CN102509470A - System and method for realizing energy conservation and emission reduction of vehicle based on dynamic path planning - Google Patents
System and method for realizing energy conservation and emission reduction of vehicle based on dynamic path planning Download PDFInfo
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Abstract
The invention discloses a system and a method for realizing energy conservation and emission reduction of a vehicle based on dynamic path planning, belonging to the technical field of intelligent transportation. The method comprises the following steps of: acquiring the vehicle position information, and checking, storing and releasing the information; obtaining a road energy consumption weight of each road section by use of a pre-established road energy consumption model; and obtaining the road condition information, and performing dynamic path planning based on the road energy consumption weight and road condition information. The system comprises a dynamic traffic information acquiring and releasing platform, a road energy consumption model system and a dynamic path planning system. In the invention, based on a micro automobile energy consumption model, an automobile energy consumption calculation method is combined with the real-time traffic flow data and the road driving condition data to form a novel road energy consumption calculation model taking the road as the main body; and the energy consumption weight of the road section is calculated through the road energy consumption model, and the selection of the path with the lowest energy consumption can be realized by use of a dynamic path planning algorithm.
Description
Technical field
The present invention relates to intelligent transportation field, particularly a kind of planning realizes the system and method that automobile energy-saving reduces discharging based on dynamic route.
Background technology
Present dynamic information inducible system is to induce through providing the dynamic traffic traffic information to realize driving; Thereby solve urban traffic congestion, minimizing traffic hazard, reduction automobile fuel consumption and urban air pollution, raising conevying efficiency effectively, finally reach economic target of driving.
In the exploitation of present dynamic information inducible system, formed the situation of standing like the legs of a tripod in Japan and the United States, Europe:
The dynamic information inducible system of Japan: the research of dynamic route inducible system starts from Japan (1973) the earliest, and has set up first road vehicle information communication system VICS (Vehicle Information and Communication Systems) in the world in nineteen ninety.Disposing at present traffic control system UTMS (Urban Traffic Management Systems) a kind of and the reinforcement that VICS is compatible; It is made up of five sub-systems; Dynamic route inducible system DRGS wherein (Dynamic Route Guidance Systems) is a kind of Route Guidance System of center decision formula of type of interaction, and its uses the Real-time Traffic Information that comes from a plurality of information sources to carry out the center with the journey time data to determine the path of formula to induce.
The dynamic information inducible system of the U.S.: after the nineties; The U.S. begins to get involved and launch to the research of the dynamic inducible system of traffic, and successively to have carried out Pathfinder, TravTek, ADVANCE, SEIFT etc. be the scene operation experiment of main contents with the dynamic route inducible system.The path that the TravTek system realizes induces real-time traffic conditions such as being based on crowded and accident to carry out, and has " Yellow Page " information for the traveler service, is particularly useful for the unfamiliar tourist in this area is used; The research of ADVANCE project has been set up systematic research basis for the dynamic route inducible system; This system is a kind of distribution route inducible system based on real-time traffic condition (current Link Travel Time); Differential GPS is mainly adopted in vehicle location, and the dead reckoning that when GPS is in the blind area, is aided with based on wheel velocity and direction sensor positions; The TravInfo project provides in time and accurately multimode information and dynamic route suggestion like beeper, traveler consulting telephone system, onboard navigation system and Internet homepage to traveler through using a series of equipment.
The dynamic information inducible system in Europe: Britain has just released first commercial vehicle-mounted Route Guidance System Traffic Master in the world the eighties in 20th century; The STORM project of Germany is devoted to develop double mode DRGS; Promptly induce based on the path of infrared beacon in the regionl development that infrared beacon is installed; In wide area, develop simultaneously and induce, information such as it can provide traffic hazard to the user, crowds, road construction based on the path of broadcast information system-TMC RDSOTMC (Radio Data System-Traffic Message Channel) Traffic Announcement; The double-standard path that is under the jurisdiction of PROMETHEUS plan in addition induce DMRG (Dual Mode Route Guidance) with the independent navigation of static state and based on RDSOTMC broadcasting join together to become dynamic distribution route inducible system, the system of expansion replaces the RDSOTMC system with GSM.
