CN102862573B - 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

Vehicle oil saving method and system

Technical field

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

Background technology

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

In minimizing fuel oil consumption and exhaust emissions, forming rational driving model by change driving behavior has very large application prospect.Prior art comprises: the Prototype Support Tools (aprototype fuel-efficiency support tool, Voort et al.2001) that fuel efficient utilizes.This tool bag is containing a kind of norm, and backstage calculates the practice strategy of minimum fuel oil consumption with this.Support facility provides the suggestion changing drive manner---by presenting optimum gear shifting operation suggestion to chaufeur---to be reached the maximization of fuel utilization ratio to chaufeur, total fuel consumption can be made at most to reduce 16%.

But in above-mentioned technology, the maximized method reaching fuel utilization ratio by presenting optimum gear shifting operation suggestion 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 be to provide a kind of be suitable for automatic gear car and intelligent car and be more conducive to improving the vehicle oil saving method and system of 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: 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, to generate best solution; Described best solution comprises optimum acceleration/accel; Wherein, described optimum acceleration/accel is calculated by fuel oil consumption model; In accelerator, 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 moderating process, 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 ₀represent rate of onset, x _irepresent 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 outside vehicle parameter, comprises following distance; In accelerator, the mode that process 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 moderating process, the mode that process 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 ₀represent rate of onset, x _irepresent constant acceleration, t _{dec_total}the temporal summation that expression is slowed down and the idle stage is used, t _idlerepresent standby time, s _{dec_total}represent automobile initial position and the distance to four corners, λ represents the rate of change of best accumulative fuel consumption values, and l represents acceleration/accel and the variable relevant to Lagrange's multiplier, and H represents following distance, t _{acc_total}represent the total time of acceleration and constant velocity stage, t _consrepresent the at the uniform velocity time.

Optionally, described vehicle oil saving method also comprises: display best solution; Described display best solution is completed by coloud coding human-computer interaction interface, wherein a kind of predetermined color of optimum acceleration/accel identifies, adjacent value is expressed as gradient color, is that chaufeur provides to drive and advises by display current acceleration and the pass of optimum acceleration/accel.

Optionally, described vehicle oil saving method also comprises: be supplied to automatic driving vehicle using showing the parameter of best solution as Mechanical course.

Optionally, after generating best solution, also comprise: check whether limiting condition all meets optimal solution, if any one in limiting condition does not meet, recalculates optimal solution; Described limiting condition comprises following distance.

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

Optionally, check limiting condition and after judging that best solution is whether correct, also comprise: select whether adopt best solution according to driving model; For automatic driving vehicle, if h > is h ^*, be so transformed into not crowded master mode, if h≤h ^*, be so transformed into driver safety pattern; Wherein h represents following distance, h ^*represent predetermined following distance; Wherein, under driver safety pattern, best solution is not used; For there being people's steering vehicle, if h > is h ^*, be so transformed into not crowded master mode, if h≤h ^*, be so transformed into crowded master mode; Wherein, under crowded master mode, best solution is not used.

Another aspect of the present invention additionally 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 is calculated by fuel oil consumption model; In accelerator, 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 moderating process, 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 ₀represent rate of onset, x _irepresent 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 outside vehicle parameter, comprises following distance; In accelerator, the mode that process 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 moderating process, the mode that process 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 is 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 ₀represent rate of onset, x _irepresent constant acceleration, t _{dec_total}the temporal summation that expression is slowed down and the idle stage is used, t _idlerepresent standby time, s _{dec_total}represent automobile initial position and the distance to four corners, λ represents the rate of change of best accumulative fuel consumption values, and l represents acceleration/accel and the variable relevant to Lagrange's multiplier, and H represents following distance, t _{acc_total}represent the total time of acceleration and constant velocity stage, 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 coloud coding human-computer interaction interface, wherein a kind of predetermined color of optimum acceleration/accel identifies, adjacent value is expressed as gradient color, is that chaufeur provides to drive and advises by display current acceleration and the pass of optimum acceleration/accel.

Optionally, described data processing unit is suitable for being supplied to automatic driving vehicle using showing the parameter of best solution as Mechanical course.

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 from the take off data of 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 limiting condition does not meet, starts data processing unit and recalculates optimal solution; Described limiting condition comprises following distance.

