CN115824248A - Navigation method and device of pure electric heavy truck - Google Patents
Navigation method and device of pure electric heavy truck Download PDFInfo
- Publication number
- CN115824248A CN115824248A CN202310114329.XA CN202310114329A CN115824248A CN 115824248 A CN115824248 A CN 115824248A CN 202310114329 A CN202310114329 A CN 202310114329A CN 115824248 A CN115824248 A CN 115824248A
- Authority
- CN
- China
- Prior art keywords
- navigation path
- charging
- target vehicle
- electric quantity
- navigation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- 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
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Landscapes
- Navigation (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The application provides a navigation method and a device of a pure electric heavy truck, wherein the method comprises the following steps: determining whether the initial charge state of the target vehicle meets the electric quantity requirement of the first navigation path, and if the initial charge state of the target vehicle meets the electric quantity requirement of the first navigation path, no electric quantity supplement operation is needed; and if the initial charge state of the target vehicle does not meet the electric quantity requirement of the first navigation path, determining a target area by taking the starting point as the center and the preset distance radius, selecting a charging and replacing station in the target area, and taking the selected charging and replacing station as a new starting point until the target vehicle meets the electric quantity requirement of driving to a terminal after being fully charged, thereby providing a navigation line capable of supplementing the electric quantity for at least one time for the target vehicle. The technical problem that a navigation circuit containing a charging and replacing power station cannot be provided for a target vehicle in the prior art is solved, and the technical effect that the navigation circuit containing the charging and replacing power station can be provided for the target vehicle is achieved.
Description
Technical Field
The application relates to the technical field of navigation, in particular to a navigation method and device for a pure electric heavy truck.
Background
At present, due to the technical bottleneck of batteries, the driving range of a pure electric heavy truck cannot meet the requirement of long-distance travel in the city, and a charging station needs to be searched along to charge the batteries. Because the battery capacity of the pure electric heavy truck is large, the charging time is long, and the timeliness of medium and long distance cargo transportation is reduced. Therefore, freight logistics enterprises begin to select more flexible rechargeable heavy trucks for transporting long and medium-distance goods, if transported goods are high in timeliness, the rechargeable power stations can be searched along the way for replacing batteries, and if transported goods are low in timeliness, the charging stations can be searched along the way for charging.
At present, the arrangement of an inter-city public road network charging station and a power exchanging station is less, all service areas along a road network are not covered, and a driver needs to reasonably plan a driving route through navigation, save travel time and find the charging station or the power exchanging station. Most of the existing navigation systems are oriented to traditional fuel vehicles, and navigation information containing the position of a charging station or a power exchange station is not provided for pure electric heavy trucks.
Disclosure of Invention
In view of this, an object of the present application is to provide a navigation method and apparatus for a full electric heavy truck, where the navigation method and apparatus cyclically determine whether a current charging and replacing station fully charges a target vehicle and then meets an electric quantity requirement that the target vehicle travels to a destination, so as to provide a navigation line that can be charged and replaced at least once for the target vehicle, solve a technical problem that a navigation line including a charging and replacing station cannot be provided for the target vehicle in the prior art, and achieve a technical effect that a navigation line including a charging and replacing station can be provided for the target vehicle.
The application mainly comprises the following aspects:
in a first aspect, an embodiment of the present application provides a navigation method for a pure electric heavy truck, where the method includes: determining whether the initial charge state of a target vehicle meets the electric quantity requirement of a first navigation path, wherein the target vehicle is a pure electric heavy truck, and the first navigation path refers to the shortest navigation path corresponding to a starting point and a terminal point input by a user; if the initial state of charge of the target vehicle does not meet the electric quantity requirement of the first navigation path, obtaining a target area by taking the starting point as a center and a preset distance as a radius, and determining whether a charging station exists in the target area; if at least one battery charging and replacing station exists in the target area, determining a second navigation path and a third navigation path corresponding to each battery charging and replacing station in the target area, and combining the second navigation path and the third navigation path corresponding to each battery charging and replacing station to be used as a fourth navigation path corresponding to each battery charging and replacing station; determining at least one fifth navigation path according to the length of the fourth navigation path corresponding to each charging and replacing station; determining whether the target vehicle meets the electric quantity requirement of a third navigation path corresponding to any one fifth navigation path in the full-battery state; if the target vehicle does not meet the electric quantity requirement of the third navigation path corresponding to each fifth navigation path in the full-battery state of the battery, taking the charging and replacing power station corresponding to each fifth navigation path as a new starting point, re-executing the operation with the starting point as the center and the preset distance as the radius to obtain a target area, and determining whether the charging and replacing power station exists in the target area; if the target vehicle meets the electric quantity requirement of a third navigation path corresponding to any fifth navigation path in the full-battery state, calculating the total cost of the fifth navigation path meeting the electric quantity requirement of the third navigation path, and taking the fifth navigation path with the minimum total cost as the target navigation path of the target vehicle.
Optionally, determining whether the initial state of charge of the target vehicle meets the power requirement of the first navigation path comprises: determining a final state of charge of the target vehicle when the target vehicle travels to the terminal according to the length of the first navigation path, the initial state of charge of the target vehicle and the battery capacity of the target vehicle; determining whether the final state of charge is greater than a preset minimum state of charge.
Optionally, the final state of charge is calculated by the following equation:
in the above-mentioned formula,
in order to achieve the final state of charge,
is the initial state of charge of the target vehicle,
for the target vehicle average charge consumption factor,
is the length of the first navigation path,
a battery capacity of the target vehicle; if the final state of charge is larger than a preset minimum state of charge, the initial state of charge of the target vehicle meets the electric quantity requirement of the first navigation path; and if the final state of charge is less than or equal to a preset minimum state of charge, the initial state of charge of the target vehicle does not meet the electric quantity requirement of the first navigation path.
Optionally, the total cost is calculated by the following formula:
in the above-mentioned formula,
refers to the total cost of the kth fifth navigation path,
the number of times of electricity replenishment during the driving process of the target navigation path is indicated,
it is referred to a time value coefficient,
refers to the running time of the target vehicle between the charging and replacing station with the r-th time of electric quantity supplement and the charging and replacing station with the r-1 st time of electric quantity supplement or the starting point in the kth fifth navigation path,
refers to the charging time of the r-th charge supplement in the k-th fifth navigation path,
refers to the battery replacement time of the r-th power replenishment in the kth fifth navigation path,
refers to the running cost of the target vehicle between the charging and replacing station with the r-th time of electric quantity supplement and the charging and replacing station with the r-1 st time of electric quantity supplement or the starting point in the kth fifth navigation path,
refers to the charging fee of the r-th charge supplement in the k-th fifth navigation path,
the power change cost of the r-th power supplement in the kth fifth navigation path is referred to,
refers to the travel time from the charging station with the m-th electric quantity supplement to the terminal in the kth fifth navigation path,
the driving cost from the charging station with the m-th electric quantity supplement in the kth fifth navigation path to the terminal is referred to.
