be completed, and the remaining mileage of the automatically-driven shared taxi is modified through the formula (7):
Vrm＝MAXM (7)
in the formula (7), MAXMUpdating the current kilometer number of the automatic driving shared taxi when the automatic driving shared taxi is fully chargedThe position is the position of charging pile.
A specific example of the correspondence and processing of the charging demand of an autonomous driving shared taxi is given below:
firstly, the assumption is made that the automatic driving shared taxi can walk MAX when being fully chargedM240000 meters, the charging efficiency C is 100 meters per second, the electricity charge of 240000 meters is about 40 minutes, and the current time T of the simulation systemnowAt 2000 seconds.
The shortest mileage m which needs to be increased when the order is falsely inserted into the automatic driving shared taxi is obtained by the assumption of one-by-one iterative calculation and comparison of the schememc6200 m, the number of kilometers left by the shared taxirm15000 m, the automatic driving shared taxi needs to complete the mileage V of the scheduletm9000 meters, the number of kilometers V left by the taxi after completing the schedule of the taxi can be obtained through the formula (2)rm15000-9000 ═ 6000 meters.
Then, the distance V of the charging pile at the last task site of the schedule at the moment is obtained through calculationcmIs 1500 m, and time VctIf the time is 200 seconds, whether the automatic driving shared taxi needs to be charged or not is known according to a formula (3), a safety factor lambda is 1.2, and 6000 is known by judgment<1.2 x (6200+1500), so the automatic driving shared taxi enters a charging state and a charging time prediction stage is carried out.
The last time T of the taxi running out of the schedule is known by inquiring the schedule of the taxi automatically driven and sharedvs3200 seconds, the time T for completing charging of the automatic driving shared taxi can be predicted according to the formula (4) and the preset conditionsvcIs composed of
And second.
After the charging demand time is predicted, the charging state processing is carried out, and 5755>2000 can be known according to the formula (5), so that the charging state of the automatic driving shared taxi is detected, and the adding operation of a new order is not carried out.
Simulation system time TnowFor continuous self-increment, T is knownnowWhen the time is 5754 seconds, the formula (6) is satisfied, namely the charging is about to be completed, and the current remaining mileage V of the taxi is shared by the automatic driving according to the formula (7)rmThe distance is 240000 meters, the position of the automatic driving shared taxi stays at the charging pile, and a mode of receiving a new order is started.
The above-mentioned embodiments are merely preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, so that variations based on the shape and principle of the present invention should be covered within the scope of the present invention.
Claims (6)
1. A charging demand triggering and processing method based on automatic driving shared taxies is characterized by comprising the following steps:
s1, calculating the mileage of the scheme with the least mileage increment;
s2, detecting the charging requirement of the automatic driving shared taxi;
s3, predicting the charging completion time of the automatic driving shared taxi;
and S4, processing the charging state of the automatic driving shared taxi by combining with a simulation system.
2. The method as claimed in claim 1, wherein the taxi sharing automatic driving method comprises a virtual and dynamically updated trip schedule, wherein the trip schedule comprises a string of vehicle mission locations and corresponding predicted arrival times.
3. The method for triggering and processing the charging demand based on the taxi sharing through automatic driving as claimed in claim 2, wherein the specific process of finding the mileage of the scheme with the least mileage increment in the step S1 is as follows:
s1-1, inserting order starting point false into corresponding trip plan of automatic driving shared taxiOn the table, the mileage m increased due to false insertion of the order starting point is calculatedoc；
S1-2, inserting the order end point into the corresponding trip schedule of the automatic driving shared taxi, and calculating the mileage m increased after the order end point is inserted in a false modeod；
S1-3, obtaining the increased mileage m after false order insertion through the formula (1)c；
mc＝moc+mod (1)
S1-4, sharing all possible insertion points of the taxi journey schedule by traversing the automatic driving, and then comparing the increased mileage m after inserting the order for each insertion schemecTaking the scheme of the minimum mileage added after the order is inserted, wherein the added mileage of the scheme is defined as mmc。
4. The method for triggering and processing the charging demand based on the automatic driving shared taxi according to claim 2, wherein the step of triggering and processing the charging demand based on the automatic driving shared taxi comprises the following steps of; in step S2, the specific process of detecting the charging demand of the automatic driving shared taxi based on the trip schedule is as follows:
s2-1, iteratively calculating the distance between each task location by using a shortest path Flouard algorithm until the travel task of the automatic driving shared taxi is finished to obtain the total mileage V of the automatic driving shared taxi after running out of the travel plan table of the automatic driving shared taxitm；
S2-2, checking the remaining mileage V of the automatic driving shared taxi based on the travel schedulerm；
S2-3, sharing the remaining mileage V of the taxi by automatic drivingrmTotal mileage V sharing taxi running out of its timetable with automatic drivingtmPredicting the remaining mileage V of the automatic driving shared taxi to finish the current trip schedulerm', can be obtained by the formula (2):
Vrm‘＝Vrm-Vtm (2)
s2-4, calculating the last taxi travel schedule through the shortest path Flouard algorithmThe distance between the task place and the charging pile closest to the task place is obtained as Vcm；
S2-5, detecting whether the automatic driving shared taxi needs to be charged through a comparison judgment formula (3):
Vrm‘<(Vcm+mmc)×λ (3)
if equation (3) is true, the process moves to the charging demand process, otherwise no charging is required, and the scheme of the least mileage increase is implemented on the trip schedule of the automatic driving shared taxi, wherein lambda is a constant, namely the safety factor.
5. The method for triggering and processing the charging demand based on the taxi sharing through automatic driving as claimed in claim 2, wherein the specific process of predicting the charging completion time of the taxi sharing through automatic driving in step S3 is as follows:
s3-1, inquiring the predicted arrival time T of the last task place of the travel schedule of the automatic driving shared taxivsNamely, the predicted time for automatically driving the shared taxi to finish the current travel schedule of the shared taxi;
s3-2, calculating the time required by the last task place of the automatic driving shared taxi journey schedule and the charging pile closest to the task place through a shortest path Floeidde algorithm to obtain Vct；
S3-3, predicting the charging completion time T of the automatic driving shared taxi through a formula (4)vc；
In the formula (4), MAXMSharing the number of kilometers that a taxi can travel when fully charged, V, for automatic drivingrm' for automatic driving, sharing the remaining mileage, V, after the taxi runs out of the scheduletmThe total mileage required for automatically driving the shared taxi journey schedule is C, and the mileage of charging can be taken every minute.
6. The method for triggering and processing the charging demand based on the taxi automatically driven to share according to claim 1, wherein in step S4, the charging status of the taxi automatically driven to share is processed through the following specific process:
s4-1, predicting time T for charging completion of automatic driving shared taxivcAnd the current time T of the simulation systemnowComparison was carried out:
Tvc>Tnow (5)
if the formula (5) is true, judging the formula (6), otherwise, indicating that the charging is finished, and considering that the automatic driving shared taxi receives a new order;
Tvc-Tnow≤1 (6)
if the formula (6) is satisfied, the charging is about to be completed, and the remaining mileage of the automatically-driven shared taxi is modified through the formula (7):
Vrm＝MAXM (7)
in the formula (7), MAXMAnd updating the current position of the automatic driving shared taxi as the position of the charging pile for the kilometers that the automatic driving shared taxi can travel when being fully charged.
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Application publication date: 20210820 |