Optionally, described redundancy unit comprises reliability unit; Described reliability unit is suitable for judging that whether best solution is correct, if best solution mal, starts data processing unit and recalculates optimal solution; Describedly judge whether best solution correctly comprises: produce some non-optimal solutions at random, and and optimal solution compare, if operation corresponding to optimal case causes more oil consumption, represent 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 from the take off data of 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 > is h ^*, be so transformed into not crowded master mode, if h≤h ^*, be so transformed into driver safety pattern; Wherein h represents following distance, h ^*represent predetermined following distance; Wherein, under driver safety pattern, best solution is not used; For there being people's steering vehicle, if h > is h ^*, be so transformed into not crowded master mode, if h≤h ^*, be so transformed into crowded master mode; Wherein, under crowded master mode, best solution is not used.

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

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

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

(3) by increasing the inspection to best solution, and for multiple different driving model application best solution, driving safety is ensured.

Accompanying drawing explanation

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

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

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

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

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

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

Fig. 6 is the mode selection processes schematic diagram provided in one embodiment of the invention;

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

Detailed description of the invention

Some terms used in the present invention are defined as follows:

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

(2) vehicle-mounted human-machine interface (in-vehicle human-machine interface, HMI): the suggestion of the pedal operation of optimum can be supplied to chaufeur by vehicle-mounted human-machine interface, thus reaches the maximized object of fuel utilization ratio.Man-machine interface is made up of hardware and software two parts, and hardware comprises constrained input equipment, 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, can whether there is mistake or operate unsuccessfully in checking system, and the driving (as speed, acceleration/accel) constantly updated from car inner sensor and environment (following distance) variable, redesign Optimum Operation scheme.

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

Contriver is by studying and testing discovery: the change of fuel oil consumption quantity discharged to speed and acceleration/accel is responsive especially, and suitable auto pedal operation is more conducive to improving the economic benefit of fuel oil than manually transferring the files.Therefore, calculate optimized pedal operation according to vehicle fuel consume model, and these suggestions are supplied to chaufeur by vehicle-mounted human-machine interface can improve the degree of utilization of vehicle fuel by actv..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 (this model is proposed in 1998 by Ahn) that draw based on the model inference of a vehicle fuel consume rate, and concrete method of mathematical derivation is explained as follows:

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

When freely driving when chaufeur or almost do not have interaction with other vehicles, chaufeur remains and at the uniform velocity drives 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 is per hour) can direct representation be the function of speed y (unit: metre per second (m/s)), and wherein a, e, f, g are constant:

$F=e^{a+\mathrm{bx}+{\mathrm{cx}}^2+{\mathrm{dx}}^3+\mathrm{ey}+{\mathrm{fy}}^2+{\mathrm{gy}}^3+\mathrm{hxy}+{\mathrm{ixy}}^2+{\mathrm{jxy}}^3+{\mathrm{kx}}^{2}y+{\mathrm{lx}}^2{y}^2+{\mathrm{mx}}^2{y}^3+{\mathrm{nx}}^{3}y+{\mathrm{ox}}^3{y}^2+{\mathrm{px}}^3{y}^3}---\left(1\right)$

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 time t (unit: second) that chaufeur travels needed for a segment distance s (unit: rice) can be expressed as:

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

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

$G(y,t)=\frac{1}{3600}{\∫}_0^{t}F\left(y\right)\×\mathrm{dt}---\left(3\right)$

The object of the invention is that the fuel consumption making to add up minimizes, to reduce gasoline consumption and gas discharging.Therefore, if G exists extreme value, the speed y so corresponding to extreme value obtains by formula (4).

$\frac{\∂G}{\∂y}=0---\left(4\right)$

(2) derivation of model and application in moderating process

In the decelerating phase, the speed of assumed vehicle is from initial v ₀(unit: metre per second (m/s)) becomes 0.Conveniently derive, this moderating process is divided into l equal interval (l=-v by us ₀/ Δ), be spaced apart Δ (Δ is here an infinitesimal negative, sees formula 5).

v ₀，v ₀+Δ，v ₀+2Δ，...，-Δ，0 (5)

Assuming that acceleration/accel keeps constant in each interval, then in i-th interval, the deceleration time of chaufeur equals speed difference (i.e. interval) Δ divided by the constant acceleration x in i-th interval _i(unit: metre per second (m/s) ²):

$t_i=\frac{\mathrm{\Δ}}{x_i}---\left(6\right)$

In each interval, the distance s that chaufeur travels is expressed as:

$s_i=\frac{{(v_0+\mathrm{i\Δ})}^2-{[v_0+(i-1)\mathrm{\Δ}]}^2}{2x_i}---\left(7\right)$

Automobile is at the total time t slowed down and loitering phase is used _{dec_total}at each interval all time t when equaling to slow down _isummation add wait time t _idle(see formula 8).Equally, the initial position of automobile and the distance s of four corners _{dec_total}equal each interval s of vehicle travels _isummation (see formula 9).