Optionally, the charging time is calculated by the following formula:
in the above formula, r is the r-th power replenishment,
the electric quantity of the target vehicle before the r-th time of electric quantity supplement in the k-th navigation path is the percentage of the total electric quantity,
is an initial state of charge of the target vehicle;
the electric quantity consumed by the target vehicle in the kth fifth navigation path from the time after the (r-1) th electric quantity is replenished to the time before the r th electric quantity is replenished; u is the battery voltage of the target vehicle; q is the battery capacity of the target vehicle;
and the length of a running path of the target vehicle from the r-1 st electricity supplement to the r th electricity supplement in the k fifth navigation path is obtained.
Optionally, the charge rate is calculated by the following formula:
in the above-mentioned formula,
for the charging unit price, Q is the battery capacity of the target vehicle,
the electric quantity of the target vehicle at the starting point.
Optionally, the determining at least one fifth navigation path according to the length of the fourth navigation path corresponding to each battery charging and replacing station includes: sequencing the fourth navigation paths according to the length of the fourth navigation path corresponding to each charging and replacing station; and selecting a preset number of the fourth navigation paths from the sorted fourth navigation paths as at least one fifth navigation path.
In a second aspect, embodiments of the present application further provide a navigation device for a pure electric heavy truck, where the device includes: the system comprises a first determination module, a second determination module and a third determination module, wherein the first determination module is used for determining whether the initial charge state of a target vehicle meets the electric quantity requirement of a first navigation path, the target vehicle is a pure electric heavy truck, and the first navigation path refers to the shortest navigation path corresponding to a starting point and a destination point input by a user; the second determining module is used for obtaining a target area by taking the starting point as a center and a preset distance as a radius if the initial charge state of the target vehicle does not meet the electric quantity requirement of the first navigation path, and determining whether a charging station exists in the target area or not; a third determining module, configured to determine, if at least one battery charging and swapping station exists in the target area, a second navigation path and a third navigation path corresponding to each battery charging and swapping station in the target area, and combine the second navigation path and the third navigation path corresponding to each battery charging and swapping station to serve as a fourth navigation path corresponding to each battery charging and swapping station; the fourth determining module is used for determining at least one fifth navigation path according to the length of the fourth navigation path corresponding to each charging and replacing station; the fifth determining module is used for determining whether the target vehicle meets the electric quantity requirement of a third navigation path corresponding to any one fifth navigation path in a full-battery state; the loop execution module is used for respectively taking the charging and replacing station corresponding to each fifth navigation path as a new starting point if the target vehicle does not meet the electric quantity requirement of the third navigation path corresponding to each fifth navigation path in the full-battery state of the battery, re-executing to obtain a target area by taking the starting point as the center and taking the preset distance as the radius, and determining whether the charging and replacing station exists in the target area; and the navigation module is used for calculating the total cost of the fifth navigation path meeting the electric quantity requirement of the third navigation path if the target vehicle meets the electric quantity requirement of the third navigation path corresponding to any fifth navigation path in a full-battery state, and taking the fifth navigation path with the minimum total cost as the target navigation path of the target vehicle.
In a third aspect, an embodiment of the present application further provides an electronic device, including: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory communicating via the bus when the electronic device is running, the machine-readable instructions being executed by the processor to perform the steps of the method for navigating a full electric heavy truck according to the first aspect or any one of the possible embodiments of the first aspect.
In a fourth aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, performs the steps of the method for navigating an electric-only heavy truck as described in the first aspect or any one of the possible implementation manners of the first aspect.
The embodiment of the application provides a navigation method and a device for a pure electric heavy truck, and the method comprises the following steps: determining whether the initial charge state of a target vehicle meets the electric quantity requirement of a first navigation path, wherein the target vehicle is a pure electric heavy truck, and the first navigation path refers to the shortest navigation path corresponding to a starting point and a terminal point input by a user; if the initial charge state of the target vehicle does not meet the electric quantity requirement of the first navigation path, obtaining a target area by taking the starting point as a center and a preset distance as a radius, and determining whether a charging station exists in the target area; if at least one charging and replacing station exists in the target area, determining a second navigation path and a third navigation path corresponding to each charging and replacing station in the target area, and combining the second navigation path and the third navigation path corresponding to each charging and replacing station to be used as a fourth navigation path corresponding to each charging and replacing station; determining at least one fifth navigation path according to the length of the fourth navigation path corresponding to each charging and replacing station; determining whether the target vehicle meets the electric quantity requirement of a third navigation path corresponding to any one fifth navigation path in the full-battery state; if the target vehicle does not meet the electric quantity requirement of the third navigation path corresponding to each fifth navigation path in the full-battery state of the battery, taking the charging and replacing power station corresponding to each fifth navigation path as a new starting point, re-executing the operation with the starting point as the center and the preset distance as the radius to obtain a target area, and determining whether the charging and replacing power station exists in the target area; if the target vehicle meets the electric quantity requirement of a third navigation path corresponding to any fifth navigation path in the full-battery state, calculating the total cost of the fifth navigation path meeting the electric quantity requirement of the third navigation path, and taking the fifth navigation path with the least total cost as the target navigation path of the target vehicle. According to the method and the device, whether the electric quantity requirement that the target vehicle runs to the terminal after the target vehicle is fully charged by the current charging and replacing station is determined circularly, so that a navigation circuit capable of charging and replacing the battery at least once is provided for the target vehicle, the technical problem that the navigation circuit containing the charging and replacing station cannot be provided for the target vehicle in the prior art is solved, and the technical effect that the navigation circuit containing the charging and replacing station can be provided for the target vehicle is achieved.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 shows a flowchart of a navigation method of a pure electric heavy truck according to an embodiment of the present application.
Fig. 2 shows one of schematic diagrams of charging stations in a target area according to an embodiment of the present application.
Fig. 3 shows a second schematic diagram of a charging station in a target area according to an embodiment of the present application.
Fig. 4 shows a functional block diagram of a navigation device of a pure electric heavy truck according to an embodiment of the present application.
Fig. 5 shows a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
To make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it should be understood that the drawings in the present application are for illustrative and descriptive purposes only and are not used to limit the scope of protection of the present application. Additionally, it should be understood that the schematic drawings are not necessarily drawn to scale. The flowcharts used in this application illustrate operations implemented according to some embodiments of the present application. It should be understood that the operations of the flow diagrams may be performed out of order, and that steps without logical context may be performed in reverse order or concurrently. One skilled in the art, under the guidance of this application, may add one or more other operations to, or remove one or more operations from, the flowchart.
