CN103292820A - Equipment and method for providing precise endurance range of mobile body for user - Google Patents
Equipment and method for providing precise endurance range of mobile body for user Download PDFInfo
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Abstract
The invention provides equipment for providing a precise endurance range of a mobile body for a user. The equipment comprises a device used for roughly estimating the cruising distance of the mobile body according to residual energy of the mobile body, a device used for drawing a circle by utilizing the current position of the mobile body as the circle center, utilizing the roughly estimated cruising distance of the mobile body as the radius and setting all or a part of the cross points of links in a map and the circumference of the circle as reference destinations, a device used for determining reference destination paths from the current position of the mobile body to the reference destinations according to attribute information of the links in the map, a device used for comparing the accumulated energy consumption of each link arriving at the reference destination path with the residual energy of the mobile body to determine the energy zero point of the mobile body for each reference destination path, a device used for providing the precise endurance range of the mobile body for the user according to the determined energy zero points of the reference destination paths.
Description
Technical field
The present invention relates to field of navigation systems, particularly relate to and a kind ofly provide equipment and the method for the accurate continuation of the journey scope of moving body (for example vehicle) to the user, can come provide to the user the accurate continuation of the journey scope of moving body according to the current remaining of moving body.
Background technology
For the user, the continuation of the journey scope of grasping vehicle is extremely important, helps to select suitable driving path.At present, most of vehicles all have been equipped with the dump energy indicating device, for example Fuel Oil Remaining indicating device and dump energy indicating device etc., and these indicating devices obtain the dump energy information of vehicle, and present to the user with pointer or digital mode.The user understands the dump energy situation of vehicle according to indicating device, and based on driving experience estimation continuation of the journey scope, continues to travel or the interpolation energy with judgement.For example, the user knows that vehicle can travel 600 kilometers by more unobstructed road in suburbs when filling it up with oil, current Fuel Oil Remaining is 10%, user's estimating vehicle can continue to travel 60 kilometers thus, because the destination also has 350 kilometers apart from current location, the user selects to arrive first near oiling, and then leaves for the destination.This evaluation method based on driving experience comprise the user to the knowing of vehicle performance, and to the understanding of road conditions.But because the vehicle performance difference of different automobile types, the topological structure difference of road, the smooth and fluctuating quantity of road there are differences, and the traffic of road is also changing in real time, simultaneously, the use of some in-vehicle device, for example air-conditioning, sound equipment, car light etc., weather conditions, for example wind-force and temperature etc., the dead weight capacity of vehicle also can influence the continuation of the journey scope, makes the user be difficult to estimate exactly the continuation of the journey scope sometimes.And, for firm driving soon or rent the user of vehicle, be difficult to the continuation of the journey scope of estimating vehicle more.
The continuation of the journey scope of vehicle is subjected to operating position, weather conditions, the load-carrying situation of traffic, the in-vehicle device of smooth and fluctuating quantity, the road of topological structure, the road of vehicle, road, user's influence of various factors such as driving habits.For electric motor car, the continuation of the journey scope also is subjected to the influence of cell degradation degree.Therefore, when estimation continuation of the journey scope, need comprehensive considering various effects.The present invention proposes a kind of equipment and method according to dump energy estimation continuation of the journey scope.This equipment can be known the dump energy when vehicle in front, the current location of vehicle, the operating position of in-vehicle device, user's driving habits and vehicle load situation.Simultaneously, this equipment can obtain multiple geography information, for example the gradient situation of the topological structure of road and road.In addition, this equipment can receive traffic related information and weather conditions information in real time.When the user need understand the continuation of the journey scope, these data-evaluations of equipment utilization continuation of the journey scopes, and by navigation terminal the continuation of the journey scope is presented on the navigation map, present to the user in simple clear and definite mode.
Up to the present, also there are some patents to propose comprehensive considering various effects and estimate the continuation of the journey scope, and present to the user by navigation terminal.For example, US Patent No. 2011/0112710 allows the user to set cornering ability before driving, for example Maximum speed limit, peak acceleration etc., and driving style, for example mitigation, fierceness etc.When driving, according to cornering ability and driving style, dump energy, road grade and the class information set, estimate and show the continuation of the journey scope.When user's driving behavior exceeds the setting of cornering ability, point out.How this known example is estimated the continuation of the journey scope, and is mentioned when the user does not set the destination after user's named place of destination being described and having calculated the driving path, can comprehensive considering various effects estimate the continuation of the journey scope equally, but not provide clear and definite evaluation method.