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

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

Therefore, the fuel oil consumption total amount (i.e. fuel oil consumption model) in moderating process 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, perform this Optimization Progress with method of Lagrange multipliers (Lagrange Multipliers Method).LMM is used to one of main method solving optimization problem under Multiple Constraints, not only can be applied to differentiation function, also can be used for the optimal solution problem solving other any one strategy correlation function, discrete or continuous print, numeral or non-numeric.The basic concept of LMM to introduce the new variables that is called Lagrange multiplier λ, objective function and multiple limiting condition combined.By introducing this new element of Lagrange multiplier, n originally ties up gradient and becomes n+1 dimension.Because the new element in gradient for this reason equals 0, original element is a constant depending on Lagrange multiplier.Therefore, the n+1 formula in n dimension becomes only optimal solution and to determine scheme.Lagrange's multiplier can be introduced according to the number of limiting condition.

In moderating process, the initial position of steering vehicle is specified to the distance of four corners.According to this limiting condition, introduce the Lagrangian (see formula 11) that a Lagrange multiplier (Lagrange multiplier here represents the rate of change of best accumulative oil consumption) carrys out construction based target function.Produce (see formula 12) according to (l+1) that produce individual differential equation, the optimum acceleration/accel in each interval can be obtained with optimum Lagrange multiplier λ ^*(see formula 13).

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

H(x，λ)＝G(x)+λ×Z(x) (12)

$\frac{\∂H(x,\mathrm{\λ})}{\∂x_i}=0,$ $\frac{\∂H(x,\mathrm{\λ})}{\∂\mathrm{\λ}}=0---\left(13\right)$

Wherein, Z (x)=0 represents calculating optimal solution.

(3) derivation and the application of model in engineering is accelerated

Assuming that there is the four corners of traffic signal at one, when green light, chaufeur starts to accelerate and the v that finally remains a constant speed _l.This accelerator is divided into two stages: first stage, and chaufeur accelerates to reach speed limit or wants the speed (acceleration phase) that reaches; Subordinate phase, chaufeur remains a constant speed until there is the next four corners (constant velocity stage) having traffic lights.

At acceleration phase, speed is increased to v from 0 _l.Utilize the method used in moderating process, this accelerator is divided into the individual equal interval v of l _l(l=v _l/ Δ), be spaced apart Δ (Δ is here an infinitesimal positive number).Assuming that acceleration/accel remains unchanged in each interval, the total time t that accelerator needs _{acc_total}at each interval time t used when equaling to accelerate _isummation add at the uniform velocity time t _cons(see formula 14).

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

Therefore, the accumulative 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 (see formula 16).(l+1) individual objective function according to generating can draw the optimum acceleration/accel in each interval the optimal time at the uniform velocity travelled with optimum Lagrange multiplier λ ^*(see formula 17 and 18).

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

H(x，λ)＝G(x)+λ×Z(x) (17)

$\frac{\∂H(x,\mathrm{\λ})}{\∂x_i}=0,$ $\frac{\∂H(x,\mathrm{\λ})}{\∂\mathrm{\λ}}=0---\left(18\right)$

Wherein, the method for optimal solution is asked not only to comprise above-mentioned Lagrangian Arithmetic, direct derivation optimal solution, also comprise various heuritic approach (heuristic algorithm) (such as annealing algorithm (simulatedannealing algorithm), genetic algorithm (genetic algorithm), branch-bound algorithm (brunchand 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-thread 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 is per hour)
2	t	The time cycle of specific range
				s	Distance
	v	Speed
			3	G	Fuel consumption
4	y	Optimal speed
			5	Δ	Speed difference
	v 0	Rate of onset
			6	x i	Constant acceleration
	t i	Deceleration time
			7	iΔ	I-th interval speed difference
8	t dec_total	Slow down and temporal summation used of idle stage
				t idle	Standby time
	s dec_sotal	Automobile initial position and the distance to four corners
			11	λ	The rate of change of best accumulative fuel consumption values
	l	Acceleration/accel and the variable relevant to Lagrange's multiplier
			12	H	Following distance
14	t acc_total	The total time of acceleration and constant velocity stage
				t cons	The at the uniform velocity time

In sum, by inputting speed and the environmental variance (distance as automobile initial position and signal lamp in moderating process) of automobile, the accekeration (i.e. pedal operation) in acceleration or decelerating phase optimum can be calculated, thus reach the object reducing fuel oil consumption.