In addition, the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
Most of the navigation in the prior art is directed to fuel-powered vehicles, and the disadvantage that the navigation information containing the position of the charging station or the power change station is not provided for the pure electric heavy trucks exists.
Based on this, the embodiment of the application provides a navigation of pure electric heavy truck, and the application determines whether the electric quantity requirement that the target vehicle travels to the terminal after the target vehicle is fully charged by the current charging and replacing station through circulation, so that a navigation line capable of charging and replacing the battery at least once is provided for the target vehicle, the technical problem that the navigation line containing the charging and replacing station cannot be provided for the target vehicle in the prior art is solved, and the technical effect that the navigation line containing the charging and replacing station can be provided for the target vehicle is achieved. The method comprises the following specific steps:
referring to fig. 1, fig. 1 is a flowchart of a navigation method of a pure electric heavy truck according to an embodiment of the present application. As shown in fig. 1, the navigation method of the pure electric heavy truck provided by the embodiment of the application includes the following steps:
s101: determining whether the initial state of charge of the target vehicle meets the power requirement of the first navigation path.
The target vehicle is a pure electric heavy truck, and the first navigation path refers to the shortest navigation path from a starting point to a terminal point input by a user.
The first navigation path may be obtained by matching GPS data (global positioning System) of the start point and the end point with an electronic map. The initial state of charge of the target vehicle may be understood as the state of charge of the battery at the starting point of the target vehicle.
Determining whether the initial state of charge of the target vehicle meets the charge requirement of the first navigation path, comprising: determining a final state of charge of the target vehicle when the target vehicle travels to the terminal according to the length of the first navigation path, the initial state of charge of the target vehicle and the battery capacity of the target vehicle; determining whether the final state of charge is greater than a preset minimum state of charge.
Calculating the final state of charge by the following equation:
in the formula (1), the first and second groups,
in order to achieve the final state of charge,
is the initial state of charge of the target vehicle,
for the target vehicle average charge consumption factor,
is the length of the first navigation path,
the battery capacity of the target vehicle.
Since the target vehicle is a pure electric heavy truck, further
The average electric quantity consumption factor of the pure electric heavy truck can be understood.
The preset minimum state of charge is manually set, and can be a psychological state of charge threshold value for charging or battery replacement operation of a battery by a user corresponding to the target vehicle. That is, if the user determines that the final state of charge of the target vehicle is greater than the preset minimum state of charge, no charging or battery replacement operation is required; and if the final state of charge of the target vehicle is less than or equal to the preset minimum state of charge, charging or battery replacement operation is required. The charging or battery replacement operation is generally referred to as an electric quantity supplement operation.
That is, if the final state of charge is greater than the preset minimum state of charge, the initial state of charge of the target vehicle meets the electric quantity requirement of the first navigation path; and if the final state of charge is smaller than or equal to the preset minimum state of charge, the initial state of charge of the target vehicle does not meet the electric quantity requirement of the first navigation path, and further electric quantity supplement operation needs to be carried out on a battery of the target vehicle.
S102: and obtaining a target area by taking the starting point as a center and the preset distance as a radius, and determining whether a charging and replacing station exists in the target area.
If the initial charge state of the target vehicle does not meet the electric quantity requirement of the first navigation path, a target area is obtained by taking the starting point as the center and a preset distance as the radius, and whether a charging station exists in the target area or not is determined.
That is, it is determined whether there is a charging and replacing station in a circular area having the starting point as a center and a preset distance as a radius. And if the charging and replacing station does not exist in the target area, reminding a user of searching for the charging and replacing station and carrying out electric quantity supplementing operation before starting.
For example, it is determined that there is a charging and battery changing station with the number z in the target area by the following formula:
in the formula (2), the first and second groups,
the distance is a preset distance, and the distance is a preset distance,
is the longitude coordinate of the charging station numbered z,
is a longitude coordinate of the starting point and,
the latitude coordinate of the charging and replacing power station with the number z,
the latitude coordinate of the starting point. If it is
If the distance is less than or equal to the preset distance, the charging and replacing power station with the serial number of z is considered to be in the target area, and if the distance is less than or equal to the preset distance, the charging and replacing power station with the serial number of z is considered to be in the target area
And if the distance is greater than the preset distance, the charging and replacing power station with the serial number z is not in the target area.
The preset distance can be a fixed value set manually; the preset distance may also be the current cruising mileage when determining whether the charging and swapping station exists in the target area each time, and further, the preset distances when determining whether the charging and swapping station exists in the target area each time are all different.
S103: and determining a second navigation path and a third navigation path corresponding to each charging and replacing station in the target area, and combining the second navigation path and the third navigation path corresponding to each charging and replacing station to be used as a fourth navigation path corresponding to each charging and replacing station.
If at least one charging and replacing station exists in the target area, determining a second navigation path and a third navigation path corresponding to each charging and replacing station in the target area, and combining the second navigation path and the third navigation path corresponding to each charging and replacing station to serve as a fourth navigation path corresponding to each charging and replacing station.
And for each charging and replacing station in the target area, taking the charging and replacing station, all charging and replacing stations corresponding to the charging and replacing station and the starting point as target points, sequencing all the target points according to the sequence from the starting point to the charging and replacing station in the determined target area, combining the shortest distances of the sequenced adjacent target points to be used as a second navigation path corresponding to the charging and replacing station, and taking the third navigation path as the shortest navigation path of the charging and replacing station and the terminal point.
For example, please refer to fig. 2, fig. 2 is a schematic diagram of a charging and swapping station in a target area according to an embodiment of the present disclosure. Three charging and replacing stations, namely a charging and replacing station 1, a charging and replacing station 2 and a charging and replacing station 3, exist in the target area of the starting point，L 0 Is a preset distance. If the charging and battery replacing station is the charging and battery replacing station 1, sequencing all target points according to the sequence from the starting point to the charging and battery replacing station 1 to obtain: a starting point, a charging and replacing station 1, and a shortest navigation path L from the starting point to the charging and replacing station 1 12 And determining a second navigation path corresponding to the charging and replacing station 1.