Another United States Patent (USP) 5,539,399 has been introduced the estimation of continuation of the journey scope and the display packing at electric motor car.When dump energy was lower than certain setting thresholding, system showed the continuation of the journey scope according to dump energy estimation endurance distance and by the circle that a radius is endurance distance automatically.When the more accurate continuation of the journey scope of user's request is estimated, system synthesis is considered topological structure and the grade information of road, at first calculates the energy consumption of current road, if energy consumption is less than dump energy, then continue to calculate forward along the road branch of vehicle heading, up to total energy consumption greater than dump energy; Then, calculate each road branch one by one along the opposite direction of vehicle heading, up to gross energy greater than dump energy.After the calculating of finishing forward direction and reverse road branch, system draws and also presents the continuation of the journey scope to the user.This known example and the present invention have following difference: (1) this known example is when the estimation endurance distance, to the road branch around the moving body current location calculate one by one energy consumption and with dump energy relatively, when road branch more for a long time, the calculated amount of energy consumption is big, handling property to equipment requires height, is difficult to realize real-time processing.And the present invention at first determines reference purpose ground with moving body current location and dump energy, and the path that arrives each reference purpose ground, carrying out energy at these paths then calculates, determine the energy zero point when travelling along these paths, the energy continuous continuation of the journey scope that forms at zero point can guarantee accurately to show the continuation of the journey scope so simultaneously and reduce the equipment computation burden the most at last.(2) this known example is only just accurately estimated when the user asks, and the present invention in addition, also be lower than in dump energy that certain sets that thresholding, moving body sail that another road, transport information upgrade into, the opening of device on the moving body or close, all automatically upgrade the continuation of the journey scope under the multiple condition such as weather conditions renewal, load-carrying situation change, user's driving habits changes, can guarantee the real-time of continuation of the journey scope estimation like this.(3) the known example has only been considered topological structure and the gradient of road when accurately estimating, calculates and the present invention is operating position, weather conditions, the load-carrying situation of traffic, the equipment on the moving body of the gradient, the road of topological structure, the road of the model of having taken all factors into consideration moving body, road, user's multiple factors such as driving habits.
Summary of the invention
Consider the problems referred to above of prior art, proposed the present invention.Therefore, the purpose of this invention is to provide a kind of equipment and method that the accurate continuation of the journey scope of moving body is provided to the user, can come to provide to the user the accurate continuation of the journey scope of moving body according to the current remaining of moving body, particularly, can utilize information such as dump energy and road topology structure, accurately estimate the continuation of the journey scope, and alleviate the computation burden of equipment.
To achieve these goals, according to the present invention, proposed a kind of equipment that provides the accurate continuation of the journey scope of moving body to the user, having comprised: the endurance distance estimating device, estimate the endurance distance of moving body roughly according to the dump energy of moving body; Reference purpose ground setting device is the center of circle with the current location of moving body, is the radius draw circles with the endurance distance of estimation roughly, and all or part of of the intersection point that the circumference of the road chain in the map and this circle is crossing is set at reference purpose ground; Device is determined in path, reference purpose ground, and the attribute information of the road chain in is according to the map determined each path, bar reference purpose ground from the current location of moving body to each reference purpose ground; Energy is determined device zero point, at path, every reference purpose ground, the accumulative total energy consumption of every road chain by will arriving this path, reference purpose ground and the dump energy of moving body compare to determine the energy zero point of moving body, and described energy is consumed to zero movable body position point for the dump energy that makes moving body on this path, reference purpose ground zero point; And the scope generator of accurately continuing a journey, according to the accurate continuation of the journey scope that moving body is provided to the user at each determined energy in path, bar reference purpose ground zero point.
Preferably, path, described reference purpose ground is shortest path, the fastest path or the system recommendation path from the current location of moving body to reference purpose ground.
Preferably, the circumference that described reference purpose ground setting device will be justified is divided into a plurality of circular arcs, and at each circular arc, will be set at reference purpose ground from the nearest road chain of the mid point of this circular arc and the intersection point of this circular arc.
Preferably, described energy is determined device at path, every reference purpose ground zero point, and the accumulative total energy consumption of every road chain by will arriving this path, reference purpose ground and the dump energy of moving body compare, and determine to exist on it energy energy road at zero point chain at zero point; The accumulative total energy consumption in the every strip point highway section by will arriving this energy road at zero point chain and the dump energy of moving body compare, and determine to exist the energy shape point highway section at zero point; And by clip the length that energy consumption equals the energy consumption difference of the accumulative total energy consumption in this shape point highway section and dump energy from this shape point highway section, determine energy zero point.
Preferably, described endurance distance estimating device is estimated the endurance distance of moving body roughly also according to the unlatching situation of the equipment on the moving body.
Preferably, described accumulative total energy consumption is based at least one in the load-carrying situation of operating position, weather conditions, moving body of traffic, the equipment on the moving body of smooth and fluctuating quantity, the road of topological structure, the road of moving body model, road and user's the driving habits, calculates.