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, input measurement data;

S102, manipulate measurement data, generates best solution;

S103, display best solution.

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

In step S102, according to above-mentioned for the formula accelerated, slow down, by calculating the acceleration/accel at acceleration, decelerating phase optimum to the take off data of input.At acceleration phase, the formula 15 of use calculates optimum acceleration/accel; In the decelerating phase, formula 10 is used to calculate optimum acceleration/accel.

According to vehicle variables and environmental variance, onboard system can distinguish acceleration phase or decelerating phase.Such as, Current vehicle speed is 10km/h, the 60km/h of front speed limit, and system can distinguish that this is an accelerator.In other embodiments of the present invention, also according to the instruction of user, acceleration phase or decelerating phase can be determined.

According to one embodiment of present invention, in step s 103, have employed a kind of human-computer interaction interface of coloud coding in order to show optimum acceleration/accel (i.e. pedal operation suggestion).As shown in Figure 2, solid line 210 represents current acceleration, and the numeral in left side is accekeration.Optimum acceleration/accel green represents, adjacent value is expressed as gradient color (color of coloud coding man-machine interface select can customization).Such as, if current optimum acceleration/accel is-1 feet per second ², the region 200 of 0 to-2 uses Green Marker, the variable color and corresponding different acceleration/accel is interval step by step of other region.Current acceleration value can be drawn close to green area by control pedal according to this diagram by chaufeur.

According to another embodiment of the invention, in step S103, except providing best pedal operation by vehicle-mounted human-machine interface (method of vision) to chaufeur, can also play sound (method of the sense of hearing) realize same object: brief bell sound can point out chaufeur to need to carry out pedal operation adjustment, and the optimized operation (i.e. acceleration/accel) that system generates can audibly play back (as-2,-4 ,-3).Also corresponding auditory tone cues is had after chaufeur completes whole operation adjustment.Chaufeur can select vision, the sense of hearing or audiovisual method together to accept these pedal operation information according to the preference of oneself.

In step S103, further, for automatic driving vehicle, required pedal control information corresponding to optimum acceleration/accel can be processed autonomous driving vehicle by mechanical means and transmit.For step on the accelerator driver for accelerating, accelerator releasing and touch on the brake and be deceleration.Concerning automatic driving vehicle, vehicle-mounted computer can control vehicle (as changed rotating speed etc.) automatically according to acceleration magnitude.

Further, suppose that car inner sensor is measured and provides failure-free to input, two potential system mistakes may produce safety problem.First, S102 may produce solution that is wrong or non-optimal.When the limiting condition in optimization scheme is not strictly retrained (in such as reality, the distance in two workshops is less than the limiting condition in optimization scheme) in practice, the best solution (i.e. optimum acceleration/accel) directly using S102 to generate may cause knocking into the back of two cars.Secondly, the impossible entirely accurate ground of chaufeur is according to optimized scheme control pedal.Safety problem may be produced when chaufeur can not reach the requirement of optimal case.Such as, optimal case requires that acceleration/accel reaches-5m/s ²could stop completely before red light ,-the 4m/s that only steps on but chaufeur touches on the brake ².This means that he can not stop completely before signal lamp if chaufeur is always according to existing optimization scheme control pedal.

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

S201, input measurement data;

S202, manipulate measurement data, generates best solution;

S203, checks limiting condition, and judges that whether best solution is correct; If mal or limiting condition do not meet, recalculate optimal solution;

S204, display best solution.

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

Step S203 detects the limiting condition C in optimal solution in real time _i=(C ₁, C ₂..., C _m, i=1,2..., m) whether all restrained.Meanwhile, S203 can produce some non-optimal solutions, by the G in corresponding fuel consumption G and optimal solution at random ^*compare.Finally, the moving velocity of S203 Real-Time Monitoring vehicle.If the rate request gap in chaufeur actual travel speed and optimization scheme exceedes the threshold values θ of regulation, or the more fuel oil of pedal operation consumption of optimum, or any one limiting condition C in limiting condition _ido not have restrained, S203 recalculates optimal solution by 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, or G < G ^*or

(19)

Y-y ^*> θ, so will recalculate optimal solution

Wherein C _irepresent limiting condition, G represents actual fuel consumption, G ^*represent the fuel consumption in optimal solution, y represents actual speed, y ^*represent optimal velocity.