As shown in FIG. 2, the shortest navigation path from the start point to the end point is the first navigation path, L 12 Is the shortest navigation path between the starting point and the charging and replacing station 1, L 12 Is a second navigation path corresponding to the charging and replacing station 1, L 13 Is the shortest navigation path between the charging and replacing station 1 and the terminal, L 13 Is a third navigation path corresponding to the charging and replacing station 1, L 12 And L 13 Combination is L 14 ，L 14 A fourth navigation path corresponding to the charging and replacing station 1; l is a radical of an alcohol 22 Is the shortest navigation path between the starting point and the charging and replacing station 2, L 22 Is a second navigation path corresponding to the charging and replacing station 2, L 23 Is the shortest navigation path between the charging and replacing station 2 and the terminal, L 23 Is a third navigation path corresponding to the charging and replacing station 2, L 22 And L 23 Combination is L 24 ，L 24 A fourth navigation path corresponding to the charging and swapping station 2; l is 32 Is the shortest navigation path between the starting point and the charging and replacing station 3, L 32 Is a second navigation path, L, corresponding to the charging and replacing station 3 33 Is the shortest navigation path between the charging and replacing station 3 and the terminal, L 33 Is a third navigation path corresponding to the charging and replacing station 3, L 32 And L 33 Combination is L 34 ，L 34 And a fourth navigation path corresponding to the charging and replacing station 3.
S104: and determining at least one fifth navigation path according to the length of the fourth navigation path corresponding to each charging and replacing station.
Determining at least one fifth navigation path according to the length of the fourth navigation path corresponding to each charging and swapping station, including: sequencing the fourth navigation paths according to the length of the fourth navigation path corresponding to each charging and replacing station; and selecting a preset number of the fourth navigation paths from the sorted fourth navigation paths as at least one fifth navigation path.
In other words, the fourth navigation paths of each charging and replacing station in the target area are arranged in an ascending order according to the length of the fourth navigation path, and the fourth navigation paths in the preset number are selected from the fourth navigation paths after the ascending order and serve as at least one fifth navigation path.
In the embodiment shown in FIG. 2, L 12 And L 13 Combination is L 14 ，L 14 A fourth navigation path corresponding to the charging and replacing station 1, L 22 And L 23 Combination is L 24 ，L 24 For a fourth navigation path corresponding to the charging and swapping station 2, L 32 And L 33 Combination is L 34 ，L 34 A fourth navigation path corresponding to the charging and replacing station 3 is determined according to L 14 、L 24 And L 34 The length of (c) is sorted from small to large, and L is obtained after sorting 14 、L 34 、L 24 If the predetermined number is 2, then L is 14 、L 34 As a fifth navigation path.
S105: and determining whether the target vehicle meets the electric quantity requirement of the third navigation path corresponding to any one of the fifth navigation paths in the full-battery state.
That is, the average electric quantity consumption factor of the pure electric heavy truck is calculated to be multiplied by the length of the third navigation path corresponding to each fifth navigation path, the product is compared with the battery capacity of the target vehicle, the ratio is subtracted from 1, and the difference value is used as the final state of charge of the target vehicle when the target vehicle runs to the end point of the fifth navigation path in the full-battery state. If the final state of charge is larger than the preset minimum state of charge, the target vehicle meets the electric quantity requirement of a third navigation path corresponding to the fifth navigation path under the full-charge state of the battery; and if the final state of charge is smaller than or equal to the preset minimum state of charge, the target vehicle does not meet the electric quantity requirement of the third navigation path corresponding to the fifth navigation path in the full-charge state of the battery.
That is to say, since the initial state of charge of the target vehicle does not satisfy the power requirement of the first navigation path, and therefore the power supplement operation is required, after each fifth navigation path in the target area is determined, it is considered that the target vehicle will perform the power supplement operation at the charging station corresponding to any one of the fifth navigation paths, so that the battery of the target vehicle is in a full-charge state, and it is required to determine whether the power requirement of the third navigation path corresponding to any one of the fifth navigation paths is satisfied in the full-charge state of the battery.
In the embodiment shown in FIG. 2, if any one of the fifth navigation paths is L 14 If the target vehicle is in the full-charge state at the charging and replacing station 1, determining whether the target vehicle meets the third navigation path L in the full-charge state of the battery 13 The power requirement of; if any of the fifth navigation paths is L 34 If the target vehicle is in the full-charge state at the charging and replacing station 3, determining whether the target vehicle meets the third navigation path L in the full-charge state of the battery 33 The power requirement of.
S106: and respectively taking the charging and replacing power station corresponding to each fifth navigation path as a new starting point.
If the target vehicle does not meet the electric quantity requirement of the third navigation path corresponding to each fifth navigation path in the full-battery state of the battery, taking the charging and replacing power station corresponding to each fifth navigation path as a new starting point, and executing S102 again: and obtaining a target area by taking the starting point as a center and the preset distance as a radius, and determining whether a charging and replacing station exists in the target area.
That is, if the target vehicle does not satisfy the power requirement of the third navigation route corresponding to any one of the fifth navigation routes in the full-battery state, the charging and replacing station corresponding to each of the fifth navigation routes is respectively used as a new starting point. Illustratively, as in the embodiment shown in FIG. 2, if L 14 、L 34 As the fifth navigation path, the target vehicle does not satisfy the third navigation path L in the full battery state 13 And the target vehicle does not satisfy the third navigation path L even in the full-battery state 33 The charging and replacing power station 1 and the charging and replacing power station 3 are respectively used as new starting points, the charging and replacing power station 1 is used as a center, and the preset distance L is set 0 Determining a target area corresponding to the charging and replacing power station 1 for the radius, and taking the charging and replacing power station 3 as a center and presetting a distance L 0 And determining a target area corresponding to the charging and replacing station 3 for the radius, and continuously searching fourth navigation paths corresponding to the target area corresponding to the charging and replacing station 1 and the target area corresponding to the charging and replacing station 3 respectively.
For example, please refer to fig. 3, fig. 3 is a second schematic diagram of a charging station in a target area according to an embodiment of the present application. With the charging and replacing station 1 as the center and a preset distance L 0 And determining that a charging and replacing power station 4 and a charging and replacing power station 5 exist in a target area corresponding to the charging and replacing power station 1 for the radius. Taking the charging and replacing station 4 as an example, taking the charging and replacing station 4, the charging and replacing station 1 before the charging and replacing station 4 and a starting point as target points, and sequencing all the target points according to the sequence from the starting point to the determined charging and replacing station 4 to obtain: a starting point, a charging and replacing station 1 and a charging and replacing station 4, and determining the shortest navigation path L between the starting point and the charging and replacing station 1 a And the shortest navigation path L between the charging and replacing power station 1 and the charging and replacing power station 4 b The shortest navigation path L a And L b The combination is used as a second navigation path corresponding to the charging and replacing station 4, and the shortest navigation path L from the charging and replacing station 4 to the terminal point c Determining a third navigation path corresponding to the charging and replacing station 4, and determining whether the L is satisfied in the full-charge state of the battery c If the battery is in a full state of charge, the power demand of (1) is satisfied c Will L a 、L b And L c And combining the navigation paths as a fifth navigation path corresponding to the charging and swapping station 4.
