CN102862573A - Vehicle oil-saving method and system - Google Patents

Abstract

The invention provides a vehicle oil-saving method which comprises inputting measured data and processing measured data to generate a best solution, wherein the measured data comprise vehicle variable quantities which are parameters of a vehicle, and the parameters comprise speed and accelerated speed. The best solution comprises best accelerated speed. The invention further provides a vehicle oil-saving system which comprises a data input unit and a data processing unit. The data input unit is applicable to the measured data or obtaining of the measured data, the measured data comprise the vehicle variable quantities which are parameters of the vehicle, and the parameters comprise the speed and the accelerated speed. The data processing unit is coupled with the data input unit, and the data processing unit is applicable to receiving of the measured data coming from the data input unit and processing of the measured data to generate the best solution. The best solution comprises the best accelerated speed. The vehicle oil-saving method and the vehicle oil-saving system are applicable to manned driving vehicles and automatic driving vehicles, and are favorable for improvement of economic benefits of fuel oil compared with the prior art.

Description

The vehicle oil saving method and system

Technical field

The present invention relates to the energy-saving fuel field, relate in particular to a kind of vehicle oil saving method and system.

Background technology

General-utility car is the main consumer of fuel resource, also is one of arch-criminal of global environmental pollution and destruction.The fuel oil consumption that reduces automobile is most important.The method that is used at present improving the vehicle fuel degree of utilization mainly contains: energy saving technology, the legislation restriction improves traffic environment, advocates appropriate driving model or behavior.

Aspect minimizing fuel oil consumption and exhaust emissions, forming rational driving model by the change driving behavior has very large application prospect.Prior art comprises: the Prototype Support Tools (a prototype fuel-efficiency support tool, Voort et al.2001) that fuel efficient utilizes.This instrument comprises a kind of norm, and the backstage calculates the practice strategy of minimum fuel oil consumption with this.Support facility provides the suggestion that changes drive manner to chaufeur---by present the optimum operating recommendation of transferring the files to chaufeur---reaches the maximization of fuel utilization ratio, can make at most total fuel consumption reduce 16%.

But in the above-mentioned technology, the maximized method that reaches fuel utilization ratio by present the optimum operating recommendation of transferring the files to chaufeur can only be applicable to manual automobile is housed, and is not suitable for automobile and the intelligent car of automatic transmission.

Summary of the invention

Therefore, the technical problem to be solved in the present invention provides and a kind ofly is suitable for automatic gear car and intelligent car and vehicle oil saving method and system that more be conducive to improve the fuel-economy benefit.

In order to solve the problems of the technologies described above, the invention provides a kind of vehicle oil saving method, comprising: the input measurement data; Described take off data comprises vehicle variables, and described vehicle variables is the parameter of vehicle itself, comprises speed and acceleration/accel; Manipulate measurement data is to generate best solution; Described best solution comprises optimum acceleration/accel; Wherein, described optimum acceleration/accel calculates by the fuel oil consumption model; In the accelerator, the fuel oil consumption model is:

G(x)＝F(x ₁，0)×t ₁+F(x ₂，Δ)×t ₂+...+F(x _l，v _l)×t _l+F(0，v _l)×t _cons

In the moderating process, the fuel oil consumption model is:

G(x)＝F(x ₁，v ₀)×t ₁+F(x ₂，v ₀+Δ)×t ₂+...+F(x _l，-Δ)×t _l+F(0，0)×t _idle

Wherein, F represents fuel consumption rate, and t represents the time cycle of specific range, and v represents speed, and G represents fuel consumption, and Δ represents speed difference, v ₀The expression rate of onset, x _iThe expression constant acceleration, t _IdleRepresent standby time, t _ConsRepresent the at the uniform velocity time.

Optionally, described take off data also comprises environmental variance, and described environmental variance is the outside vehicle parameter, comprises following distance; In the accelerator, the mode that processing fuel oil consumption model obtains optimum acceleration/accel is:

$t_{\mathrm{acc}\_\mathrm{total}}=\underset{i=1}{\overset{l}{\mathrm{\Σ}}}{t}_i+t_{\mathrm{cons}}$

G(x)＝F(x ₁，0)×t ₁+F(x ₂，Δ)×t ₂+...+F(x _l，v _l)×t _l+F(0，v _l)×t _cons

$Z\left(x\right)=\underset{i=1}{\overset{l}{\mathrm{\Σ}}}{t}_i+t_{\mathrm{cons}}-t_{\mathrm{acc}\_\mathrm{total}}=0$

H(x，λ)＝G(x)+λ×Z(x)

$\frac{\∂H(x,\mathrm{\λ})}{\∂x_i}=0,\frac{\∂H(x,\mathrm{\λ})}{\∂\mathrm{\λ}}=0$

In the moderating process, the mode that processing fuel oil consumption model obtains optimum acceleration/accel is:

$t_{\mathrm{dec}\_\mathrm{total}}=\underset{i=1}{\overset{l}{\mathrm{\Σ}}}{t}_i+t_{\mathrm{idle}}$

$s_{\mathrm{dec}\_\mathrm{total}}=\underset{i=1}{\overset{l}{\mathrm{\Σ}}}{s}_i$

G(x)＝F(x ₁，v ₀)×t ₁+F(x ₂，v ₀+Δ)×t ₂+...+F(x _l，-Δ)×t _l+F(0，0)×t _idle

$Z\left(x\right)=\underset{i=1}{\overset{l}{\mathrm{\Σ}}}{s}_i-s_{\mathrm{dec}\_\mathrm{total}}=0$

H(x，λ)＝G(x)+λ×Z(x)

$\frac{\∂H(x,\mathrm{\λ})}{\∂x_i}=0,$ $\frac{\∂H(x,\mathrm{\λ})}{\∂\mathrm{\λ}}=0$

Wherein, F represents fuel consumption rate, and t represents the time cycle of specific range, and s represents distance, and v represents speed, and G represents fuel consumption, and Δ represents speed difference, v ₀The expression rate of onset, x _iThe expression constant acceleration, t _{Dec_total}Expression is slowed down and used temporal summation of idle stage, t _IdleRepresent standby time, s _{Dec_total}Expression automobile initial position and the distance that arrives four corners, λ represents the rate of change of best accumulative total fuel consumption values, and l represents acceleration/accel and the variable relevant with Lagrange's multiplier, and H represents following distance, t _{Acc_total}Expression is accelerated and the total time in stage at the uniform velocity, t _ConsRepresent the at the uniform velocity time.

Optionally, described vehicle oil saving method also comprises: show best solution; Described demonstration best solution is finished by the coloud coding human-computer interaction interface, wherein optimum acceleration/accel identifies with a kind of predetermined color, adjacent value is expressed as gradient color, is that chaufeur provides the driving suggestion by the pass that shows current acceleration and optimum acceleration/accel.

Optionally, described vehicle oil saving method also comprises: will show that best solution offers automatic driving vehicle as the parameter of machinery control.

Optionally, generate after the best solution, also comprise: check whether limiting condition all meets optimal solution, if any one in the limiting condition do not meet, recomputates optimal solution; Described limiting condition comprises following distance.

Optionally, generate after the best solution, also comprise: judge whether best solution is correct, if the best solution mal recomputates optimal solution; Describedly judge whether best solution correctly comprises: produce at random some non-optimal solution, and and optimal solution compare, if operation corresponding to optimal case causes more oil consumption, expression best solution mal.

Optionally, after checking limiting condition and judging that best solution is whether correct, also comprise: select whether to adopt best solution according to driving model; For automatic driving vehicle, if h＞h ^*, cannot not be transformed into crowdedly so master mode, if h≤h ^*, be transformed into so the driver safety pattern; Wherein h represents following distance, h ^*The predetermined following distance of expression; Wherein, under the driver safety pattern, do not use best solution; For people's steering vehicle is arranged, if h＞h ^*, cannot not be transformed into crowdedly so master mode, if h≤h ^*, be transformed into so crowded master mode; Wherein, under the crowded master mode, do not use best solution.