Further, under complicated riving condition, chaufeur needs attention to put (as kept a safe distance with front vehicles, changing, overtake other vehicles) on wagon control more, is difficult to the suggestion that free, energy goes reference model to provide.

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

S301, input measurement data;

S302, manipulate measurement data, generates best solution;

S303, checks limiting condition, and judges that whether best solution is correct; If mal or limiting condition do not meet, recalculate optimal solution;

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

S305, display best solution.

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

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

For there being people's steering vehicle, optimum pedal control program can be applied to non-(smooth traveling) and (vehicle is followed) two kinds of traffics of blocking up of blocking up.Under congestion state, following distance is little, affects by surrounding vehicles, and during traveling, great majority follow car task in execution; Not under congestion state, following distance is large, does not affect by surrounding vehicles, does not need, with car, to be in free driving condition.

Handoff algorithms between two kinds of situations is by spaces of vehicles h ^*determine.This distance values (such as h ^*=50m) can change along with Different factor, comprise the current speed of a motor vehicle, vehicle commander, car weight, the individual difference (as the reaction time) of weather condition, road conditions and chaufeur etc.When actual pitch h is greater than h ^*time, system automatically switches to non-master mode of blocking up (see formula 20); When h is less than h ^*time, under being switched to driver safety pattern according to driver safety higher than the principle system of fuel economy, 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 the factor such as driver workload and tired situation.Whether driver workload can use other mobile unit or the speed of a motor vehicle from chaufeur while driving, road conditions judge; And driver fatigue situation can judge from driving time: if chaufeur long-duration driving or use phone, under system can be switched to driver safety pattern, and best pedal control program also can temporarily be forbidden.

If h > is h ^*, be so transformed into not crowded master mode.

(20)

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

For automatic driving vehicle, best pedal control program also can use under 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 non-master mode of blocking up until h is less than or equal to h ^*, at this moment switch to master mode of blocking up (see formula 21).

If h > is h ^*, be so transformed into not crowded master mode

(21)

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

Corresponding to 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 discharge.This system achieves the dialogue function between people and car.Car owner, by this system, easily holds car status information, and cruise is arranged, 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); The application with Optimized model in unpiloted vehicle is driven there being people.

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, global position system 3012 such as GPS, 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 gathered and environmental variance are sent to data processing unit 302, redundancy unit 303 and mode selecting unit 304 by data processing unit 301.

In the present embodiment, data processing unit 302 is to the input received: speed (y) and acceleration/accel (x), utilizes above-mentioned formula 10 or 15 to calculate optimum acceleration/accel as best solution.Described data processing unit 302 can be supplied to automatic driving vehicle using showing the parameter of best solution as Mechanical course.

Data processing unit 302 and redundancy unit 303 couple, and best solution are sent to redundancy unit 303.Mistake or the failed system that operates is there is in redundancy unit 303 for reforming.

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

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

Reliability unit produces some non-optimal solutions at random, by the G in corresponding fuel consumption G and optimal solution ^*compare.If the pedal operation that optimal case is corresponding causes more oil consumption, or any one in above-mentioned limiting condition Ci does not meet, and data processing module all will recalculate optimal solution.

For the chaufeur that can not operate according to optimal solution, system can not produce safety problem, but cannot reach the maximum utilization of fuel oil benefit.To the chaufeur of Indicator Reaction deficiency, the actual speed of optimal velocity and sensor record will compare by reliability unit.If actual speed y has exceeded optimal velocity y ^*add systematic error in moderating process.Data processing module 302 recalculates optimal solution (see formula 19) on the basis of driving instantly and environmental variance.If do not have the sufficient time to allow chaufeur carry out recovery actions, reliability unit also can give a warning.Same, also likely there is situation about cannot run according to optimal solution because of mechanical breakdown in autonomous driving vehicle.If reliability unit spies out the difference between optimal velocity and actual speed, it will automatic retarding or stop avoid collide or make a dash across the red light.Recalculating of continuous several times will cause system closure to run.Under these circumstances, system does not send suggestion or order, and someone drives or automatic driving vehicle will normally travel.