S107: and calculating the total cost of the fifth navigation path meeting the electric quantity requirement of the third navigation path, and taking the fifth navigation path with the minimum total cost as the target navigation path of the target vehicle.
If the target vehicle meets the electric quantity requirement of a third navigation path corresponding to any fifth navigation path in the full-battery state, calculating the total cost of the fifth navigation path meeting the electric quantity requirement of the third navigation path, and taking the fifth navigation path with the least total cost as the target navigation path of the target vehicle.
The total cost is calculated by the following formula:
in the formula (3), the first and second groups,
refers to the total cost of the kth fifth navigation path,
the number of times of electricity replenishment during the driving process of the target navigation path is indicated,
referring to the time cost factor, the time cost factor may be set to 1.6,
refers to the running time of the target vehicle between the charging and replacing station with the r-th time of electric quantity supplement and the charging and replacing station with the r-1 st time of electric quantity supplement or the starting point in the kth fifth navigation path,
refers to the charging time of the r-th charge supplement in the k-th fifth navigation path,
refers to the power change time of the r-th power supplement in the k-th navigation path,
refers to the running cost of the target vehicle between the charging and replacing station with the r-th time of electric quantity supplement and the charging and replacing station with the r-1 st time of electric quantity supplement or the starting point in the kth fifth navigation path,
refers to the charging fee of the r-th charge supplement in the k-th navigation path,
the power change cost of the r-th power supplement in the kth fifth navigation path is referred to,
of fingersIs the travel time from the charging station with the m-th electric quantity supplement in the kth fifth navigation path to the terminal,
the driving cost from the charging station with the m-th electric quantity supplement in the kth fifth navigation path to the terminal is referred to.
In the embodiment shown in fig. 3, if the target vehicle satisfies L in the full-battery state c The electric quantity demand of (2), then calculate L a 、L b And L c The total cost of the fifth navigation path corresponding to the charging and replacing station 4 is combined. Furthermore, the charging and replacing station 1 performs a first power supplement operation for the fifth navigation path, the charging and replacing station 4 performs a second power supplement operation for the fifth navigation path, and m is 2.
Calculating the charging time by the following formula:
in the formulas (4) to (6), r is the r-th power replenishment,
the percentage of the electric quantity of the target vehicle before the r-th electric quantity supplement in the k-th navigation path to the total electric quantity, or the electric quantity
For the state of charge of the target vehicle before the r-th charge in the kth fifth navigation path,
is an initial state of charge of the target vehicle;
the electric quantity consumed by the target vehicle in the kth fifth navigation path from the time after the (r-1) th electric quantity is replenished to the time before the r th electric quantity is replenished; u is the battery voltage of the target vehicle; q is the battery capacity of the target vehicle;
and the length of a running path between the r-1 th time electricity quantity supplement and the r-th time electricity quantity supplement in the k-th navigation path is taken for the target vehicle.
That is to say that the position of the first electrode,
and the consumed electric quantity of the target vehicle in the kth fifth navigation path from the r-1 th electric quantity supplement to the r th electric quantity supplement accounts for the percentage of the total electric quantity. After completion of the first charge amount replenishment, the battery of the target vehicle is considered to be in a full charge state, and the second charge amount replenishment is calculated
And calculating the electric quantity replenishment after the second electric quantity replenishment
When necessary, 1 and
are subtracted.
Calculating the charge rate by the following formula:
in the formula (7), the first and second groups,
for the charging unit price, Q is the battery capacity of the target vehicle,
the electric quantity of the target vehicle at the starting point.
Wherein the electric quantity of the target vehicle at the starting point is equivalent to the initial electric quantity of the target vehicle. Since the electric quantity of the target vehicle at the starting point is not necessarily full, and further, in order to fully charge the battery at the first time of electric quantity replenishment, it is necessary to calculate a difference between the battery capacity of the target vehicle and the electric quantity of the target vehicle at the starting point, and then sum the difference with the electric quantity consumed from the starting point to before the first time of electric quantity replenishment, and take the sum as the electric quantity to be replenished at the first time of electric quantity replenishment.
Based on the same application concept, the embodiment of the present application further provides a navigation device of the pure electric heavy truck corresponding to the navigation method of the pure electric heavy truck provided by the above embodiment, and as the principle of solving the problem of the device in the embodiment of the present application is similar to the navigation method of the pure electric heavy truck provided by the above embodiment of the present application, the implementation of the device may refer to the implementation of the method, and repeated parts are not repeated.
Fig. 4 is a functional block diagram of a navigation device of a pure electric heavy truck according to an embodiment of the present application, as shown in fig. 4. The navigation device 10 of the pure electric heavy truck includes: a first determination module 101, a second determination module 102, a third determination module 103, a fourth determination module 104, a fifth determination module 105, a loop execution module 106, and a navigation module 107.
The first determining module 101 is configured to determine whether an initial state of charge of a target vehicle meets an electric quantity requirement of a first navigation path, where the target vehicle is a pure electric heavy truck, and the first navigation path refers to a shortest navigation path corresponding to a starting point to an end point input by a user; a second determining module 102, configured to, if the initial state of charge of the target vehicle does not meet the electric quantity requirement of the first navigation path, obtain a target area with the starting point as a center and a preset distance as a radius, and determine whether a charging station exists in the target area; a third determining module 103, configured to determine, if at least one battery charging and swapping station exists in the target area, a second navigation path and a third navigation path corresponding to each battery charging and swapping station in the target area, and combine the second navigation path and the third navigation path corresponding to each battery charging and swapping station to serve as a fourth navigation path corresponding to each battery charging and swapping station; a fourth determining module 104, configured to determine at least one fifth navigation path according to a length of a fourth navigation path corresponding to each charging and swapping station; the fifth determining module 105 is configured to determine whether the target vehicle meets an electric quantity requirement of a third navigation path corresponding to any one of the fifth navigation paths in a full-battery state; the loop execution module 106 is configured to, if the target vehicle does not meet the electric quantity requirement of the third navigation path corresponding to each fifth navigation path in the full-battery state of the battery, take the charging and swapping station corresponding to each fifth navigation path as a new starting point, re-execute the charging and swapping station taking the starting point as a center and a preset distance as a radius to obtain a target area, and determine whether the charging and swapping station exists in the target area; the navigation module 107 is configured to calculate a total cost of a fifth navigation route that meets an electric quantity requirement of any fifth navigation route if the target vehicle meets the electric quantity requirement of the third navigation route corresponding to any fifth navigation route in a full-battery state, and use the fifth navigation route with the smallest total cost as the target navigation route of the target vehicle.