But; The present dynamic traffic information inducement system all is to realize economic the driving through providing dynamic information to induce; And the factor that influences the automobile energy consumption also should comprise other several aspects; For example drive vehicle, driver's custom, driver's age/gender etc., this just means the road environment information that not only will consider macroscopic view, also will consider steering vehicle and driver's microcosmic energy consumption.Therefore need comprehensive above factors, need set up a dynamic information inducible system of having taken all factors into consideration macroscopical Traffic Information and microcosmic energy consumption of vehicles.
Summary of the invention
In view of this; The object of the present invention is to provide a kind of system and method that reduces discharging based on dynamic route planning realization automobile energy-saving; Be used to take all factors into consideration macroscopical Traffic Information and microcosmic energy consumption of vehicles and carry out dynamic information and induce, reduce discharging to realize automobile energy-saving.
The invention provides a kind of planning and realize the automobile energy-saving emission reduction method, comprising based on dynamic route:
The collection vehicle positional information is carried out data check and storage, and is issued;
Utilize the road energy consumption model of setting up in advance, obtain the road energy consumption weights in each highway section;
Utilize said positional information to obtain traffic information, and carry out dynamic route planning based on said road energy consumption weights and traffic information.
The present invention also provides a kind of system that reduces discharging based on dynamic route planning realization automobile energy-saving, comprising:
Dynamic traffic information collecting and distribution platform are used for the collection vehicle positional information, carry out data check and storage, and issue;
Road energy consumption model system is used to utilize the road energy consumption model of setting up in advance, and obtains the road energy consumption weights in each highway section;
The dynamic route planning system is used to utilize said positional information to obtain traffic information, and carries out dynamic route planning based on said road energy consumption weights and traffic information accessory terminal.
The present invention is the basis with microcosmic automobile energy consumption model, analyzes pavement behavior key factor (friction factor, the gradient etc.) and the action rule thereof of confirming to influence automobile energy consumption, discharging, obtains more accurately calculating the method for automobile energy consumption.Through the driving mode analysis, automobile energy consumption calculation method is combined with real-time traffic flow data, road driving condition data, forming with the road is the new road energy consumption calculation model of main body.Calculate the energy consumption weights in highway section again through the road energy consumption model, the application of dynamic path planning algorithm can be realized the selection in the minimum path of energy consumption.
Description of drawings
Fig. 1 realizes the system construction drawing that automobile energy-saving reduces discharging for the planning based on dynamic route that the embodiment of the invention provides;
Fig. 2 realizes automobile energy-saving emission reduction method process flow diagram for the planning based on dynamic route that the embodiment of the invention provides;
The method flow diagram of setting up the road energy consumption model that Fig. 3 provides for the embodiment of the invention;
The method flow diagram of the generation road conditions congestion status information that Fig. 4 provides for the embodiment of the invention;
The method flow diagram that obtains traffic information that Fig. 5 provides for the embodiment of the invention with energy consumption weights.
Embodiment
For making the object of the invention, technical scheme and advantage clearer, the present invention is made further detailed description below in conjunction with accompanying drawing.
The embodiment of the invention is the basis with microcosmic automobile energy consumption model, analyzes pavement behavior key factor (friction factor, the gradient etc.) and the action rule thereof of confirming to influence automobile energy consumption, discharging, obtains more accurately calculating the method for automobile energy consumption.Through the driving mode analysis, automobile energy consumption calculation method is combined with real-time traffic flow data, road driving condition data, forming with the road is the new road energy consumption calculation model of main body.Calculate the energy consumption weights in highway section again through the road energy consumption model, the application of dynamic path planning algorithm can be realized the selection in the minimum path of energy consumption.