Redundancy unit 303 and mode selecting unit 304 couple, and the best solution by checking is sent to mode selecting unit 304.

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, its handoff algorithms of vehicle for two types is all determined by following distance, and 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.Such as, whether driving task amount can use other mobile units to judge in driving from chaufeur simultaneously, and driver fatigue situation can judge from driving time; If chaufeur long-duration driving or at use car phone, best solution is also temporarily disabled and under being switched to driver safety pattern according to driver safety higher than the principle of fuel economy.

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.Coloud coding man-machine interface as shown in Figure 2 that what display unit 305 in the present embodiment used is exactly.

In other embodiments of the invention, 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 (in figure not display), needs to carry out action adjustment for music tip chaufeur.System FEOS of the present invention also can be integrated in 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, in video recording and car, installation is used for the other technologies (current speed and acceleration/accel) of measuring vehicle dynamic variable and environmental factor (as current speed limit, the spacing of two vehicles or the distance with traffic lights).Image data is transferred in vehicle-mounted computer as input.Data processing module in computing machine calculates best solution (such as acceleration/accel) according to the vehicle of input and traffic.These best solutions are tested further with actual driving model and compare.If do not run according to preferred plan, data processing module will upgrade according to Current vehicle and traffic conditions.The information of best pedal operation is by there being the man-machine interface of people's steering vehicle to show (Fig. 2).These suggestions can Real time displaying to revise the behavior of chaufeur in real time, for the purpose of also can training, provide off line service.In addition, required pedal control information can be processed autonomous driving vehicle by mechanical means and transmit.The tradition that two cover handoff algorithms are applied to respectively under the traffic behavior of crowded (with car) and not crowded (free-flowing) has people's steering vehicle and automatic driving vehicle.

The suggestion that FEOS generates and relevant driving strategy, may change along with vehicle and traffic conditions.For this simple sight below: suppose that surveillant is being initially green light close to one but is becoming the crossing of red light after five seconds, the target vehicle speed of a motor vehicle is 30 feet per second and remains unchanged, when chaufeur sees green light, vehicle is apart from 450 feet, crossing, red light duration is 30 seconds (see table 2), and chaufeur needs to unclamp throttle and 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), application lagrange's method of multipliers carries out the optimization computation process of minimum accumulative fuel consumption.Finally, show that optimal policy is in this case: first dub brake pedal 10 second (about-1feet/s2), then go into overdrive (-5feet/s2) slows down.Table 2 describes another one example (example 2) simultaneously, and the continuous moderate point of system recommendations chaufeur touches on the brake pedal (-3feet/s2) until car brakeing completes in this case.

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

In addition, current system, based on the math modeling of fuel consumption, can implant the intelligent control system of autonomous driving vehicle easily.Finally, automotive vehicle is controlled by computer system, and this makes vehicle can reach precise movement via the instruction of execution computing machine, and current systematic difference can help automotive vehicle to reach tradition has driver vehicle to be beyond one's reach higher fuel economy.

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

1, experimental design:

Experimental applications SITSIM driving simulator, this simulator comprises the Logitech of band force feedback steering hardware, Das Gaspedal, brake pedal.It is on 27 inch liquid crystal display device of 1920 × 1200 that driving scene is presented at a resolution.

The new-type FEOS system applied in experiment provides the information of fuel oil consumption ratio, accumulative fuel consumption for tested and control suggestion based on the pedal of vehicle maximum fuel economy.The interface display of FEOS system, on 19 inches of Dell's Liquid Crystal Displays, is positioned at 50cm place, tested right side, and apart from tested eyes 91cm, the visual angle of touch screen is the vertical angle of 13.1 degree, this screen by one be connected to based on the Dell Computer of the driving simulator of system controls.

Eight subjects (M=27.5, SD=3.58, wherein M is age aviation value, and SD is its standard deviation) between 24 years old to 34 years old participate in this research.Allly testedly be divided into two groups: four people (two male two female) to drive having under FEOS system condition at random, another group does not install FEOS system additional.Particularly, when have FEOS group tested drive to distance one have a position at 900 feet, the crossing of traffic signal lamp time, crossing occurs in the visual field, and initial condition is green light.This long green light time variable (see table 3), when signal lamp becomes red light, the optimum pedal control operation of FEOS systems axiol-ogy to this change and under producing this acceleration level.According to the visual suggestion of the FEOS on HMI, chaufeur can realize braking completely with maximum fuel economy before crossing.After waiting red light, chaufeur acceleration was also final according to speed limit maintenance certain speed traveling.In this experiment, the speed of two levels is had to limit: 20mph and 40mph.The time that computing adds up fuel consumption is one minute (t _{dec_total}=60), speed interval is set to 1 feet/s (Δ=1).As shown in table 3, have four kinds of deceleration situations and two kinds of acceleration situations (repeating separately once).