Based on the same application concept, referring to fig. 5, a schematic structural diagram of an electronic device provided in the embodiment of the present application is shown, where the electronic device 20 includes: a processor 201, a memory 202 and a bus 203, wherein the memory 202 stores machine-readable instructions executable by the processor 201, when the electronic device 20 is operated, the processor 201 communicates with the memory 202 through the bus 203, and the machine-readable instructions are executed by the processor 201 to perform the steps of the method for navigating the electric-only heavy truck as described in any of the above embodiments.
In particular, the machine readable instructions, when executed by the processor 201, may perform the following: determining whether the initial charge state of a target vehicle meets the electric quantity requirement of a first navigation path, wherein the target vehicle is a pure electric heavy truck, and the first navigation path refers to the shortest navigation path corresponding to a starting point and a terminal point input by a user; if the initial charge state of the target vehicle does not meet the electric quantity requirement of the first navigation path, obtaining a target area by taking the starting point as a center and a preset distance as a radius, and determining whether a charging station exists in the target area; if at least one charging and replacing station exists in the target area, determining a second navigation path and a third navigation path corresponding to each charging and replacing station in the target area, and combining the second navigation path and the third navigation path corresponding to each charging and replacing station to be used as a fourth navigation path corresponding to each charging and replacing station; determining at least one fifth navigation path according to the length of the fourth navigation path corresponding to each charging and replacing station; determining whether the target vehicle meets the electric quantity requirement of a third navigation path corresponding to any one fifth navigation path in the full-battery state; if the target vehicle does not meet the electric quantity requirement of the third navigation path corresponding to each fifth navigation path in the full-battery state of the battery, taking the charging and replacing power station corresponding to each fifth navigation path as a new starting point, re-executing the operation with the starting point as the center and the preset distance as the radius to obtain a target area, and determining whether the charging and replacing power station exists in the target area; if the target vehicle meets the electric quantity requirement of a third navigation path corresponding to any fifth navigation path in the full-battery state, calculating the total cost of the fifth navigation path meeting the electric quantity requirement of the third navigation path, and taking the fifth navigation path with the least total cost as the target navigation path of the target vehicle.
Based on the same application concept, the embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the navigation method for the electric-only heavy truck provided in the above embodiment are executed.
Specifically, the storage medium can be a general storage medium, such as a mobile disk, a hard disk, and the like, when a computer program on the storage medium is run, the navigation method for the electric-only heavy truck can be executed, and it is determined through circulation whether the current charging and swapping station fully charges the target vehicle and then meets the electric quantity requirement that the target vehicle travels to the destination, so that a navigation line capable of performing at least one charging and swapping is provided for the target vehicle, the technical problem that the navigation line including the charging and swapping station cannot be provided for the target vehicle in the prior art is solved, and the technical effect of providing the navigation line including the charging and swapping station for the target vehicle is achieved.
It can be clearly understood by those skilled in the art that, for convenience and simplicity of description, the specific working process of the system and the apparatus described above may refer to the corresponding process in the foregoing method embodiment, and details are not described herein again. In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such understanding, the technical solutions of the present application, which are essential or part of the technical solutions contributing to the prior art, may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A method of navigating a full electric heavy truck, the method comprising:
determining whether the initial charge state of a target vehicle meets the electric quantity requirement of a first navigation path, wherein the target vehicle is a pure electric heavy truck, and the first navigation path refers to the shortest navigation path corresponding to a starting point and a terminal point input by a user;
if the initial charge state of the target vehicle does not meet the electric quantity requirement of the first navigation path, obtaining a target area by taking the starting point as a center and a preset distance as a radius, and determining whether a charging station exists in the target area;
if at least one charging and replacing station exists in the target area, determining a second navigation path and a third navigation path corresponding to each charging and replacing station in the target area, and combining the second navigation path and the third navigation path corresponding to each charging and replacing station to be used as a fourth navigation path corresponding to each charging and replacing station;
determining at least one fifth navigation path according to the length of the fourth navigation path corresponding to each charging and replacing station;
determining whether the target vehicle meets the electric quantity requirement of a third navigation path corresponding to any one fifth navigation path in the full-battery state;
if the target vehicle does not meet the electric quantity requirement of the third navigation path corresponding to each fifth navigation path in the full-battery state of the battery, taking the charging and replacing power station corresponding to each fifth navigation path as a new starting point, re-executing the operation with the starting point as the center and the preset distance as the radius to obtain a target area, and determining whether the charging and replacing power station exists in the target area;
if the target vehicle meets the electric quantity requirement of a third navigation path corresponding to any fifth navigation path in the full-battery state, calculating the total cost of the fifth navigation path meeting the electric quantity requirement of the third navigation path, and taking the fifth navigation path with the least total cost as the target navigation path of the target vehicle.
2. The method of claim 1, wherein determining whether the initial state of charge of the target vehicle meets the charge requirement of the first navigation path comprises:
determining a final state of charge of the target vehicle when the target vehicle travels to the terminal according to the length of the first navigation path, the initial state of charge of the target vehicle and the battery capacity of the target vehicle;
determining whether the final state of charge is greater than a preset minimum state of charge.
3. The method of claim 2, wherein the final state of charge is calculated by the formula:
in the above-mentioned formula,
in order to achieve the final state of charge,
is the initial state of charge of the target vehicle,
for the target vehicle average charge consumption factor,
is the length of the first navigation path,
a battery capacity of the target vehicle;
if the final state of charge is larger than a preset minimum state of charge, the initial state of charge of the target vehicle meets the electric quantity requirement of the first navigation path;
and if the final state of charge is less than or equal to the preset minimum state of charge, the initial state of charge of the target vehicle does not meet the electric quantity requirement of the first navigation path.
4. The method of claim 1, wherein the total cost is calculated by the formula:
in the above-mentioned formula,
refers to the total cost of the kth fifth navigation path,
the number of times of electricity replenishment during the driving process of the target navigation path is indicated,
it is referred to a time value coefficient,
refers to the running time of the target vehicle between the charging and replacing station with the r-th time of electric quantity supplement and the charging and replacing station with the r-1 st time of electric quantity supplement or the starting point in the kth fifth navigation path,
refers to the charging time of the r-th charge supplement in the k-th navigation path,
refers to the power change time of the r-th power supplement in the k-th navigation path,
refers to the running cost of the target vehicle between the charging and replacing station with the r-th time of electric quantity supplement and the charging and replacing station with the r-1 st time of electric quantity supplement or the starting point in the kth fifth navigation path,
refers to the charging fee of the r-th charge supplement in the k-th navigation path,
the power change cost of the r-th power supplement in the kth fifth navigation path is referred to,
refers to the travel time from the charging station with the m-th electric quantity supplement to the terminal in the kth fifth navigation path,
the driving cost from the charging station with the m-th electric quantity supplement in the kth fifth navigation path to the terminal is referred to.