Another aspect of the present invention also provides a kind of vehicle oil saving system, comprising: data input cell and data processing unit; Described data input cell is suitable for take off data or obtains take off data; Described take off data comprises vehicle variables, and described vehicle variables is the parameter of vehicle itself, comprises speed and acceleration/accel; Described data processing unit and data input cell couple, and are suitable for receiving the take off data from data input cell, and manipulate measurement data is to generate best solution; Described best solution comprises optimum acceleration/accel; Described optimum acceleration/accel calculates by the fuel oil consumption model; In the accelerator, the fuel oil consumption model is:

G(x)＝F(x ₁，0)×t ₁+F(x ₂，Δ)×t ₂+...+F(x _l，v _l)×t _l+F(0，v _l)×t _cons

In the moderating process, the fuel oil consumption model is:

G(x)＝F(x ₁，v ₀)×t ₁+F(x ₂，v ₀+Δ)×t ₂+...+F(x _l，-Δ)×t _l+F(0，0)×t _idle

Wherein, F represents fuel consumption rate, and t represents the time cycle of specific range, and v represents speed, and G represents fuel consumption, and Δ represents speed difference, v ₀The expression rate of onset, x _iThe expression constant acceleration, t _IdleRepresent standby time, t _ConsRepresent the at the uniform velocity time.

Optionally, described take off data also comprises environmental variance, and described environmental variance is the outside vehicle parameter, comprises following distance; In the accelerator, the mode that processing fuel oil consumption model obtains optimum acceleration/accel is:

$t_{\mathrm{acc}\_\mathrm{total}}=\underset{i=1}{\overset{l}{\mathrm{\Σ}}}{t}_i+t_{\mathrm{cons}}$

G(x)＝F(x ₁，0)×t ₁+F(x ₂，Δ)×t ₂+...+F(x _l，v _l)×t _l+F(0，v _l)×t _cons

$Z\left(x\right)=\underset{i=1}{\overset{l}{\mathrm{\Σ}}}{t}_i+t_{\mathrm{cons}}-t_{\mathrm{acc}\_\mathrm{total}}=0$

H(x，λ)＝G(x)+λ×Z(x)

$\frac{\∂H(x,\mathrm{\λ})}{\∂x_i}=0,$ $\frac{\∂H(x,\mathrm{\λ})}{\∂\mathrm{\λ}}=0$

In the moderating process, the mode that processing fuel oil consumption model obtains optimum acceleration/accel is:

$t_{\mathrm{dec}\_\mathrm{total}}=\underset{i=1}{\overset{l}{\mathrm{\Σ}}}{t}_i+t_{\mathrm{idle}}$

$s_{\mathrm{dec}\_\mathrm{total}}=\underset{i=1}{\overset{l}{\mathrm{\Σ}}}{s}_i$

G(x)＝F(x ₁，v ₀)×t ₁+F(x ₂，v ₀+Δ)×t ₂+...+F(x _l，-Δ)×t _l+F(0，0)×t _idle

$Z\left(x\right)=\underset{i=1}{\overset{l}{\mathrm{\Σ}}}{s}_i-s_{\mathrm{dec}\_\mathrm{total}}=0$

H(x，λ)＝G(x)+λ×Z(x)

$\frac{\∂H(x,\mathrm{\λ})}{\∂x_i}=0,$ $\frac{\∂H(x,\mathrm{\λ})}{\∂\mathrm{\λ}}=0$

Wherein, F represents fuel consumption rate (gallon per hour), and t represents the time cycle of specific range, and s represents distance, and v represents speed, and G represents fuel consumption, and Δ represents speed difference, v ₀The expression rate of onset, x _iThe expression constant acceleration, t _{Dec_total}Expression is slowed down and used temporal summation of idle stage, t _IdleRepresent standby time, s _{Dec_total}Expression automobile initial position and the distance that arrives four corners, λ represents the rate of change of best accumulative total fuel consumption values, and l represents acceleration/accel and the variable relevant with Lagrange's multiplier, and H represents following distance, t _{Acc_total}Expression is accelerated and the total time in stage at the uniform velocity, t _ConsRepresent the at the uniform velocity time.

Optionally, described data input cell comprises built-in, external video tape recorder, global position system and onboard sensor.

Optionally, described vehicle oil saving system also comprises display unit; Described display unit and data processing unit couple, be suitable for showing described best solution by the coloud coding human-computer interaction interface, wherein optimum acceleration/accel identifies with a kind of predetermined color, adjacent value is expressed as gradient color, is that chaufeur provides the driving suggestion by the pass that shows current acceleration and optimum acceleration/accel.

Optionally, described data processing unit is suitable for showing that best solution offers automatic driving vehicle as the parameter of machinery control.

Optionally, described vehicle oil saving system also comprises: redundancy unit; Described redundancy unit couples with data input cell and data processing unit respectively, is suitable for receiving the take off data from data input cell, and from the best solution of data processing unit; Described redundancy unit is suitable for checking whether limiting condition all meets optimal solution, if any one in the limiting condition do not meet, the log-on data processing unit recomputates optimal solution; Described limiting condition comprises following distance.

Optionally, described redundancy unit comprises reliability unit; Described reliability unit is suitable for judging whether best solution is correct, if the best solution mal, the log-on data processing unit recomputates optimal solution; Describedly judge whether best solution correctly comprises: produce at random some non-optimal solution, and and optimal solution compare, if operation corresponding to optimal case causes more oil consumption, expression best solution mal.

Optionally, described vehicle oil saving system also comprises: mode selecting unit; Described mode selecting unit couples with redundancy unit and data input cell respectively, is suitable for receiving the take off data from data input cell, and from the best solution of redundancy unit; Described mode selecting unit is suitable for selecting whether adopt best solution according to driving model: for automatic driving vehicle, if h＞h ^*, cannot not be transformed into crowdedly so master mode, if h≤h ^*, be transformed into so the driver safety pattern; Wherein h represents following distance, h ^*The predetermined following distance of expression; Wherein, under the driver safety pattern, do not use best solution; For people's steering vehicle is arranged, if h＞h ^*, cannot not be transformed into crowdedly so master mode, if h≤h ^*, be transformed into so crowded master mode; Wherein, under the crowded master mode, do not use best solution.

Compared with prior art, the invention has the advantages that:

(1) the fuel oil consumption quantity discharged is responsive especially to the change of speed and acceleration, and suitable pedal operation more is conducive to improve the economic benefit of fuel oil than manually transferring the files, and namely best solution obtained above more is conducive to improve the economic benefit of fuel oil; Experiment shows, acceleration phase can improve efficiency 22～31%, the decelerating phase is improved efficiency 12～26%.

(2) best solution that obtains is suitable for pedal operation, can be applied to manually and the self shifter vehicle, all is suitable for for there being the people to drive with driverless operation;

(3) by the inspection of increase to best solution, and for multiple different driving models application best solutions, guarantee driving safety.

Description of drawings

Below, describe by reference to the accompanying drawings embodiments of the invention in detail, wherein:

Fig. 1 is a kind of vehicle oil saving method flow diagram that provides in the one embodiment of the invention;

Fig. 2 is the coloud coding man-machine interface schematic diagram that provides in the one embodiment of the invention;

Fig. 3 is the another kind of vehicle oil saving method flow diagram that provides in the one embodiment of the invention;

Fig. 4 is another the vehicle oil saving method flow diagram that provides in the one embodiment of the invention;

Fig. 5 is a kind of novel fuel energy saving optimizing system chart that provides in the one embodiment of the invention;

Fig. 6 is the model selection process schematic diagram that provides in the one embodiment of the invention;

Fig. 7-Fig. 8 is that the test figures that provides in the one embodiment of the invention compares schematic diagram.