The planning based on dynamic route that the embodiment of the invention provides realizes that the system of automobile energy-saving reduction of discharging is as shown in Figure 1, comprising:
Dynamic traffic information collecting and distribution platform 12 are used for the collection vehicle positional information, carry out data check and storage, and issue.
Road energy consumption model system 13 is used to utilize said positional information to set up the road energy consumption model, and obtains the road energy consumption weights in each highway section.
Dynamic route planning system 14 is used to obtain dynamic road condition information, and obtains the road energy consumption weights of road conditions through the road energy consumption model, calculates through weights, generates the new traffic information that possesses the road energy consumption model, and issues to the terminal.
Based on above system, it is a kind of based on dynamic route planning realization automobile energy-saving emission reduction method, as shown in Figure 2 that the embodiment of the invention provides, and comprising:
Step 2011, adopt curve fitting, constitutes analysis method to confirm the relation of factor such as road grade, friction factor, environment temperature, coefficient of air resistance and automobile energy consumption, discharging; Contrast the influence degree of different factors to the automobile energy consumption; Confirm key factor, and then confirm road collection content with this.The data that gather to obtain through after the data cleansing, are set up perfect road driving condition database.
A large amount of actual measurement running datas in step 2012, the existing road driving condition database of foundation, use data digging method to the running car pattern--be speed and acceleration profile, carry out cluster analysis, obtain the running car classification.Then the driving mode classification is combined with road attribute, traffic information data, set up road attribute, traffic behavior derivation rule, i.e. the road driving pattern classifier to driving mode.Thereby utilize attributes such as category of roads, road conditions accurately to differentiate the classification of running car pattern, obtain the driving mode of automobile under different road conditions, different road conditions.
Step 2013, to the correlation analysis of traffic behavior to road network energy consumption influence.Present embodiment is at first confirmed the key factor of traffic behavior to the influence of road network energy consumption according to traffic historical data, automobile energy consumption data.According to geographic information data, magnanimity traffic historical data; With being divided into the periods such as morning peak, Ping Feng, evening peak, night between round-the-clock; Simultaneously the city is divided into zones such as manufacturing district, shopping centre, residential block; In conjunction with the complicate statistics method, obtain different periods, the distribution of zones of different vehicle and traffic flow information, and utilize the existing fixed monitoring equipment that it is revised.
Step 2014, carry out choosing of automobile energy consumption model, and use Beijing's automobile energy consumption data, model parameter is revised, accomplish the localization of model.
Because of the vehicle of automobile fuel consumption, exhaust emissions and automobile, use numerous factors such as fuel mass, automobile accumulative total distance travelled, Motor Maintenance situation, temperature, relative humidity, height above sea level, road grade, travel speed, the acceleration that goes relevant; And also can there be interaction relationship between different factors; Therefore need between computational accuracy and computation complexity, make balance, under the prerequisite that guarantees accuracy, simplify oil consumption, exhaust emissions computing method.In the present embodiment; Different pieces such as running car institute energy requirement is divided into the frictional resistance consumed power, overcomes the gravity power demand, the power demand that gathers way, every part power demand is revised according to factors such as different temperature, relative humidity, car categories.To specific vehicle, external environment, the speed of going, acceleration become the deciding factor that influences automobile fuel consumption, exhaust emissions.But only has nonlinear relationship between automotive oil consumption, exhaust emissions amount and speed, acceleration; And it is bigger that this relation is influenced by other factors vary, and the modifying factor accuracy rate of therefore directly using travel speed, accekeration to calculate automobile fuel consumption, exhaust emissions is difficult to guarantee.Automobile specific power, unit weight are whenever gone through the unit length power demand, have been proved with automobile fuel consumption, exhaust emissions value to have best linear relationship, and its computing formula is following:
Wherein, v representes speed, the m/s of unit; A representes acceleration, the m of unit
2/ s; Grade representes road grade.Combining environmental factor, automobile correlative factor, present embodiment adopt following formula to calculate the instantaneous energy consumption of automobile:
Wherein, B
tRepresent basic emission index, K
BaseRepresent basic emission index modifying factor, K
TmpThe expression temperature correction factor, K
HmdExpression relative humidity modifying factor, K
IMExpression maintenance situation modifying factor, K
FuelThe fuel modifying factor, K
VSPThe expression running car factor correction factor.