5. The method of claim 4, wherein the charging time is calculated by the following equation:
in the above formula, r is the r-th charge,
the electric quantity of the target vehicle before the r-th electric quantity supplement in the k-th fifth navigation path is the percentage of the total electric quantity,
is an initial state of charge of the target vehicle;
the electric quantity consumed by the target vehicle in the kth fifth navigation path from the time after the (r-1) th electric quantity is replenished to the time before the r th electric quantity is replenished; u is the battery voltage of the target vehicle; q is the battery capacity of the target vehicle;
and the length of a running path of the target vehicle from the r-1 st electricity supplement to the r th electricity supplement in the k fifth navigation path is obtained.
6. The method of claim 5, wherein the charge rate is calculated by the formula:
in the above-mentioned formula,
q is the battery capacity of the target vehicle for the charging unit price,
the electric quantity of the target vehicle at the starting point.
7. The method as claimed in claim 1, wherein the determining at least one fifth navigation path according to the length of the fourth navigation path corresponding to each charging and replacing station includes:
sequencing the fourth navigation paths according to the length of the fourth navigation path corresponding to each charging and replacing station;
and selecting a preset number of the fourth navigation paths from the sorted fourth navigation paths as at least one fifth navigation path.
8. A navigation device of a pure electric heavy truck, characterized in that the device comprises:
the system comprises a first determination module, a second determination module and a third determination module, wherein the first determination module is used for determining whether the initial charge state of a target vehicle meets the electric quantity requirement of a first navigation path, the target vehicle is a pure electric heavy truck, and the first navigation path refers to the shortest navigation path corresponding to a starting point and a destination point input by a user;
the second determining module is used for obtaining a target area by taking the starting point as a center and a preset distance as a radius if the initial charge state of the target vehicle does not meet the electric quantity requirement of the first navigation path, and determining whether a charging station exists in the target area;
a third determining module, configured to determine, if at least one battery charging and swapping station exists in the target area, a second navigation path and a third navigation path corresponding to each battery charging and swapping station in the target area, and combine the second navigation path and the third navigation path corresponding to each battery charging and swapping station to serve as a fourth navigation path corresponding to each battery charging and swapping station;
the fourth determining module is used for determining at least one fifth navigation path according to the length of the fourth navigation path corresponding to each charging and replacing station;
the fifth determining module is used for determining whether the target vehicle meets the electric quantity requirement of a third navigation path corresponding to any one fifth navigation path in a full-battery state;
the loop execution module is used for respectively taking the charging and replacing station corresponding to each fifth navigation path as a new starting point if the target vehicle does not meet the electric quantity requirement of the third navigation path corresponding to each fifth navigation path in the full-battery state of the battery, re-executing to obtain a target area by taking the starting point as the center and taking the preset distance as the radius, and determining whether the charging and replacing station exists in the target area;
and the navigation module is used for calculating the total cost of the fifth navigation path meeting the electric quantity requirement of the third navigation path if the target vehicle meets the electric quantity requirement of the third navigation path corresponding to any fifth navigation path in a full-battery state, and taking the fifth navigation path with the minimum total cost as the target navigation path of the target vehicle.
9. An electronic device, comprising: processor, memory and bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory communicating over the bus when the electronic device is running, the machine-readable instructions being executed by the processor to perform the steps of the method of navigating of a full electric heavy truck according to any of claims 1 to 7.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when being executed by a processor, carries out the steps of the method for navigation of an electric-only heavy truck according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310114329.XA CN115824248B (en) | 2023-02-15 | 2023-02-15 | Navigation method and device for pure electric heavy truck |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310114329.XA CN115824248B (en) | 2023-02-15 | 2023-02-15 | Navigation method and device for pure electric heavy truck |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115824248A true CN115824248A (en) | 2023-03-21 |
| CN115824248B CN115824248B (en) | 2023-04-21 |
Family
ID=85521424
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310114329.XA Active CN115824248B (en) | 2023-02-15 | 2023-02-15 | Navigation method and device for pure electric heavy truck |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115824248B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117689272A (en) * | 2024-02-02 | 2024-03-12 | 杭州宇谷科技股份有限公司 | Method for measuring value of ESG (electronic service provider) power exchange system, electronic equipment and storage medium |
| CN117689272B (en) * | 2024-02-02 | 2024-06-07 | 杭州宇谷科技股份有限公司 | Method for measuring value of ESG (electronic service provider) power exchange system, electronic equipment and storage medium |
Citations (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10170293A (en) * | 1996-12-05 | 1998-06-26 | Nissan Motor Co Ltd | Route searching device for electric automobile |
| CN103136600A (en) * | 2013-03-13 | 2013-06-05 | 北京交通大学 | Electric automobile alternative charging facility selection method |
| CN103512580A (en) * | 2012-06-21 | 2014-01-15 | 日电（中国）有限公司 | Method and device for planning route of electric car |
| CN105491241A (en) * | 2016-01-13 | 2016-04-13 | 广东欧珀移动通信有限公司 | Navigation method, navigation device and mobile terminal integrated with navigation device |
| CN105539185A (en) * | 2015-12-29 | 2016-05-04 | 戴姆勒股份公司 | Charging route planning and charging reserving method and system of electric automobile |
| TW201642208A (en) * | 2015-05-22 | 2016-12-01 | Quan Hong Logistics Co Ltd | Cloud management method and system of integrated electric vehicle charging power supply |
| CN106197459A (en) * | 2016-08-15 | 2016-12-07 | 浙江爱充网络科技有限公司 | Consider voyage and the electric automobile optimum path search method of charging station position |
| CN106708049A (en) * | 2016-12-30 | 2017-05-24 | 北京理工大学 | Path planning method of moving body under multi-station relay navigation |