The specific embodiment

Some terms that use among the present invention are defined as follows:

(1) FEOS (fuel-economy optimization system): based on the vehicle fuel saving system of intelligent algorithm, be intended to help chaufeur to reduce the discharging of fuel oil consumption and vehicle exhaust.

(2) vehicle-mounted human-machine interface (in-vehicle human-machine interface, HMI): vehicle-mounted human-machine interface can offer chaufeur with the pedal operation suggestion of optimum, thereby reaches the maximized purpose of fuel utilization ratio.Man-machine interface is comprised of hardware and software two parts, and hardware comprises input and outdevice, and software interface comprises menu interface and feature operation interface.

(3) redundant system assembly (redundant system components): redundant module is independent of data processing module, whether there is mistake in can checking system or turns round unsuccessfully, and continuous renewal redesigns the Optimum Operation scheme from driving (such as speed, acceleration/accel) and environment (following distance) variable of car inner sensor.

Describe embodiments of the invention in detail below in conjunction with accompanying drawing, these embodiment are giving an example of implementation of the present invention, the invention is not restricted to these specific embodiments.

The contriver finds by research and test: the fuel oil consumption quantity discharged is responsive especially to the change of speed and acceleration/accel, and suitable auto pedal operation is transferred the files than manually and more is conducive to improve the economic benefit of fuel oil.Therefore, calculate optimized pedal operation according to the vehicle fuel consume model, and these suggestions are offered the degree of utilization that chaufeur can actv. improves vehicle fuel by vehicle-mounted human-machine interface.For unpiloted vehicle, the car-mounted computer that this vehicle fuel saving system is housed can calculate optimized pedal operation, and directly controls the pedal activity of automatic driving vehicle by mechanical means.

Algorithm of the present invention is based on (this model is proposed in 1998 by Ahn) that the model inference of a vehicle fuel consume rate draws, and concrete method of mathematical derivation is explained as follows:

(1) at the uniform velocity derivation and the application of model in the process

When chaufeur was freely driven or almost do not had interaction with other vehicles, chaufeur kept at the uniform velocity driving in the most of the time.So, on the basis of Ahn model (1998), when acceleration/accel is 0, fuel consumption rate F (unit: gallon per hour) can direct representation be speed y (unit: function metre per second (m/s)), a wherein, e, f, g are constant:

$F=e^{a+\mathrm{bx}+{\mathrm{<figure-callout\; id="2"\; label="cx"\; filenames="HDA0000074691890000012.png"\; state="\{\{state\}\}">cx</figure-callout>}}^2+{\mathrm{dx}}^3+\mathrm{ey}+{\mathrm{<figure-callout\; id="2"\; label="fy"\; filenames="HDA0000074691890000012.png"\; state="\{\{state\}\}">fy</figure-callout>}}^2+{\mathrm{gy}}^3+\mathrm{hxy}+{\mathrm{<figure-callout\; id="2"\; label="ixy"\; filenames="HDA0000074691890000012.png"\; state="\{\{state\}\}">ixy</figure-callout>}}^2+{\mathrm{jxy}}^3+{\mathrm{kx}}^{2}y+{\mathrm{lx}}^2{\mathrm{<figure-callout\; id="2"\; label="y"\; filenames="HDA0000074691890000012.png"\; state="\{\{state\}\}">y</figure-callout>}}^2+{\mathrm{mx}}^2{y}^3+{\mathrm{nx}}^{3}y+{\mathrm{ox}}^3{\mathrm{<figure-callout\; id="2"\; label="y"\; filenames="HDA0000074691890000012.png"\; state="\{\{state\}\}">y</figure-callout>}}^2+{\mathrm{px}}^3{y}^3}---\left(1\right)$

Wherein parameter a is intercept, b, c, d, e... until p to be constant as follows:

a -0.67944

b 0.135273

c 0.015946

d -0.00119

e 0.029665

f -0.00028

g 1.49E-06

h 0.004808

i -2.1E-05

j 5.54E-08

k 8.33E-05

l 9.37E-07

m -2.5E-08

n -6.1E-05

o 3.04E-07

p -4.5E-09

The chaufeur required time t of a segment distance s (unit: rice) (unit: second) that travels can be expressed as:

$t=\frac{s}{y}---\left(2\right)$

According to formula (1), the fuel consumption G of accumulative total in a period of time t (unit: gallon) be expressed as:

$G(y,t)=\frac{1}{3600}{\&Integral;}_0^{t}F\left(y\right)\&times;\mathrm{dt}---\left(3\right)$

The object of the invention is to make the fuel consumption of accumulative total to minimize, to reduce gasoline consumption and gas discharging.Therefore, if there is extreme value in G, the corresponding speed y of extreme value can pass through formula (4) acquisition so.

$\frac{\&PartialD;G}{\&PartialD;y}=0---\left(4\right)$

(2) derivation of model and application in the moderating process

In the decelerating phase, the speed of assumed vehicle is from initial v ₀(unit: metre per second (m/s)) become 0.Derive for convenient, we are divided into l interval (l=-v that equates with this moderating process ₀/ Δ), be spaced apart Δ (the Δ here is an infinitesimal negative, sees formula 5).

v ₀，v ₀+Δ，v ₀+2Δ，...，-Δ，0 (5)

Suppose that acceleration/accel keeps constant in each interval, then in i interval, equal speed difference (being the interval) Δ the deceleration time of chaufeur divided by the constant acceleration x in i the interval _i(unit: metre per second (m/s) ²):

$t_i=\frac{\mathrm{\&Delta;}}{x_i}---\left(6\right)$

In each interval, what chaufeur travelled is expressed as apart from s:

$s_i=\frac{{({\mathrm{<figure-callout\; id="0"\; label="v"\; filenames="HDA0000074691890000012.png,HDA0000074691890000041.png"\; state="\{\{state\}\}">v</figure-callout>}}_0+\mathrm{i\&Delta;})}^2-{[{\mathrm{<figure-callout\; id="0"\; label="v"\; filenames="HDA0000074691890000012.png,HDA0000074691890000041.png"\; state="\{\{state\}\}">v</figure-callout>}}_0+(i-1)\mathrm{\&Delta;}]}^2}{2x_i}---\left(7\right)$

Automobile is slowing down and the used total time t of loitering phase _{Dec_total}When equaling to slow down at each interval all time t _iSummation add wait time t _Idle(seeing formula 8).Equally, the initial position of automobile and four corners apart from s _{Dec_total}Equal each interval s that automobile crosses _iSummation (seeing formula 9).

$t_{\mathrm{dec}\_\mathrm{total}}=\underset{i=1}{\overset{l}{\mathrm{\&Sigma;}}}{t}_i+t_{\mathrm{idle}}---\left(8\right)$

$s_{\mathrm{dec}\_\mathrm{total}}=\underset{i=1}{\overset{l}{\mathrm{\&Sigma;}}}{s}_i---\left(9\right)$

Therefore, the fuel oil consumption total amount in moderating process (being the fuel oil consumption model) can be expressed as:

G(x)＝F(x ₁，v ₀)×t ₁+F(x ₂，v ₀+Δ)×t ₂+...+F(x _l，-Δ)×t _l+F(0，0)×t _idle(10)

In order to make G (x) minimum, (Lagrange Multipliers Method) carries out this Optimization Progress with method of Lagrange multipliers.LMM is with solving one of main method of optimization problem under the Multiple Constraints, not only can be applied to differentiation function, also can be used for solving the optimal solution problem of other any tactful correlation function, and is discrete or continuous, numeral or non-numeric.The basic concept of LMM is to introduce a new variables that is called Lagrange multiplier λ, and objective function and a plurality of limiting condition are combined.By introducing this new element of Lagrange multiplier, n dimension gradient originally becomes the n+1 dimension.Because the new element in this gradient equals 0, it is a constant that original element is looked Lagrange multiplier.Therefore, the n+1 formula in the n dimension becomes the only optimal solution scheme of determining.Can introduce Lagrange's multiplier according to the number of limiting condition.