The parameter of table 3-vehicle-state and position

2, experimentation:

Test chunk is two track urban highways, experimental design 8 random scatterings have traffic signal lamp crossing, tested needs when red light stop at crossing.

The every 100 milliseconds of meetings of driving behavior are concentrated automatically to be recorded once by simulator, comprising speed (unit feet per second), acceleration/accel (unit ft/s2), time used (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, another one variable is introduced---the time used, carry out the calculating of real-time accumulated fuel consumption and be shown to chaufeur.

3, experimental result:

Accumulative fuel consumption under different situations can calculate according to Ahn ' s (1998) formula, and then uses one-way analysis of variance (ANOVA) to compare the accumulative fuel consumption of two groups of chaufeurs (band FEOS from not with FEOS) under different acceleration and deceleration conditions.Further, the horizontal position by comparing two groups of chaufeurs checks FEOS system whether to cause safety problem.

(1) accumulative fuel consumption: experiment finds, in the moderating process of following situation, the chaufeur of band FEOS system consumes less fuel oil, its conditional 2 [F (1 than the chaufeur not with FEOS system, 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, chaufeur fuel oil of using 26% fewer than the chaufeur not with FEOS system in the moderating process of condition 2 of band FEOS system, condition 3 times, this value is 24%, and condition 4 times, this value is 12%.Wherein use and do not use the accumulative fuel consumption of the chaufeur of FEOS system compare ( ^*represent two groups of chaufeurs significant difference in α=.05 level.Error line representative ± 1 standard error).

Similarly, the chaufeur of chaufeur in the accelerator of following situation than not with FEOS system of FEOS system is with to consume less fuel oil (see Fig. 8).Chaufeur with FEOS system is the fuel oil of using 22% fewer than the chaufeur not with FEOS system in first accelerator, and in second accelerator, this value is 31%.In Fig. 8, use and do not use the accumulative fuel consumption of the chaufeur of FEOS system compare ( ^*represent two groups of chaufeurs significant difference in α=.05 level.Error line representative ± 1 standard error)

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

The present invention incorporates more variable and relevant Vehicle Technology, and control, fuel oil saving are helped in comprehensive application navigation, motion planning.After original control of transferring the files simultaneously changes pedal control into, field of application is expanded to manually and self shifter vehicle by original manual shift vehicle.Further, because it is to the sensivity of Velocity-acceleration change, the maximization playing fuel-economy benefit is more conducive to.Finally, also distinguish crowded (with car) and not crowded (smooth traveling) two kinds of applicable cases, therefore considered fuel oil saving and driving safety.

Although describe exemplary embodiment of the present invention in detail by reference to accompanying drawing herein, 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 change and modification.

Claims (15)

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

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, to generate best solution; Described best solution comprises optimum acceleration/accel; Wherein, described optimum acceleration/accel is calculated by fuel oil consumption model; In accelerator, 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 moderating process, 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, t ₁represent 1st time that miles of relative movement consume of vehicle in acceleration or deceleration process, t ₂represent 2nd time that miles of relative movement consume of vehicle in acceleration or deceleration process, t _lrepresent the time that vehicle last miles of relative movement in acceleration or deceleration process consumes, v _lrepresent the moving velocity of last miles of relative movement of vehicle in accelerator, G represents fuel consumption, and Δ represents the speed difference of vehicle in acceleration or deceleration process, v ₀represent rate of onset, x ₁represent the constant acceleration of 1st miles of relative movement of vehicle in acceleration or deceleration process, x ₂represent the constant acceleration of 2nd miles of relative movement of vehicle in acceleration or deceleration process, x _lrepresent the constant acceleration of last miles of relative movement of vehicle in acceleration or deceleration process, 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 outside vehicle parameter, comprises following distance;

In accelerator, the mode that process 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 moderating process, the mode that process 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, s _irepresent i-th miles of relative movement of vehicle in moderating process, t _irepresent the time that i-th miles of relative movement of vehicle in acceleration or deceleration process consumes, i is the positive integer between 1 ~ l, t _{dec_total}the temporal summation that expression is slowed down and the idle stage is used, s _{dec_total}represent automobile initial position and the distance to four corners, λ represents the rate of change of best accumulative fuel consumption values, and l represents acceleration/accel and the variable relevant to Lagrange's multiplier, and H represents following distance, t _{acc_total}represent the total time of acceleration and constant velocity stage.