| CN106871918A (en) * | 2017-01-23 | 2017-06-20 | 深圳充电网科技有限公司 | Electric motor car route planning method and device |
| CN106979788A (en) * | 2017-03-24 | 2017-07-25 | 深圳市凯立德欣软件技术有限公司 | The paths planning method and navigation equipment of a kind of electric energy vehicle |
| CN107392336A (en) * | 2017-07-17 | 2017-11-24 | 哈尔滨工程大学 | Distributed electric automobile charging dispatching method based on reservation in intelligent transportation |
| CN111055716A (en) * | 2019-12-11 | 2020-04-24 | 国网北京市电力公司 | Method and device for determining charging strategy, storage medium and processor |
| CN111609867A (en) * | 2020-06-19 | 2020-09-01 | 北京交通大学 | Electric vehicle path planning method |
| CN112477635A (en) * | 2020-11-30 | 2021-03-12 | 浙江吉利控股集团有限公司 | Method, device and equipment for supplementing electric quantity of battery and storage medium |
| CN112665600A (en) * | 2020-12-03 | 2021-04-16 | 国网北京市电力公司 | Path planning method and device, computer readable storage medium and processor |
| CN113607179A (en) * | 2021-07-30 | 2021-11-05 | 车主邦（北京）科技有限公司 | Navigation end point determining method and device, electronic equipment and storage medium |
| CN114413919A (en) * | 2021-12-30 | 2022-04-29 | 联想(北京)有限公司 | Navigation method, device, equipment and computer storage medium |
| CN114509082A (en) * | 2021-12-27 | 2022-05-17 | 车主邦（北京）科技有限公司 | Navigation data processing method, device, program product, medium and electronic equipment |
| CN114719879A (en) * | 2022-04-25 | 2022-07-08 | 北京新能源汽车股份有限公司 | Charging navigation method, device and terminal |
-
2023
- 2023-02-15 CN CN202310114329.XA patent/CN115824248B/en active Active
Patent Citations (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10170293A (en) * | 1996-12-05 | 1998-06-26 | Nissan Motor Co Ltd | Route searching device for electric automobile |
| CN103512580A (en) * | 2012-06-21 | 2014-01-15 | 日电（中国）有限公司 | Method and device for planning route of electric car |
| CN103136600A (en) * | 2013-03-13 | 2013-06-05 | 北京交通大学 | Electric automobile alternative charging facility selection method |
| TW201642208A (en) * | 2015-05-22 | 2016-12-01 | Quan Hong Logistics Co Ltd | Cloud management method and system of integrated electric vehicle charging power supply |
| CN105539185A (en) * | 2015-12-29 | 2016-05-04 | 戴姆勒股份公司 | Charging route planning and charging reserving method and system of electric automobile |
| CN105491241A (en) * | 2016-01-13 | 2016-04-13 | 广东欧珀移动通信有限公司 | Navigation method, navigation device and mobile terminal integrated with navigation device |
| CN106197459A (en) * | 2016-08-15 | 2016-12-07 | 浙江爱充网络科技有限公司 | Consider voyage and the electric automobile optimum path search method of charging station position |
| CN106708049A (en) * | 2016-12-30 | 2017-05-24 | 北京理工大学 | Path planning method of moving body under multi-station relay navigation |
| CN106871918A (en) * | 2017-01-23 | 2017-06-20 | 深圳充电网科技有限公司 | Electric motor car route planning method and device |
| CN106979788A (en) * | 2017-03-24 | 2017-07-25 | 深圳市凯立德欣软件技术有限公司 | The paths planning method and navigation equipment of a kind of electric energy vehicle |
| CN107392336A (en) * | 2017-07-17 | 2017-11-24 | 哈尔滨工程大学 | Distributed electric automobile charging dispatching method based on reservation in intelligent transportation |
| CN111055716A (en) * | 2019-12-11 | 2020-04-24 | 国网北京市电力公司 | Method and device for determining charging strategy, storage medium and processor |
| CN111609867A (en) * | 2020-06-19 | 2020-09-01 | 北京交通大学 | Electric vehicle path planning method |
| CN112477635A (en) * | 2020-11-30 | 2021-03-12 | 浙江吉利控股集团有限公司 | Method, device and equipment for supplementing electric quantity of battery and storage medium |
| CN112665600A (en) * | 2020-12-03 | 2021-04-16 | 国网北京市电力公司 | Path planning method and device, computer readable storage medium and processor |
| CN113607179A (en) * | 2021-07-30 | 2021-11-05 | 车主邦（北京）科技有限公司 | Navigation end point determining method and device, electronic equipment and storage medium |
| CN114509082A (en) * | 2021-12-27 | 2022-05-17 | 车主邦（北京）科技有限公司 | Navigation data processing method, device, program product, medium and electronic equipment |
| CN114413919A (en) * | 2021-12-30 | 2022-04-29 | 联想(北京)有限公司 | Navigation method, device, equipment and computer storage medium |
| CN114719879A (en) * | 2022-04-25 | 2022-07-08 | 北京新能源汽车股份有限公司 | Charging navigation method, device and terminal |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117689272A (en) * | 2024-02-02 | 2024-03-12 | 杭州宇谷科技股份有限公司 | Method for measuring value of ESG (electronic service provider) power exchange system, electronic equipment and storage medium |
| CN117689272B (en) * | 2024-02-02 | 2024-06-07 | 杭州宇谷科技股份有限公司 | Method for measuring value of ESG (electronic service provider) power exchange system, electronic equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115824248B (en) | 2023-04-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104182492B (en) | Information provider unit | |
| CN102884401B (en) | For battery-operated conveying arrangement being guided to method and the guidance unit at station of reforming | |
| EP2664484B1 (en) | Traveling range calculation apparatus, method and program | |
| CN102542833B (en) | Method, device and system for managing energy of motor vehicle | |
| CN112550027B (en) | Vehicle rapid power change system for long-distance trunk transportation and power change operation method | |
| US10157242B2 (en) | Charger arrangement planning supporting apparatus, charger arrangement planning supporting method, and program | |
| CN110610333B (en) | Method and terminal for planning path | |
| CN103863131A (en) | Method and device for estimating driving range of electric vehicle after charging, and driving assistance device | |
| CN105539185A (en) | Charging route planning and charging reserving method and system of electric automobile | |
| CN112477635A (en) | Method, device and equipment for supplementing electric quantity of battery and storage medium | |
| KR20170133763A (en) | Vehicle system and navigation route selecting method thereof | |
| US20140188382A1 (en) | Vehicle route planning method and apparatus | |
| US20170074671A1 (en) | Power transfer system and power transfer method | |
| CN113029182A (en) | Electric vehicle path planning method considering wireless charging and dynamic energy consumption | |
| CN106871918B (en) | Electric vehicle route planning method and device | |
| KR20170128907A (en) | Vehicle system and battery charging method thereof | |
| CN104821624A (en) | Search and navigation method and search and navigation system based on electric vehicle fast charging stations | |
| US20200234575A1 (en) | Power transfer managing apparatus, and computer-readable storage medium | |
| CN105026893B (en) | time efficient traffic routing system | |
| JP5633413B2 (en) | Information presentation device | |
| KR101886583B1 (en) | Vehicle system and navigation route selecting method thereof | |
| CN113607179A (en) | Navigation end point determining method and device, electronic equipment and storage medium | |
| CN114670707A (en) | Charging route determining method and device and readable storage medium | |
| JP2012152018A (en) | Information processing system, and transmitter and receiver constituting the system | |
| CN113959458A (en) | Navigation method, navigation device, terminal equipment and computer readable storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |