CN103148860B - Electric vehicle recursive paths planning method - Google Patents
Electric vehicle recursive paths planning method Download PDFInfo
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- CN103148860B CN103148860B CN201110400444.0A CN201110400444A CN103148860B CN 103148860 B CN103148860 B CN 103148860B CN 201110400444 A CN201110400444 A CN 201110400444A CN 103148860 B CN103148860 B CN 103148860B
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Abstract
The invention relates to a kind of electric vehicle recursive paths planning method, its method is as follows: import status condition into, and this status condition includes at least one reference position, at least one final position, an electricity remaining mileage and the path distance between reference position and final position; With charging station total in the longitude and latitude search area in reference position and final position; Calculate the distance of charging station to reference position and final position one by one; The charging station not meeting search condition is filtered one by one and removes; Integrate charging station inventory and cook up at least one electric motor car driving path; When any state condition changes, perform the circulation of step a to step e again to obtain electric motor car driving path, through the charging station in recursive fashion progressively tandem paths, and can plan that producing multi-path selects to provide to drive, to reach the object expanding electric motor car stroke.
Description
Technical field
The invention relates to a kind of charging system of electric powercar, espespecially a kind of electric vehicle recursive paths planning method coordinating electricity remaining mileage to plan driving path.
Background technology
In today that environmental consciousness is surging, find alternative new forms of energy and become instant responsibility, although oil is still current topmost power source, but it is day by day exhausted in reserves, and under oil and Related product thereof cause the situation of severe contamination for environmental ecology, it is trend of the times naturally that development substitutes new forms of energy, because the development cost of various new forms of energy and cost of equipment are difficult to meet economic benefit, such as wind-force, sun power, the substitute energys such as underground heat all still need support and the subsidy of government, the input exploitation that could continue, therefore the achievement tapped a new source of energy obviously is extremely limited, but, existing automobile uses gasoline to carry out burning and producing driving dynamics in engine, and directly can discharge large quantity of exhaust gas, a large prime culprit of air pollution and greenhouse effect, therefore the existing free of contamination energy is utilized, become to move back and asked secondary selection, it is event, the popularization of electric motor car will be the trend meeting environmental consciousness, no matter which kind of mode the electric power of electric motor car is through obtain, pollution level under electric motor car using state is minimum is undisputable fact.
But see above-mentioned existing structure to be in detail not difficult to realize that electric motor car has remained a little weak point in use, main cause is returned as follows: the distance travelled of existing electric motor car depends mainly on the electricity of battery, because electricity is limited to volume and the weight of battery, when electricity cannot be increased, electric motor car still must be found along road and charge with stop charging station, the estimation of this electricity is not linearly successively decreased as amount of gasoline again, and the accuracy of the residual electricity of dynamic estimation is on the low side, cause the mileage that cannot calculate wheeled accurately, the puzzlement making electric motor car maximum there is not electricity suddenly in driving process, especially charging station is not known in driving process wherein, even if know that the position of charging station still cannot determine whether electric motor car can drive to predetermined charging station, the serious uneasiness sense that driver will be allowed to produce, make driver that electric motor car dare not be selected to be the vehicles, this is the technical matters point of the present invention for solving.
In view of this, the present inventor, in manufacturing development and design experiences that to be engaged in Related product for many years, for above-mentioned target, in detail after design and scrupulous assessment, obtains the present invention of a true tool practicality eventually.
Summary of the invention
The present invention for solve technical matters be for prior art exist above-mentioned disappearance, provide a kind of electric vehicle recursive paths planning method, its method step is as follows:
A, import status condition into, this status condition includes at least one reference position, at least one final position, an electricity remaining mileage and the path distance between reference position and final position;
B, with charging station total in the longitude and latitude search area in reference position and final position;
C, calculate the distance of charging station to reference position and final position one by one;
D, the charging station not meeting search condition filtered one by one remove;
E, integrate charging station inventory go out at least one electric motor car driving path with optimal path conditional plan; And
F, when any state condition changes, perform the circulation of step a to step e again to obtain electric motor car driving path.
Fundamental purpose of the present invention is, the present invention can through the charging station in recursive fashion progressively tandem paths in electric motor car travels, and planning produces multi-path to provide driving selection, automatically assist thus and find charging station, eliminate the uneasiness sense of driver for electric motor car charging problems, to reach the object expanding electric motor car stroke.
Secondary objective of the present invention is, this rear end supervisory system has the function upgraded with integrating charge station information and owner information, and the storing information of electric motor car is initiatively upgraded with wireless transmission method, and the using state of charging station within the scope of real-time repaying, separately send terrestrial reference news in brief to car owner's hand-held action device by rear end supervisory system, make car owner directly check in terrestrial reference news in brief be perhaps loaded in navigational system, effectively grasp real time status and synchronized update charge station information thus, in order to do to improve its application.
Other object, advantage and novel characteristics of the present invention will be more obvious from the following detailed description and related drawings.
Accompanying drawing explanation
Fig. 1: the process flow diagram being planning driving path of the present invention.
Fig. 2: be that the present invention removes the process flow diagram of charging station with search condition.
Fig. 3: the process flow diagram being correction type remaining mileage estimation algorithm of the present invention.
Fig. 4: the schematic diagram being total charging station in filter area of the present invention.
Fig. 5: be that the present invention removes the schematic diagram () of charging station with search condition.
Fig. 6: be that the present invention removes the schematic diagram (two) of charging station with search condition.
Fig. 7: be that the present invention upgrades the schematic diagram of driving path with new reference position.
Fig. 8: the process flow diagram being battery remaining capacity of the present invention estimation.
Fig. 9: the using state process flow diagram being rear end of the present invention supervisory system.
Main element symbol description
The present invention's part:
Step------a ~ f
Reference position----11 final position----12
Electricity remaining mileage--13 path distance----14
Correction type remaining mileage estimation algorithm--21
Electric motor car-----31 coulombs of detection methods---32
Battery remaining capacity--33 open-circuit voltage estimation methods-34
Battery correction electricity--35
Rear end supervisory system--41 wireless transmission----42
Send terrestrial reference news in brief--43 hand-held action device--44
Embodiment
For enabling your juror have a better understanding and awareness object of the present invention, feature and effect, [accompanying drawing explanation] hereby please be coordinate below to describe in detail as rear:
First please coordinated shown in Fig. 4 by Fig. 1, Fig. 2, Fig. 3 and see it, a kind of electric vehicle recursive paths planning method, its method is as follows:
Step a, import status condition into, this status condition includes at least one reference position 11, at least one final position 12, electricity remaining mileage 13 and the path distance between reference position 11 and final position 12 14, this reference position 11, final position 12 and path distance 14 are all and can change coordinate (changing with driver's setting and traveling-position), and this reference position 11, final position 12 and the path distance between reference position 11 and final position 12 14 are by Global Positioning System (GPS) (GlobalPositioningSystem; GPS) calculate and obtain, this electricity remaining mileage 13 utilizes correction type remaining mileage estimation algorithm 21 to obtain;
Step b, with reference position 11 and total charging station (total charging station comprises A point to I point) in the longitude and latitude search area in final position 12;
Step c, calculate each charging station A-I to distance with final position 12 of reference position 11 one by one;
Steps d, the charging station A-I not meeting search condition is filtered one by one and removes, this search condition is that the spacing of charging station A-I and reference position 11 exceedes electricity remaining mileage 13, illustrated by Fig. 5 further, in figure, charging station I is greater than the distance of reference position 11 to terminal between position 12 to the distance of reference position 11, electricity remaining mileage 13 cannot be supported, and electric motor car directly arrives charging station I position, therefore be unsuitable charging station I, be excluded in outside charging station inventory by search condition, this another search condition is that charging station A-I and final position 12 are apart from the distance be comparatively greater than between reference position 11 and final position 12 again, again please as shown in Figure 6, in figure, charging station F and final position 12 distance far exceed this reference position 11 and final position 12 distance, electricity remaining mileage 13 cannot be supported, and electric motor car directly opens position 12 to terminal by charging station F position, therefore be unsuitable charging station F, be excluded in outside charging station inventory by search condition,
Step e, integrate charging station inventory go out at least one electric motor car driving path with optimal path conditional plan, this optimal path condition can be stroke shortest time preferential, preferential, the minimum charging times of stroke bee-line preferentially, the shortest duration of charging is preferential and direction of traffic is preferential wherein one selects; And
Step f, when any state condition changes, perform the circulation of step a to step e again to obtain electric motor car driving path, separately refer to shown in Fig. 7, when electric motor car travels to charging station A, because reference position 11 changes to charging station A position, and path distance 14 is changed along with reference position 11, native system is made to re-execute above-mentioned steps a to step e, and then plan the best driving path of the reference position 11 that makes new advances, in like manner, when final position 12 changes, also or electricity remaining mileage 13 because of road conditions, vehicle condition, when battery performance changes, native system also can plan suitable driving path again, can through the charging station A-I in recursive fashion progressively tandem paths, and planning produces multi-path to provide driving selection, automatically assist thus and find charging station A-I, eliminate the uneasiness sense of driver for electric motor car charging problems, to reach the object expanding electric motor car stroke.
Further illustrate again, please see it as shown in Figure 3 again, this correction type remaining mileage estimation algorithm 21 calculates according to battery remaining capacity (SOC%) and operating range and obtains, and continue to revise along with successively decreasing of battery remaining capacity (SOC%), this correction type remaining mileage estimation algorithm 21 is first by the electric quantity consumption ratio (%) divided by operating range of operating range (km), and obtain unit distance power consumption (km/%), finally take advantage of in battery remaining capacity (SOC%) by unit distance power consumption (km/%), and obtain electricity remaining mileage 13 (km), wherein, electricity remaining mileage (km) is the abbreviation of the remaining mileage of remaining capacity (SOC%) wheeled, further illustrate the estimation mode of correction type remaining mileage estimation algorithm 21 again, please coordinate shown in table one, carry out the citing estimated with real data for utilizing correction type remaining mileage estimation algorithm 21:
Table one
Note: with this example, electric motor car consumes the actual concurrence of 50% electricity and sailed 95km, otherwise estimates in general remaining mileage mode, will obtain the result (50% is multiplied by 2.5km/% equals 125km) of 50% electricity wheeled 125km.
Refer to again shown in Fig. 8, this battery remaining capacity (SOC%) is when electric motor car 31 starting state, coulomb detection method 32 is utilized to obtain battery remaining capacity 33, another when closed condition, utilize open-circuit voltage to estimate method 34 and obtain battery correction electricity 35, and under meeting correction conditions, use battery correction electricity 35 to revise battery remaining capacity 33, first correction conditions is in battery charging, second correction conditions is battery standing appropriate time, 3rd correction conditions is not equal to battery correction electricity 35 for this battery remaining capacity 33, namely revise through open-circuit voltage estimation method 34 the coulomb detection method 32 producing cumulative errors, to improve coulomb detection method 32 in the accuracy of dynamic measurement, correction type remaining mileage estimation algorithm 21 is allowed to utilize battery remaining capacity 33 calculating to obtain electricity remaining mileage 13, reach the practical function of effectively planning driving path.
Continue and please see it as shown in Figure 4, the present invention also includes an early warning system (figure does not indicate), in without setting final position 12 when, when electricity remaining mileage 13 (coordinating shown in Fig. 3) is less than early warning door fare register, initiatively provide the inventory of the charging station A-I within the scope of position by early warning system.
Separately please see it as shown in Figure 9, the present invention also includes a rear end supervisory system 41, this rear end supervisory system 41 has the function upgraded with integrating charge station information and owner information, and the storing information of electric motor car is initiatively upgraded in wireless transmission 42 mode, and the using state of charging station within the scope of real-time repaying, this rear end supervisory system 41 obtains electric motor car position and electricity remaining mileage 13 (coordinating shown in Fig. 3) by owner information again, and the charging station coordinate of bee-line is obtained through charging station database analysis, and then by rear end supervisory system 41, this charging station coordinate is sent to a hand-held action device 44 of car owner in terrestrial reference news in brief 43 (GeoSMS) mode, or for being loaded in a navigational system, wherein, this hand-held action device 44 can be an intelligent mobile phone, one PDA running gear, effectively can grasp real time status and synchronized update charge station information thus, to improve its application.
In sum, the present invention has reached breakthrough structural design really, and there is the summary of the invention of improvement, the usability in industry and progressive can be reached again simultaneously, and the present invention does not see any publication, also have a novelty, to be correlated with the regulation of law when meeting Patent Law, to propose application for a patent for invention in accordance with the law.
The above, be only a preferred embodiment of the present invention, when can not with restriction scope of the invention process; Namely the equalization generally done according to the present patent application the scope of the claims changes and modifies, and all should still remain within the scope of the patent.
Claims (8)
1. an electric vehicle recursive paths planning method, is characterized in that, method is as follows:
A, import status condition into, this status condition includes at least one reference position, at least one final position, one electricity remaining mileage and the path distance between reference position and final position, this electricity remaining mileage utilizes correction type remaining mileage estimation algorithm to obtain, this correction type remaining mileage estimation algorithm calculates according to battery remaining capacity and operating range and obtain again, and continue to revise along with successively decreasing of battery remaining capacity, first operating range is obtained unit distance power consumption divided by the electric quantity consumption ratio of operating range by this correction type remaining mileage estimation algorithm, last being taken advantage of by unit distance power consumption obtains electricity remaining mileage in battery remaining capacity,
B, with charging station total in the longitude and latitude search area in reference position and final position;
C, calculate the distance of each charging station to reference position and final position one by one;
D, the charging station not meeting search condition filtered one by one remove;
E, integrate charging station inventory go out at least one electric motor car driving path with optimal path conditional plan; And
F, when any state condition changes, perform the circulation of step a to step e again to obtain electric motor car driving path, through the charging station in recursive fashion progressively tandem paths, and can plan that producing multi-path selects to provide to drive, to reach the object expanding electric motor car stroke.
2. electric vehicle recursive paths planning method according to claim 1, is characterized in that, this reference position, final position and the path distance between reference position and final position are calculated by Global Positioning System (GPS) and obtain.
3. electric vehicle recursive paths planning method according to claim 1, it is characterized in that, this battery remaining capacity utilizes coulomb detection method to obtain battery remaining capacity when electric motor car starting state, the another open-circuit voltage estimation method that utilizes when closed condition obtains battery correction electricity, and under meeting correction conditions, use battery correction electricity correction battery remaining capacity, first correction conditions is in battery charging, second correction conditions is battery standing appropriate time, 3rd correction conditions is not equal to battery correction electricity for this battery remaining capacity, namely the coulomb detection method of cumulative errors is produced through the correction of open-circuit voltage estimation method.
4. electric vehicle recursive paths planning method according to claim 1, it is characterized in that, this does not meet search condition is that the spacing of charging station and reference position exceedes electricity remaining mileage, and charging station and final position distance are comparatively greater than the distance between reference position and final position.
5. electric vehicle recursive paths planning method according to claim 1, it is characterized in that, this optimal path condition be, stroke bee-line preferential, minimum charging times preferential by the stroke shortest time preferentially, the shortest duration of charging is preferential and direction of traffic is excellent wherein one first selects.
6. electric vehicle recursive paths planning method according to claim 1, it is characterized in that, also include an early warning system, in without setting final position when, when electricity remaining mileage is less than an early warning door fare register, initiatively provide the inventory of the charging station within the scope of position by early warning system.
7. electric vehicle recursive paths planning method according to claim 1, it is characterized in that, also include a rear end supervisory system, this rear end supervisory system has the function upgraded with integrating charge station information and owner information, and initiatively upgrade the storing information of electric motor car with wireless transmission method, and the using state of charging station within the scope of real-time repaying.
8. electric vehicle recursive paths planning method according to claim 7, it is characterized in that, this rear end supervisory system obtains electric motor car position and electricity remaining mileage by owner information, and the charging station coordinate of bee-line is obtained through charging station database analysis, this charging station coordinate to be sent to by rear end supervisory system a hand-held action device of car owner in terrestrial reference news in brief mode, or for being loaded in a navigational system.
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| CN104121921B (en) * | 2014-07-01 | 2018-06-19 | 王玉娇 | A kind of electric vehicle charging air navigation aid, system and relevant device |
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| CN105043399A (en) * | 2015-06-18 | 2015-11-11 | 安徽师范大学 | Electromobile navigation method and device based on positions of charging piles |
| CN105004345A (en) * | 2015-06-26 | 2015-10-28 | 深圳市凯立德欣软件技术有限公司 | Method and equipment for planning navigation path |
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| CN106991497A (en) * | 2017-04-01 | 2017-07-28 | 成都为蓝科技有限公司 | A kind of chargeable path planning system of electric automobile and its application method |
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| CN107367285B (en) * | 2017-05-23 | 2020-04-10 | 西安交通大学 | Pure electric bus running route planning method based on battery capacity decline and workload reverse order matching |
| CN110015127A (en) * | 2017-08-21 | 2019-07-16 | 大石祖耀 | The charging station method for searching of electric vehicle |
| CN107734161A (en) * | 2017-09-30 | 2018-02-23 | 北京快刷刷信息技术有限公司 | The method that charging service is found in automatic triggering |
| CN109596137A (en) * | 2018-12-24 | 2019-04-09 | 北京新能源汽车股份有限公司 | Method and device for dynamically searching charging pile path planning and navigation |
| CN112172600A (en) * | 2019-07-01 | 2021-01-05 | 汉能移动能源控股集团有限公司 | Monitoring system and method for electric vehicle |
| CN112172602A (en) * | 2019-07-01 | 2021-01-05 | 汉能移动能源控股集团有限公司 | Electric vehicle monitoring system |
| CN112009307A (en) * | 2020-09-03 | 2020-12-01 | 三一专用汽车有限责任公司 | Voice prompt method and voice prompt system of vehicle and vehicle |
| CN112993981B (en) * | 2021-02-20 | 2023-07-14 | 成都卓源网络科技有限公司 | Intelligent planning method for vehicle-mounted network |
| CN113253722B (en) * | 2021-04-30 | 2023-05-02 | 浙江吉利控股集团有限公司 | Method, device and system for planning charging path of electric vehicle |
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