In moderating process, the initial position of steering vehicle is appointment to the distance of four corners.According to this limiting condition, introduce the Lagrangian (seeing formula 11) that a Lagrange multiplier (the Lagrange multiplier here represents the rate of change of best accumulative total oil consumption) is come construction based target function.Produce (seeing formula 12) according to (l+1) that produce individual differential equation, can obtain the optimum acceleration/accel in each interval

With optimum Lagrange multiplier λ ^*(seeing formula 13).

$Z\left(x\right)=\underset{i=1}{\overset{l}{\mathrm{\&Sigma;}}}{s}_i-s_{\mathrm{dec}\_\mathrm{total}}=0---\left(11\right)$

H(x，λ)＝G(x)+λ×Z(x) (12)

$\frac{\&PartialD;H(x,\mathrm{\&lambda;})}{\&PartialD;x_i}=0,$ $\frac{\&PartialD;H(x,\mathrm{\&lambda;})}{\&PartialD;\mathrm{\&lambda;}}=0---\left(13\right)$

Wherein, optimal solution is calculated in Z (x)=0 expression.

(3) derivation and the application of model in the acceleration engineering

Suppose the four corners that traffic signal is arranged at, when green light was bright, chaufeur began the v that accelerates and finally remain a constant speed _lThis accelerator is divided into two stages: the speed (acceleration phase) that F/s, chaufeur accelerate to reach speed limit or want to reach; Subordinate phase, chaufeur remain a constant speed until the next four corners (at the uniform velocity stage) that traffic lights is arranged occurs.

At acceleration phase, speed is increased to v from 0 _lUtilize the method for using in the moderating process, this accelerator is divided into l interval v that equates _l(l=v _l/ Δ), be spaced apart Δ (the Δ here is an infinitesimal positive number).Suppose that acceleration/accel remains unchanged in each interval, the total time t that accelerator needs _{Acc_total}When equaling to accelerate at each interval used time t _iSummation add at the uniform velocity time t _Cons(seeing formula 14).

$t_{\mathrm{acc}\_\mathrm{total}}=\underset{i=1}{\overset{l}{\mathrm{\&Sigma;}}}{t}_i+t_{\mathrm{cons}}---\left(14\right)$

Therefore, the accumulative total fuel consumption in accelerator can be expressed as:

G(x)＝F(x ₁，0)×t ₁+F(x ₂，Δ)×t ₂+...+F(x _l，v _l)×t _l+F(0，v _l)×t _cons (15)

Introduce a Lagrange multiplier and set up Lagrangian (seeing formula 16).Can draw optimum acceleration/accel in each interval according to (l+1) the individual objective function that generates

The optimal time that at the uniform velocity travels

With optimum Lagrange multiplier λ ^*(seeing formula 17 and 18).

$Z\left(x\right)=\underset{i=1}{\overset{l}{\mathrm{\&Sigma;}}}{t}_i+t_{\mathrm{cons}}-t_{\mathrm{acc}\_\mathrm{total}}=0---\left(16\right)$

H(x，λ)＝G(x)+λ×Z(x) (17)

$\frac{\&PartialD;H(x,\mathrm{\&lambda;})}{\&PartialD;x_i}=0,$ $\frac{\&PartialD;H(x,\mathrm{\&lambda;})}{\&PartialD;\mathrm{\&lambda;}}=0---\left(18\right)$

Wherein, ask the method for optimal solution not only to comprise above-mentioned Lagrangian Arithmetic, the direct derivation optimal solution; Comprise that also various heuritic approaches (heuristic algorithm) are (such as annealing algorithm (simulated annealing algorithm), genetic algorithm (genetic algorithm), branch-bound algorithm (brunch and bound algorithm) etc.), neural network (neural network), enumerative technique (enumeration/enumerative algorithm), integer programming (integer programming), dynamic programming (dynamic programming), linear programming (linear programming), and non-line linear programming (non-linear programming).

The definition of the parameter of above-mentioned formula is as shown in table 1.

Table 1

Formula	Parameter	Definition
			1	F	Fuel consumption rate (gallon per hour)
2	t	The time cycle of specific range
				s	Distance
	v	Speed
			3	G	Fuel consumption
4	y	Optimal speed
			5	Δ	The speed difference
	v 0	Rate of onset
			6	x i	Constant acceleration
	t i	Deceleration time
			7	iΔ	I interval speed difference
8	t dec_total	Slow down and used temporal summation of idle stage
				t idle	Standby time
	s dec_sotal	Automobile initial position and the distance that arrives four corners
			11	λ	The rate of change of best accumulative total fuel consumption values
	l	Acceleration/accel and the variable relevant with Lagrange's multiplier
			12	H	Following distance
14	t acc_total	Accelerate and the total time in stage at the uniform velocity
				t cons	Time at the uniform velocity

In sum, speed and environmental variance (such as the distance of automobile initial position and signal lamp in the moderating process) by the input automobile, can calculate the accekeration (being pedal operation) at acceleration or decelerating phase optimum, thereby reach the purpose that reduce fuel oil consumes.

Based on above-mentioned thought, in one embodiment of the present of invention, provide a kind of vehicle oil saving method.As shown in Figure 1, method S100 comprises:

S101, the input measurement data;

S102, manipulate measurement data generates best solution;

S103 shows best solution.

Concrete, the input data comprise vehicle variables among the step S101, vehicle variables is the parameter of vehicle itself, considers in the present embodiment that two vehicle variables are as input: speed y and acceleration/accel x.The input data also comprise environmental variance.Environmental variance can comprise current speed limit, with the spacing of preceding vehicle or chaufeur need to be to traffic signal lamp (or other road signals) distance from them when making a response, the duration of traffic lights etc.

Among the step S102, according to above-mentioned formula for accelerating, slowing down, by the take off data of inputting being calculated the acceleration/accel at acceleration, decelerating phase optimum.At acceleration phase, the formula 15 of use calculates optimum acceleration/accel; In the decelerating phase, use formula 10 to calculate optimum acceleration/accel.

According to vehicle variables and environmental variance, onboard system can be distinguished acceleration phase or decelerating phase.Such as, current car speed is 10km/h, the 60km/h of the place ahead speed limit, and system can distinguish that this is an accelerator.Among other embodiment of the present invention, also can according to user's indication, determine acceleration phase or decelerating phase.

According to one embodiment of present invention, in step S103, adopted a kind of human-computer interaction interface of coloud coding in order to show optimum acceleration/accel (being the pedal operation suggestion).As shown in Figure 2, solid line 210 expression current acceleration, the numeral in left side is accekeration.Optimum acceleration/accel represents with green, and adjacent value is expressed as gradient color (color of coloud coding man-machine interface select can customization).For example, if current optimum acceleration/accel is-1 feet per second ², Green Marker is used in 0 to-2 zone 200, and other zone is variable color and corresponding different acceleration/accel intervals step by step.Chaufeur can be drawn close the current acceleration value by control pedal according to this diagram to green area.

According to another embodiment of the invention, among the step S103, except by vehicle-mounted human-machine interface (method of vision) to chaufeur provides best pedal operation, the same purpose of (method of the sense of hearing) realization can also play sound: brief bell sound can point out chaufeur need to carry out the pedal operation adjustment, and the optimized operation (being acceleration/accel) that system generates can play back (such as-2 in the mode of sound,-4 ,-3).After finishing whole operation adjustment, chaufeur also has corresponding auditory tone cues.Chaufeur can select vision, the sense of hearing or vision sense of hearing method together to accept these pedal operation information according to the preference of oneself.