Step 2015, the road driving condition according to each bar road, running car model, car category three aspect factor situation use revised automobile energy consumption model to calculate running car process energy consumption and tail gas discharge capacity that different road caused.
1, carrying out typical driving mode extracts.Typical case's driving mode extracts and is divided into the three phases completion: the running data pre-service, running data divides into groups, the running data cluster.
At first, running data is carried out pre-service, accomplish the cleaning of data exception value, map match, be each record that goes (GPS point, speed) mark place road ID, classification, length, charge situation attribute.Exceptional value mainly comprises data recording speed value unusual (travel speed of record is excessive), longitude and latitude unusual (the adjacent record of longitude and latitude distance is at a distance of far away excessively).Map match, mainly according to travel direction and data with the road distance, with the road of Data Matching, get rid of GPS drift influence to actual travel.
Secondly, the road according to data are mated divides into groups data.According to road tie point type, when tie point is non-master node, with two adjacent combinations also, guarantee all records that go between corresponding two intersections of one group of data.VSP is divided into 60 intervals, calculates each interval distribution of VSP to every group record.
At last, normalization is carried out in the VSP distribution that running data divides into groups, used X means clustering algorithm then, the VSP distributed data collection after the normalization is carried out cluster, thereby obtain typical driving mode.
2, carry out the driving mode classification.The purpose of driving mode classification is through setting up the driving mode sorter, accurately judging the driving mode of automobile under different road conditions, varying environment, thereby obtain the automobile energy consumption according to the running car mode computation.The driving mode classification mainly comprises two aspect contents: the road attribute data decimation, the driving mode sorter is set up.
Though driver's driving habits is had nothing in common with each other, should have common driving characteristic specific road conditions, specific road environment, the driver of specific region.Therefore need acquire influences the main roads of running car attribute, thereby according to these attributes driving mode is classified.To this type of demand, have four road attributes and chosen by sorter and use: one, road type comprises category of roads and road attribute, like rotary island, ring road, main road etc.; Two, road chain length, reacted automobile this road can go continuously not by the longest distance of traffic lights influence; Three, road toll type has reflected the road maintenance level; Four, road chain hourage, the road conditions of reflection, traffic jam level.
According to four attributes and the running data cluster result of road, present embodiment uses the mode of decision tree and decision table to make up sorter.Be that criterion is selected branch's attribute at first, set up decision tree with the information gain ratio; By information entropy decision tree branches is chosen then, in the end by coverage leaf node is chosen in one deck branch node, obtain optimum subtree; Then the optimum subtree that obtains is converted into rule, add decision table; At last this rule is covered sample deletion, carry out again that decision tree generates, subtree is chosen, three links of transformation rule, all be capped up to all samples.Using decision table to carry out the branch time-like, beginning test from first rule of decision table and treat whether classification samples satisfies, as satisfying, not at the test redundancy rule then with the regular for this reason corresponding classification of this sample classification.
3, the road attribute data inputs pattern classifier that goes is obtained automobile and distributes at the VSP that goes of each road, VSP distribution, car category, fuel type and Current Temperatures, relative humidity substitution automobile energy consumption calculation formula are obtained oil consumption, the exhaust emissions amount of automobile at each bar road driving.Oil consumption and exhaust emissions amount according to each highway section are given corresponding road energy consumption weights for this highway section.
After step 203, car transfer center are obtained said positional information, data are carried out pretreatment operation, filter out the errors present information that produces because of position excursion.
Data check comprises the verification and the misarrangement of data: raw data packets is carried out the syntax and semantics inspection, and whether the judgment data form is legal, and whether data exceed setting range, whether comprise repeating data, and carries out corresponding misarrangement and handle;
The storage of raw data: correct raw data is stored, for further data mining, analysis and processing provide the data basis.
λi?=?qi
(0?≤?i?≤?c?-?1)
Δik?=?‖sik?-?vik‖
=
In the formula, (xT is that (x is y) to the subpoint in highway section for s yT) to v; Δ is plane 2 dimension Euclidean distances; Q is a weighting coefficient.Clearly, λ is more little, and the similarity in highway section is high more.
Use above map matching technology to be implemented to the coupling in concrete highway section.
The average overall travel speed in step 2043, calculating highway section.The dynamic route planning system calculates the average overall travel speed in this highway section according to many cars in same highway section in certain period through formula:
V=
∑Li/
∑(Li/?Vi)
Wherein V is average overall travel speed (km/h), and Li is the operating range of i car in this highway section, and Vi is the travel speed (km/h) of this vehicle in this highway section, if the unsteady vehicle process in some highway section in certain period then adopts historical data to fill up.
After step 207, terminal receive traffic information,, uses different colours to mark the jam situation (blocking up is redness, slowly be yellow, and unimpeded is green) in variant highway section, and traffic events is shown in the electronic chart in the enterprising walking along the street section coupling of electronic chart.The road power consumption values does not show in map, is used for participating in calculating as weights in the path planning process.
The road energy consumption model is the basis with the automobile energy consumption model, in conjunction with real-time, historical traffic information, calculates and obtains vehicle ' through the required energy consumption of target road.The road energy consumption model relates to pavement of road situation, traffic flow situation and three factors of microcosmic automobile energy consumption model, crosses over road engineering, intelligent transportation and three fields of automobile engineering.
The status information whether the conventional dynamic traffic information system only can provide traffic to block up; Though can reach the effect of energy-saving and emission-reduction on the certain significance by the shunting of road vehicle; But, obtain better effect so be difficult in the energy-saving and emission-reduction aspect owing to lack research and realization to automobile energy consumption factor.
Present embodiment has been realized combining of microcosmic automobile energy consumption and dynamic information system.Microcosmic automobile energy consumption needs accurate speed, acceleration profile data could calculate acquisition energy consumption emissions data more accurately.And the real-time traffic system provides discrete average velocity, can not satisfy the data precision demand of automobile energy consumption.Present embodiment is according to actual drive test data of Floating Car and traffic historical data, through the cluster method for digging, extract obtain the automobile typical case go pattern class and with the mapping relations of road attribute, traffic behavior.Thereby input automobile energy consumption is accomplished energy consumption calculation after converting the average velocity of Traffic flow systems output into the travel speed acceleration profile, has realized the combination of two big systems.
In a word, the above is merely preferred embodiment of the present invention, is not to be used to limit protection scope of the present invention.
Claims (10)
1. realize the automobile energy-saving emission reduction method based on dynamic route planning for one kind, it is characterized in that, comprising:
The collection vehicle positional information is carried out data check and storage, and is issued;
Utilize the road energy consumption model of setting up in advance, obtain the road energy consumption weights in each highway section;
Utilize said positional information to obtain traffic information, and carry out dynamic route planning based on said road energy consumption weights and traffic information.
2. realization automobile energy-saving emission reduction method according to claim 1 is characterized in that, said collection vehicle positional information is carried out data check and storage, and the step of issuing specifically comprises:
Vehicle GPS equipment periodic property ground sends self-position information to car transfer center;
After car transfer center is obtained said positional information, data are carried out pretreatment operation, filter out errors present information;
Car transfer center sends to dynamic traffic information collecting and distribution platform with pretreated positional information, carries out data check and storage by dynamic traffic information collecting and distribution platform, and issues.
3. realization automobile energy-saving emission reduction method according to claim 1 and 2 is characterized in that, the said step of setting up the road energy consumption model specifically comprises:
Positional information to said collection obtains is set up the road driving condition database;
According to the running data in the said road driving condition database; Carry out cluster analysis; Obtain the running car pattern class, and the driving mode classification is combined with road attribute, traffic information data, set up road attribute, traffic behavior road driving pattern classifier to driving mode;
Carry out the correlation analysis of road network energy consumption influence according to traffic behavior;
Carrying out the automobile energy consumption model based on said correlation analysis chooses;
According to said road driving pattern classifier, use said automobile energy consumption model to calculate running car through energy consumption and tail gas discharge capacity that different road caused, give corresponding road energy consumption weights according to the oil consumption and the exhaust emissions amount in each highway section for this highway section.
4. realization automobile energy-saving emission reduction method according to claim 3 is characterized in that, the said step of obtaining the running car pattern class specifically comprises:
Running data is carried out pre-service, accomplish cleaning of data exception value and map match;
Road according to data are mated divides into groups data;
Normalization is carried out in VSP distribution to running data divides into groups, uses X means clustering algorithm then, and the VSP distributed data collection after the normalization is carried out cluster, thereby obtains the driving mode classification.
5. realization automobile energy-saving emission reduction method according to claim 4 is characterized in that, the said step of setting up the road driving pattern classifier specifically comprises:
Choose the road attribute data, said road attribute data comprise road type, road chain length, road toll type and road chain hourage;
According to said road attribute data and running data cluster result, use the mode of decision tree and decision table to make up the road driving pattern classifier.
6. realization automobile energy-saving emission reduction method according to claim 5 is characterized in that, the said running car that calculates specifically comprises through the energy consumption that different road caused and the step of tail gas discharge capacity:
Said road attribute data are imported said road driving pattern classifier obtain automobile, obtain oil consumption, the exhaust emissions amount of automobile at each bar road driving according to VSP distribution, car category, fuel type and Current Temperatures, relative humidity in the running automobile specific power VSP of each road distribution.
7. realization automobile energy-saving emission reduction method according to claim 6 is characterized in that, the said step of obtaining traffic information specifically comprises:
Carry out map match;
Calculate the average overall travel speed in highway section;
According to the average overall travel speed in this highway section, carry out correspondingly with congestion in road grade threshold table, confirm the jam situation in this highway section;
Analyze each highway section congestion status of entire city or specific region; Put out the weights that block up in each highway section in entire city or the specific region in order; The energy consumption weights that combine the road energy consumption model to calculate again; Through the weights Model Calculation, the final real-time road condition information that forms with energy consumption weights;
According to real-time road condition information, and combine historical traffic information, the road conditions in next this highway section of period are predicted, generate road condition predicting information;
Gather current traffic accident information, form traffic event information based on concrete highway section.
8. realization automobile energy-saving emission reduction method according to claim 7 is characterized in that, said step of carrying out dynamic route planning specifically comprises:
Regularly with the traffic information in all highway sections in entire city or the specific region, comprise real-time road condition information, road condition predicting information and traffic event information, the packing of compression back is handed down to each terminal;
After the terminal received traffic information, in the enterprising walking along the street section coupling of electronic chart, the use different colours marked the jam situation in variant highway section, and traffic events is shown in the electronic chart;
When the car owner carried out the destination-address path planning through the terminal, the jam situation of relevant road segments and road energy consumption situation in the different routing that terminal system can combine to be planned were selected optimum path planning scheme.
9. a system that reduces discharging based on dynamic route planning realization automobile energy-saving is characterized in that, comprising:
Dynamic traffic information collecting and distribution platform are used for the collection vehicle positional information, carry out data check and storage, and issue;
Road energy consumption model system is used to utilize the road energy consumption model of setting up in advance, obtains the road energy consumption weights in each highway section;
The dynamic route planning system is used to utilize said positional information to obtain traffic information, and carries out dynamic route planning based on said road energy consumption weights and traffic information accessory terminal.
10. according to claim 9 planning realizes the system that automobile energy-saving reduces discharging based on dynamic route, it is characterized in that said system further comprises:
Car transfer center is used to obtain the positional information that vehicle GPS equipment sends, and data are carried out pretreatment operation, filters out errors present information, and sends to said dynamic traffic information collecting and distribution platform.
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