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

Display best solution; Described display best solution is completed by coloud coding human-computer interaction interface, wherein a kind of predetermined color of optimum acceleration/accel identifies, adjacent value is expressed as gradient color, is that chaufeur provides to drive and advises by display current acceleration and the pass of optimum acceleration/accel.

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

Automatic driving vehicle is supplied to using showing the parameter of best solution as Mechanical course.

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

Check whether limiting condition all meets optimal solution, if any one in limiting condition does not meet, recalculates optimal solution;

Described limiting condition comprises following distance.

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

Judge that whether best solution is correct, if best solution mal, recalculate optimal solution;

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

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

Select whether adopt best solution according to driving model;

For automatic driving vehicle, if h>h*, be so transformed into not crowded master mode, if h≤h*, be so transformed into driver safety pattern; Wherein h represents following distance, and h* represents predetermined following distance; Wherein, under driver safety pattern, best solution is not used;

For there being people's steering vehicle, if h>h*, being so transformed into not crowded master mode, if h≤h*, being so transformed into crowded master mode; Wherein, under crowded master mode, best solution is not used.

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 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 is calculated by fuel oil consumption model; In accelerator, 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 moderating process, 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, t ₁represent 1st time that miles of relative movement consume of vehicle in acceleration or deceleration process, t ₂represent 2nd time that miles of relative movement consume of vehicle in acceleration or deceleration process, t _lrepresent the time that vehicle last miles of relative movement in acceleration or deceleration process consumes, v _lrepresent the moving velocity of last miles of relative movement of vehicle in accelerator, G represents fuel consumption, and Δ represents the speed difference of vehicle in acceleration or deceleration process, v ₀represent rate of onset, x ₁represent the constant acceleration of 1st miles of relative movement of vehicle in acceleration or deceleration process, x ₂represent the constant acceleration of 2nd miles of relative movement of vehicle in acceleration or deceleration process, x _lrepresent the constant acceleration of last miles of relative movement of vehicle in acceleration or deceleration process, t _idlerepresent standby time, t _consrepresent the at the uniform velocity time.

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

In accelerator, the mode that process 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 moderating process, the mode that process 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, s _irepresent i-th miles of relative movement of vehicle in moderating process, t _irepresent the time that i-th miles of relative movement of vehicle in acceleration or deceleration process consumes, i is the positive integer between 1 ~ l, t _{dec_total}the temporal summation that expression is slowed down and the idle stage is used, s _{dec_total}represent automobile initial position and the distance to four corners, λ represents the rate of change of best accumulative fuel consumption values, and l represents acceleration/accel and the variable relevant to Lagrange's multiplier, and H represents following distance, t _{acc_total}represent the total time of acceleration and constant velocity stage.

10. vehicle oil saving system according to claim 8, 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 systems according to claim 8, is characterized in that, also comprise display unit;

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

12. vehicle oil saving systems according to claim 11, is characterized in that, described data processing unit is suitable for being supplied to automatic driving vehicle using showing the parameter of best solution as Mechanical course.

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

Described redundancy unit couples with data input cell and data processing unit respectively, is suitable for receiving from the take off data of 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 limiting condition does not meet, starts data processing unit and recalculates optimal solution;

Described limiting condition comprises following distance.

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

Described reliability unit is suitable for judging that whether best solution is correct, if best solution mal, starts data processing unit and recalculates optimal solution;

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

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

Described mode selecting unit couples with redundancy unit and data input cell respectively, is suitable for receiving from the take off data of 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*, be so transformed into not crowded master mode, if h≤h*, be so transformed into driver safety pattern; Wherein h represents following distance, and h* represents predetermined following distance; Wherein, under driver safety pattern, best solution is not used;

For there being people's steering vehicle, if h>h*, being so transformed into not crowded master mode, if h≤h*, being so transformed into crowded master mode; Wherein, under crowded master mode, best solution is not used.