Among the step S103, further, for automatic driving vehicle, the required pedal control information that optimum acceleration/accel is corresponding can be processed and transmit autonomous driving vehicle by mechanical means.Step on the accelerator is acceleration for the driver, and accelerator releasing is deceleration with touching on the brake.Concerning automatic driving vehicle, vehicle-mounted computer can be controlled vehicle (as changing rotating speed etc.) automatically according to acceleration magnitude.

Further, suppose the measurement of car inner sensor and the failure-free input is provided, two potential system mistakes may produce safety problem.At first, S102 may produce wrong or non-optimized solution.When the limiting condition in the optimization scheme is not strictly retrained (for example in the reality distance in two workshops less than the limiting condition in the optimization scheme) in practice, the best solution (being optimum acceleration/accel) of directly using S102 to generate may cause knocking into the back of two cars.Secondly, the impossible entirely accurate of chaufeur ground is according to optimized scheme control pedal.When can not reaching requiring of optimal case, chaufeur may produce safety problem.For example, optimal case requires acceleration/accel to reach-5m/s ²Could stop fully in the red light front, only step on-4m/s but chaufeur touches on the brake ²This means if chaufeur always according to existing optimization scheme control pedal, he can not stop fully in the signal lamp front.

In order to address the above problem, improve Security of the system, in one embodiment of the present of invention, provide a kind of vehicle oil saving method.As shown in Figure 3, method S200 comprises:

S201, the input measurement data;

S202, manipulate measurement data generates best solution;

S203 checks limiting condition, and judges whether best solution is correct; If mal or limiting condition do not satisfy, recomputate optimal solution;

S204 shows best solution.

Be to have increased step S203 with the difference of said method S100.

Step S203 detects the limiting condition C in the optimal solution in real time _i=(C ₁, C ₂..., C _m, i=1,2..., m) whether all restrained.Simultaneously, S203 can produce some non-optimal solution at random, with the G in corresponding fuel consumption G and the optimal solution ^*Compare.At last, the moving velocity of S203 Real-Time Monitoring vehicle.If the rate request gap in chaufeur actual travel speed and the optimization scheme surpasses the threshold values θ of regulation, the perhaps optimum more fuel oil of pedal operation consumption, perhaps any one the limiting condition C in the limiting condition _iDo not have restrainedly, S203 will recomputate optimal solution according to up-to-date automobile, environmental variance, as shown in Equation 19:

As shown in Equation 19:

If limiting condition Ci does not meet, perhaps G＜G ^*Perhaps

(19)

Y-y ^*＞θ will recomputate optimal solution so

C wherein _iThe expression limiting condition, G represents actual fuel consumption, G ^*Fuel consumption in the expression optimal solution, y represents actual speed, y ^*The expression optimal velocity.

Further, under complicated riving condition, chaufeur need to be put vehicle control upper (as keeping a safe distance, change, overtake other vehicles with front vehicles etc.) to attention more, and suggestion free, that energy goes reference model to provide is provided.

In order to address the above problem, improve Security of the system, in one embodiment of the present of invention, provide a kind of vehicle oil saving method.As shown in Figure 4, method S300 comprises:

S301, the input measurement data;

S302, manipulate measurement data generates best solution;

S303 checks limiting condition, and judges whether best solution is correct; If mal or limiting condition do not satisfy, recomputate optimal solution;

S304 selects whether to adopt best solution according to driving model;

S305 shows best solution.

Be to have increased step S304 with the difference of said method S200.

Among the step S304, for dissimilar vehicle (people's steering vehicle and automatic driving vehicle are arranged) and traffic (block up and do not block up), best pedal control program can be selected whether to adopt by system.

For people's steering vehicle is arranged, optimum pedal control program can be applied to non-blocking up (smoothness is travelled) and block up (vehicle is followed) two kinds of traffics.Under the congestion state, following distance is little, affected by surrounding vehicles, and great majority are being carried out with the car task when travelling; Under the congestion state, following distance is not large, not affected by surrounding vehicles, does not need to be in free driving condition with car.

Handoff algorithms between two kinds of situations is by spaces of vehicles h ^*Determine.This distance values (h for example ^*=50m) can comprise the current speed of a motor vehicle, vehicle commander, car weight along with different factors change, the individual difference of weather condition, road conditions and chaufeur (such as the reaction time) etc.When actual pitch h greater than h ^*The time, system automatically switches to the non-master mode of blocking up (seeing formula 20); When h less than h ^*The time, the principle system that is higher than fuel economy according to driver safety can switch under the driver safety pattern, and best pedal control program is temporarily forbidden in order to avoid disturb the driving of chaufeur, affects its safety.

Except spaces of vehicles, the switching of driver safety pattern also can be caused by factors such as driver workload and tired situations.Whether driver workload can use other mobile unit or the speed of a motor vehicle, road conditions to judge when driving from chaufeur; And the driver fatigue situation can be judged from driving time: if chaufeur long-duration driving or using phone, system can switch under the driver safety pattern, and best pedal control program also can temporarily be forbidden.

If h＞h ^*, cannot not be transformed into crowdedly so master mode.

(20)

If h≤h ^*, be transformed into so the driver safety pattern.

For automatic driving vehicle, best pedal control program also can be used under the non-two kinds of traffics of blocking up and block up.The handoff algorithms of two kinds of patterns is equally by spaces of vehicles h ^*Determine: namely system keeps the non-master mode of blocking up until h is less than or equal to h ^*, at this moment switch to the master mode of blocking up (seeing formula 21).

If h＞h ^*, cannot not be transformed into crowdedly so master mode

(21)

If h≤h ^*, be transformed into so crowded master mode

Corresponding with said method, in an alternative embodiment of the invention, provide a kind of vehicle oil saving system, i.e. novel fuel energy saving optimizing system or FEOS.

Novel fuel energy saving optimizing system (FEOS) is intended to help to reduce fuel oil consumption and discharging.This system has realized the dialogue function between people and the car.The car owner can pass through this system, easily holds car status information, cruise setting, and fuel-economizing operating recommendation.The basic structure of this system comprises top 5 factor: automobile variable and relevant onboard sensor; Traffic/environmental variance and vehicle-mounted correlation technique; Data processing module; Redundant system assembly (redundant module); Have the people drive with unpiloted vehicle in the application of Optimized model.

As shown in Figure 5, FEOS comprises data input cell 301, data processing unit 302, redundancy unit 303, mode selecting unit 304, and display unit 305.Input block 301 comprises built-in, external video tape recorder 3011, and global position system 3012 is GPS for example, and onboard sensor 3013.Dotted lines unit marks selectable unit.

Wherein, data input cell 301 couples with data processing unit 302, redundancy unit 303 and mode selecting unit 304 respectively, and the various vehicle variables that data processing unit 301 will gather and environmental variance send to data processing unit 302, redundancy unit 303 and mode selecting unit 304.

In the present embodiment, 302 pairs of inputs that receive of data processing unit: speed (y) and acceleration/accel (x), utilize above-mentioned formula 10 or 15 to calculate optimum acceleration/accel as best solution.Described data processing unit 302 can will show that the parameter of best solution as machinery control offers automatic driving vehicle.

Data processing unit 302 couples with redundancy unit 303, and best solution is sent to redundancy unit 303.Redundancy unit 303 is used for reforming and exists wrong or the failed system that turns round.

Redundancy unit 303 constantly receives from for example driving of car inner sensor of data input cell 301 (such as speed, acceleration/accel) and environment (following distance) variable with from the optimal solution of data processing unit 302.Redundancy unit 303 detects all limiting conditions (other environmental index and vehicle Self-index that following distance, sensor gather) and whether all meets optimal solution; If any one among the limiting condition Ci do not meet, redundancy unit 303 recomputates optimal solution with trigger data processing unit 302.

Further, redundancy unit 303 can also comprise reliability unit (not showing among the figure); Reliability unit checks that in another way whether optimal solution is correct, guarantees driving safety simultaneously.

Reliability unit produces some non-optimal solution at random, with the G in corresponding fuel consumption G and the optimal solution ^*Compare.If the pedal operation that optimal case is corresponding causes more oil consumption, perhaps any one among the above-mentioned limiting condition Ci do not meet, and data processing module all will recomputate optimal solution.

For can not be according to the chaufeur of optimal solution operation, system can not produce safety problem, but can't reach the maximum utilization of fuel oil benefit.To the chaufeur of Indicator Reaction deficiency, reliability unit will compare the actual speed of optimal velocity and sensor record.If actual speed y has surpassed optimal velocity y ^*Add systematic error in moderating process.Data processing module 302 recomputates optimal solution (seeing formula 19) in instantly driving and the basis of environmental variance.If there is not the sufficient time to allow chaufeur come recovery actions, reliability unit also can give a warning.Same, autonomous driving vehicle also might occur because of mechanical breakdown can't be according to the situation of optimal solution operation.If reliability unit spies out the difference between optimal velocity and the actual speed, it will automatic retarding or stops and avoid colliding or making a dash across the red light.Recomputating of continuous several times will cause the system closure operation.Under these circumstances, system does not send suggestion or order, and someone drives or automatic driving vehicle will normally travel.

Redundancy unit 303 couples with mode selecting unit 304, will send to mode selecting unit 304 by the best solution that checks.

Mode selecting unit 304 according to above-mentioned formula 20 and 21 respectively to having people's steering vehicle and automatic driving vehicle to carry out model selection.In this enforcement, all determined by following distance for its handoff algorithms of two types vehicles, process as shown in Figure 6.

Same, except spaces of vehicles, the switching of driver safety pattern also can be caused by factors such as driving task amount and tired situations.For example, whether the driving task amount can use other mobile units to judge in driving from chaufeur simultaneously, and the driver fatigue situation can be judged from driving time; If chaufeur long-duration driving or using car phone, best solution are also forbidden and switch under the driver safety pattern according to the principle that driver safety is higher than fuel economy temporarily.

Mode selecting unit 304, redundancy unit 303 and data processing unit 302 couple with display unit 305 respectively, the optimal solution of output directly can be sent to display unit 305.Display unit 305 in the present embodiment uses is exactly coloud coding man-machine interface as shown in Figure 2.

In other embodiments of the invention, the FEOS system can not comprise redundancy unit 302 and/or mode selecting unit 304.In other embodiments of the invention, display unit may further include music tip unit (among the figure not show), is used for the music tip chaufeur and need to moves adjustment.System FEOS of the present invention also can be integrated in the existing vehicle intelligent system, in this case, can not comprise display unit 305 and/or data input cell 301.

The working process of above-mentioned FEOS is: pass through mechanical pick-up device, global positioning system, install in video recording and the car be used for the other technologies (current speed and acceleration/accel) of measuring vehicle dynamic variable and environmental factor (such as current speed limit, between two vehicles apart from or with the distance of traffic lights).Image data is transferred in the vehicle-mounted computer as input.Data processing module in the computing machine calculates best solution (for example acceleration/accel) according to vehicle and the traffic of input.These best solutions are further tested with actual driving model and are compared.If not according to the preferred plan operation, data processing module will upgrade according to working as vehicle in front and traffic conditions.The information of best pedal operation is to show (Fig. 2) by the man-machine interface that people's steering vehicle is arranged.These suggestions can show the behavior with real-time correction chaufeur online, also can train to be purpose, and the off line service is provided.In addition, required pedal control information can be processed and transmit autonomous driving vehicle by mechanical means.The tradition that two cover handoff algorithms are applied to respectively under the traffic behavior of crowded (with car) and do not crowd (free-flowing) has people's steering vehicle and automatic driving vehicle.

Suggestion and relevant driving strategy that FEOS generates may change along with vehicle and traffic conditions.Take following this simple sight as example: suppose that the surveillant is being initially green light but becomes the crossing of red light after five seconds near one, the target vehicle speed of a motor vehicle is 30 feet per seconds and remains unchanged, vehicle was apart from the crossing 450 feet when chaufeur was seen green light, the red light duration is 30 seconds (seeing Table 2), and chaufeur need to unclamp throttle and the apply the brakes pedal carries out all one's effort braking.Estimated valve (the v of given parameter once ₀=30, s _{Dec_total}=450, t _De-tatal=35, Δ=1), use the optimization computation process that lagrange's method of multipliers carries out minimum accumulative total fuel consumption.Finally, the optimal policy that draws in this case is: at first dub brake pedal and (approximately-1feet/s2), then go into overdrive (5feet/s2) to slow down 10 seconds.Table 2 has been described another one example (example 2) simultaneously, in this case the continuous moderate point of system recommendations chaufeur touch on the brake pedal (3feet/s2) until car brakeing finish.

Two kinds of pedal operation strategies in the table 2-moderating process

In addition, current system can be implanted the intelligence control system of autonomous driving vehicle at an easy rate take the math modeling of fuel consumption as the basis.At last, automotive vehicle is controlled by computer system, and this be so that vehicle can reach accurate action via object computer indication, and the application of current system can help automotive vehicle to reach tradition the chaufeur vehicle higher fuel economy that is beyond one's reach.

In order to contrast the performance of method and system provided by the invention, describe below by observed data.

1, experimental design:

Experimental applications SITSIM driving simulator, this simulator comprise one with the Logitech of force feedback

Steering hardware, Das Gaspedal, brake pedal.It is on 27 inches Liquid Crystal Displays of 1920 * 1200 that driving scene is presented at a resolution.

The new-type FEOS system that uses in the experiment is for the tested information that fuel oil consumption ratio, accumulative total fuel consumption be provided with based on the pedal control suggestion of vehicle maximum fuel economy.The interface display of FEOS system is positioned at 50cm place, tested right side on 19 inches Dell's Liquid Crystal Displays, the distance tested eyes 91cm, the visual angle of touch screen be 13.1 the degree vertical angles, this screen by one be connected to based on

The Dell Computer control of the driving simulator of system.

Eight subjects (wherein M is the age aviation value for M=27.5, SD=3.58, and SD is its standard deviation) between 24 years old to 34 years old participate in this research.All are tested to be divided into two groups at random: four-player (two male two woman) is driven having under the FEOS system condition, and another group does not install the FEOS system additional.Particularly, when having that FEOS group is tested to be driven to one of distance the position at 900 feet at crossing of traffic signal lamp is arranged, the crossing occurs in the visual field, and initial condition is green light.This long green light time variable (seeing Table 3), when signal lamp became red light, the FEOS system detected this variation and produces optimum pedal control operation under this acceleration level.According to the visual suggestion of the FEOS on the HMI, chaufeur can be realized fully braking with the maximum fuel economy before the crossing.After waiting red light, chaufeur accelerates and finally keeps certain speed to travel according to speed limit.In this experiment, the speed restriction of two levels is arranged: 20mph and 40mph.The time of computing accumulative total fuel consumption is one minute (t _{Dec_total}=60), speed interval is made as 1 feet/s (Δ=1).As shown in table 3, have four kinds of deceleration situations and two kinds of acceleration situations (repeating once separately).

The parameter of table 3-vehicle-state and position

2, experimentation:

The test chunk is two track urban highways, experimental design 8 random scatterings the traffic signal lamp crossing arranged, testedly when red light, need to stop at the crossing.

Concentrate the per 100 milliseconds of meetings of driving behavior to simulated device and automatically record once, comprising speed (unit feet per second), acceleration/accel (ft/s2 of unit), used time (second), driving distance (foot), horizontal position (foot).It should be noted that speed and accekeration need to be used for calculating real-time fuel oil consumption ratio.Then, introduce the another one variable---the used time, carry out the calculating of real-time accumulated fuel consumption and be shown to chaufeur.

3, experimental result:

Accumulative total fuel consumption under the different situations can be calculated according to Ahn ' s (1998) formula, so use one-way analysis of variance (ANOVA) relatively two groups of chaufeurs (band FEOS from not with FEOS) in different acceleration and the accumulative total fuel consumption under the deceleration conditions.Further, check the FEOS system whether to cause safety problem by the horizontal position of comparing two groups of chaufeurs.

(1) accumulative total fuel consumption: experiment is found, in the moderating process of following situation, do not consumed less fuel oil with the chaufeur of FEOS system than the chaufeur with the FEOS system, its conditional 2[F (1,6)=14.82, p=.008], condition 3[F (1,6)=17.65, p=.006], and condition 4[F (1,6)=20.63, p=.004].As shown in Figure 7, in the moderating process of condition 2, used 26% fuel oil than not lacking with the chaufeur of FEOS system with the chaufeur of FEOS system, condition 3 times, this value is 24%, and condition 4 times, this value is 12%.The wherein accumulative total fuel consumption comparison of use and the chaufeur that does not use the FEOS system ( ^*Represent two groups of chaufeurs significant difference on α=.05 level.Error line representative ± 1 standard error).

Similarly, the chaufeur ratio in the accelerator of following situation with the FEOS system has not consumed less fuel oil (seeing Fig. 8) with the chaufeur of FEOS system.Used 22% fuel oil than not lacking with the chaufeur of FEOS system with the chaufeur of FEOS system in first accelerator, in second accelerator, this value is 31%.Among Fig. 8, use and do not use the accumulative total fuel consumption of the chaufeur of FEOS system to compare ( ^*Represent two groups of chaufeurs significant difference on α=.05 level.Error line representative ± 1 standard error)

(2) relative road axis standard deviation value: the single factor analysis method also is used in the comparison to the standard deviation value of relative road axis that draws in two groups of chaufeurs, do not observe obvious difference in the experiment, this shows that the application of FEOS system does not increase the driving task amount of chaufeur significantly.By experiment, with the chaufeur of FEOS system in the moderating process of simulation than not saved a large amount of fuel oils with the chaufeur of FEOS system.Saving in minimum a kind of situation has 14%, and maximum has then reached 26%.Consider the use anxiety just more of fuel oil, this saving is appreciable.

The present invention has included more variable and relevant vehicle-mounted technology in, and comprehensive application navigation, motion planning are helped control, fuel oil saving.After the simultaneously original control of transferring the files changed pedal control into, field of application was expanded to manually and the self shifter vehicle by original manual shift vehicle.And, because of its sensivity to the Velocity-acceleration variation, more be conducive to bring into play the maximization of fuel-economy benefit.At last, also distinguish crowded (with car) and not crowded (smoothness is travelled) two kinds of applicable cases, therefore considered fuel oil saving and driving safety.

Although herein by being described in detail with reference to the attached drawings exemplary embodiment of the present invention, but be understandable that, the invention is not restricted to these specific embodiments, and those skilled in the art can not deviate from the scope and spirit of the present invention that defined by claims and make various changes and modification.

Claims (15)

1. a vehicle oil saving method is characterized in that, comprising:

The input measurement data; Described take off data comprises vehicle variables, and described vehicle variables is the parameter of vehicle itself, comprises speed and acceleration/accel;

Manipulate measurement data is to generate best solution; Described best solution comprises optimum acceleration/accel; Wherein, described optimum acceleration/accel calculates by the fuel oil consumption model; In the accelerator, the fuel oil consumption model is:

G(x)＝F(x ₁，0)×t ₁+F(x ₂，Δ)×t ₂+...+F(x _l，v _l)×t _l+F(0，v _l)×t _cons

In the moderating process, the fuel oil consumption model is:

G(x)＝F(x ₁，v ₀)×t ₁+F(x ₂，v ₀+Δ)×t ₂+...+F(x _l，-Δ)×t _l+F(0，0)×t _idle

Wherein, F represents fuel consumption rate, and t represents the time cycle of specific range, and v represents speed, and G represents fuel consumption, and Δ represents speed difference, v ₀The expression rate of onset, x _iThe expression constant acceleration, t _IdleRepresent standby time, t _ConsRepresent the at the uniform velocity time.

2. vehicle oil saving method according to claim 1, it is characterized in that: described take off data also comprises environmental variance, described environmental variance is the outside vehicle parameter, comprises following distance;

In the accelerator, the mode that processing fuel oil consumption model obtains optimum acceleration/accel is:

$t_{\mathrm{acc}\_\mathrm{total}}=\underset{i=1}{\overset{l}{\mathrm{\&Sigma;}}}{t}_i+t_{\mathrm{cons}}$

G(x)＝F(x ₁，0)×t ₁+F(x ₂，Δ)×t ₂+...+F(x _l，v _l)×t _l+F(0，v _l)×t _cons

$Z\left(x\right)=\underset{i=1}{\overset{l}{\mathrm{\&Sigma;}}}{t}_i+t_{\mathrm{cons}}-t_{\mathrm{acc}\_\mathrm{total}}=0$

H(x，λ)＝G(x)+λ×Z(x)

$\frac{\&PartialD;H(x,\mathrm{\&lambda;})}{\&PartialD;x_i}=0,$ $\frac{\&PartialD;H(x,\mathrm{\&lambda;})}{\&PartialD;\mathrm{\&lambda;}}=0$

In the moderating process, the mode that processing fuel oil consumption model obtains optimum acceleration/accel is:

$t_{\mathrm{dec}\_\mathrm{total}}=\underset{i=1}{\overset{l}{\mathrm{\&Sigma;}}}{t}_i+t_{\mathrm{idle}}$

$s_{\mathrm{dec}\_\mathrm{total}}=\underset{i=1}{\overset{l}{\mathrm{\&Sigma;}}}{s}_i$

G(x)＝F(x ₁，v ₀)×t ₁+F(x ₂，v ₀+Δ)×t ₂+...+F(x _l，-Δ)×t _l+F(0，0)×t _idle

$Z\left(x\right)=\underset{i=1}{\overset{l}{\mathrm{\&Sigma;}}}{s}_i-s_{\mathrm{dec}\_\mathrm{total}}=0$

H(x，λ)＝G(x)+λ×Z(x)

$\frac{\&PartialD;H(x,\mathrm{\&lambda;})}{\&PartialD;x_i}=0,$ $\frac{\&PartialD;H(x,\mathrm{\&lambda;})}{\&PartialD;\mathrm{\&lambda;}}=0$

Wherein, F represents fuel consumption rate, and t represents the time cycle of specific range, and s represents distance, and v represents speed, and G represents fuel consumption, and Δ represents speed difference, v ₀The expression rate of onset, x _iThe expression constant acceleration, t _{Dec_total}Expression is slowed down and used temporal summation of idle stage, t _IdleRepresent standby time, s _{Dec_total}Expression automobile initial position and the distance that arrives four corners, λ represents the rate of change of best accumulative total fuel consumption values, and l represents acceleration/accel and the variable relevant with Lagrange's multiplier, and H represents following distance, t _{Acc_total}Expression is accelerated and the total time in stage at the uniform velocity, t _ConsRepresent the at the uniform velocity time.

3. vehicle oil saving method according to claim 1 is characterized in that, also comprises:

Show best solution; Described demonstration best solution is finished by the coloud coding human-computer interaction interface, wherein optimum acceleration/accel identifies with a kind of predetermined color, adjacent value is expressed as gradient color, is that chaufeur provides the driving suggestion by the pass that shows current acceleration and optimum acceleration/accel.

4. vehicle oil saving method according to claim 1 is characterized in that, also comprises:

To show that the parameter of best solution as machinery control offers automatic driving vehicle.

5. vehicle oil saving method according to claim 1 is characterized in that, generates after the best solution, also comprises:

Check whether limiting condition all meets optimal solution, if any one in the limiting condition do not meet, recomputates optimal solution;

Described limiting condition comprises following distance.

6. vehicle oil saving method according to claim 5 is characterized in that, generates after the best solution, also comprises:

Judge whether best solution is correct, if the best solution mal recomputates optimal solution;

Describedly judge whether best solution correctly comprises: produce at random some non-optimal solution, and and optimal solution compare, if operation corresponding to optimal case causes more oil consumption, expression best solution mal.

7. vehicle oil saving method according to claim 6 is characterized in that, after checking limiting condition and judging that best solution is whether correct, also comprises:

Select whether to adopt best solution according to driving model;

For automatic driving vehicle, if h＞h ^*, cannot not be transformed into crowdedly so master mode, if h≤h ^*, be transformed into so the driver safety pattern; Wherein h represents following distance, h ^*The predetermined following distance of expression; Wherein, under the driver safety pattern, do not use best solution;

For people's steering vehicle is arranged, if h＞h ^*, cannot not be transformed into crowdedly so master mode, if h≤h ^*, be transformed into so crowded master mode; Wherein, under the crowded master mode, do not use best solution.

8. a vehicle oil saving system is characterized in that, comprising: data input cell and data processing unit;

Described data input cell is suitable for take off data or obtains take off data; Described take off data comprises vehicle variables, and described vehicle variables is the parameter of vehicle itself, comprises speed and acceleration/accel; Described take off data also comprises environmental variance, and described environmental variance is the outside vehicle parameter, comprises following distance;

Described data processing unit and data input cell couple, and are suitable for receiving the take off data from data input cell, and manipulate measurement data is to generate best solution;

Described best solution comprises optimum acceleration/accel; Described optimum acceleration/accel calculates by the fuel oil consumption model; In the accelerator, the fuel oil consumption model is:

G(x)＝F(x ₁，0)×t ₁+F(x ₂，Δ)×t ₂+...+F(x _l，v _l)×t _l+F(0，v _l)×t _cons

In the moderating process, the fuel oil consumption model is:

G(x)＝F(x ₁，v ₀)×t ₁+F(x ₂，v ₀+Δ)×t ₂+...+F(x _l，-Δ)×t _l+F(0，0)×t _idle

Wherein, F represents fuel consumption rate, and t represents the time cycle of specific range, and v represents speed, and G represents fuel consumption, and Δ represents speed difference, v ₀The expression rate of onset, x _iThe expression constant acceleration, t _IdleRepresent standby time, t _ConsRepresent the at the uniform velocity time.

9. vehicle oil saving according to claim 8 system is characterized in that, described take off data also comprises environmental variance, and described environmental variance is the outside vehicle parameter, comprises following distance;

In the accelerator, the mode that processing fuel oil consumption model obtains optimum acceleration/accel is:

$t_{\mathrm{acc}\_\mathrm{total}}=\underset{i=1}{\overset{l}{\mathrm{\&Sigma;}}}{t}_i+t_{\mathrm{cons}}$

G(x)＝F(x ₁，0)×t ₁+F(x ₂，Δ)×t ₂+...+F(x _l，v _l)×t _l+F(0，v _l)×t _cons

$Z\left(x\right)=\underset{i=1}{\overset{l}{\mathrm{\&Sigma;}}}{t}_i+t_{\mathrm{cons}}-t_{\mathrm{acc}\_\mathrm{total}}=0$

H(x，λ)＝G(x)+λ×Z(x)

$\frac{\&PartialD;H(x,\mathrm{\&lambda;})}{\&PartialD;x_i}=0,$ $\frac{\&PartialD;H(x,\mathrm{\&lambda;})}{\&PartialD;\mathrm{\&lambda;}}=0$

In the moderating process, the mode that processing fuel oil consumption model obtains optimum acceleration/accel is:

$t_{\mathrm{dec}\_\mathrm{total}}=\underset{i=1}{\overset{l}{\mathrm{\&Sigma;}}}{t}_i+t_{\mathrm{idle}}$

$s_{\mathrm{dec}\_\mathrm{total}}=\underset{i=1}{\overset{l}{\mathrm{\&Sigma;}}}{s}_i$

G(x)＝F(x ₁，v ₀)×t ₁+F(x ₂，v ₀+Δ)×t ₂+...+F(x _l，-Δ)×t _l+F(0，0)×t _idle

$Z\left(x\right)=\underset{i=1}{\overset{l}{\mathrm{\&Sigma;}}}{s}_i-s_{\mathrm{dec}\_\mathrm{total}}=0$

H(x，λ)＝G(x)+λ×Z(x)

$\frac{\&PartialD;H(x,\mathrm{\&lambda;})}{\&PartialD;x_i}=0,$ $\frac{\&PartialD;H(x,\mathrm{\&lambda;})}{\&PartialD;\mathrm{\&lambda;}}=0$

Wherein, F represents fuel consumption rate, and t represents the time cycle of specific range, and s represents distance, and v represents speed, and G represents fuel consumption, and Δ represents speed difference, v ₀The expression rate of onset, x _iThe expression constant acceleration, t _{Dec_total}Expression is slowed down and used temporal summation of idle stage, t _IdleRepresent standby time, s _{Dec_total}Expression automobile initial position and the distance that arrives four corners, λ represents the rate of change of best accumulative total fuel consumption values, and l represents acceleration/accel and the variable relevant with Lagrange's multiplier, and H represents following distance, t _{Acc_total}Expression is accelerated and the total time in stage at the uniform velocity, t _ConsRepresent the at the uniform velocity time.

10. vehicle oil saving according to claim 8 system is characterized in that, described data input cell comprises built-in, external video tape recorder, global position system and onboard sensor.

11. vehicle oil saving according to claim 8 system is characterized in that, also comprises display unit;

Described display unit and data processing unit couple, be suitable for showing described best solution by the coloud coding human-computer interaction interface, wherein optimum acceleration/accel identifies with a kind of predetermined color, adjacent value is expressed as gradient color, is that chaufeur provides the driving suggestion by the pass that shows current acceleration and optimum acceleration/accel.

12. vehicle oil saving according to claim 8 system is characterized in that, described data processing unit is suitable for showing that best solution offers automatic driving vehicle as the parameter of machinery control.

13. vehicle oil saving according to claim 8 system is characterized in that, also comprises: redundancy unit;

Described redundancy unit couples with data input cell and data processing unit respectively, is suitable for receiving the take off data from data input cell, and from the best solution of data processing unit;

Described redundancy unit is suitable for checking whether limiting condition all meets optimal solution, if any one in the limiting condition do not meet, the log-on data processing unit recomputates optimal solution;

Described limiting condition comprises following distance.

14. vehicle oil saving according to claim 13 system is characterized in that described redundancy unit comprises reliability unit;

Described reliability unit is suitable for judging whether best solution is correct, if the best solution mal, the log-on data processing unit recomputates optimal solution;

Describedly judge whether best solution correctly comprises: produce at random some non-optimal solution, and and optimal solution compare, if operation corresponding to optimal case causes more oil consumption, expression best solution mal.

15. vehicle oil saving according to claim 14 system is characterized in that, also comprises: mode selecting unit;

Described mode selecting unit couples with redundancy unit and data input cell respectively, is suitable for receiving the take off data from data input cell, and from the best solution of redundancy unit;

Described mode selecting unit is suitable for selecting whether to adopt best solution according to driving model:

For automatic driving vehicle, if h＞h ^*, cannot not be transformed into crowdedly so master mode, if h≤h ^*, be transformed into so the driver safety pattern; Wherein h represents following distance, h ^*The predetermined following distance of expression; Wherein, under the driver safety pattern, do not use best solution;

For people's steering vehicle is arranged, if h＞h ^*, cannot not be transformed into crowdedly so master mode, if h≤h ^*, be transformed into so crowded master mode; Wherein, under the crowded master mode, do not use best solution.

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