In addition, according to the present invention, proposed a kind of method that provides the accurate continuation of the journey scope of moving body to the user, having comprised: the endurance distance of estimating moving body according to the dump energy of moving body roughly; Current location with moving body is the center of circle, is the radius draw circles with the endurance distance of estimating roughly, and all or part of of the intersection point that the circumference of the road chain in the map and this circle is crossing is set at reference purpose ground; The attribute information of the road chain is according to the map determined each path, bar reference purpose ground from the current location of moving body to each reference purpose ground; At path, every reference purpose ground, the accumulative total energy consumption of every road chain by will arriving this path, reference purpose ground and the dump energy of moving body compare to determine the energy zero point of moving body, and described energy is consumed to zero movable body position point for the dump energy that makes moving body on this path, reference purpose ground zero point; And according to the accurate continuation of the journey scope that moving body is provided to the user at each determined energy in path, bar reference purpose ground zero point.
In this area, " road chain " is the directed edge (normative reference ISO19133) that constitutes road network, and the direction of road chain represents the travel direction of moving body.In the present invention, the chain of passing by on one's way of the path link in the map represents that a driving path from the current location to the assigned address is made up of a series of continuous road chains.On the other hand, road network is made of the node of a rule road chain and road interchain.
In this area, " endurance distance " refers to the distance that can travel with the current dump energy of moving body, and this distance calculates according to full energy endurance distance and the dump energy of moving body usually, is rough estimated value.In the present invention, " continuation of the journey scope " refers to the scope that can travel with the current dump energy of moving body, and with the geometirc graphical presentation of a sealing, the estimation of this scope need be considered multiple factors such as the topological structure, transport information of dump energy, road.
The present invention is as follows than a part of advantage of prior art:
When 1, calculating the continuation of the journey scope, not carrying out energy at every road chain calculates, current location and dump energy according to moving body are determined reference purpose ground, only carry out energy calculating at the road chain that arrives in each path, reference purpose ground, thereby reduce the computation burden of equipment.
2, when the user asks to upgrade, when the moving body situation changes or the situation that influence is driven around the moving body when changing, automatically upgrade the continuation of the journey scope, guaranteed the real-time of estimation.
3, take all factors into consideration the multiple factor that influences moving body continuation of the journey scope, thereby estimate the continuation of the journey scope more accurately.
Description of drawings
By the detailed description of the preferred embodiment of the following combination accompanying drawing of reference to adopting, it is more apparent that above-mentioned purpose of the present invention, advantage and feature will become, wherein:
Fig. 1 is the example structure figure of moving body continuation of the journey scope estimation device according to an embodiment of the invention.
Fig. 2 is the example structure figure of mobile unit information receiving trap according to an embodiment of the invention.
Fig. 3 is the example structure figure of real time information reception device according to an embodiment of the invention.
Fig. 4 is the example flow diagram of moving body continuation of the journey scope evaluation method according to an embodiment of the invention.
Fig. 5 is the exemplary plot of the full energy endurance distance form of moving body according to an embodiment of the invention.
Fig. 6 is the exemplary plot that the scope of continuing a journey roughly according to an embodiment of the invention presents in display device.
Fig. 7 is the example flow diagram of reference purpose ground establishing method according to an embodiment of the invention.
Fig. 8 is that energy is determined the example flow diagram of method zero point according to an embodiment of the invention.
Fig. 9 is the exemplary plot of the corresponding form of speed energy consumption according to an embodiment of the invention.
Figure 10 is the exemplary plot set of reference purpose ground according to an embodiment of the invention.
Figure 11 is the exemplary plot determined of path, reference purpose ground according to an embodiment of the invention.
Figure 12 is the exemplary plot of determining at energy zero point according to an embodiment of the invention.
Figure 13 is the exemplary plot that generates at energy zero point according to an embodiment of the invention.
Figure 14 a and Figure 14 b are the exemplary plot that provide of accurately continuation of the journey scope according to an embodiment of the invention.
Embodiment
Overall technological scheme of the present invention is as follows:
At first, judge whether to need to upgrade the continuation of the journey scope.Need be with reference to state and external information such as the transport information etc. of moving body during judgement, this judgement can be to check periodically whether moving body state and external information change, and also can be the notice that receives when moving body state or external information change.If judged result is to need to upgrade the continuation of the journey scope, then continue to carry out the endurance distance estimation, otherwise, do not carry out any operation.When endurance distance is estimated, according to the dump energy of moving body and/or the unlatching situation estimation endurance distance of the equipment on the moving body, this endurance distance will be as radius of a circle in the rough continuation of the journey scope estimation, and the reference purpose ground in the time of also will estimating for accurate continuation of the journey scope is set.Then, judge whether accurately to estimate the continuation of the journey scope.Need if dump energy is set thresholding less than certain, then carry out the estimation of accurately continuation of the journey scope with reference to dump energy during judgement; Otherwise, carry out the estimation of continuation of the journey scope roughly.
In rough continuation of the journey scope estimation, be the center of circle with the current location of moving body, be the radius draw circles with the endurance distance, with this circle as the continuation of the journey scope of estimating roughly.
In accurately the continuation of the journey scope is estimated, at first, need to set reference purpose ground.During setting, being the center of circle with the current location of moving body, is the radius draw circles with the endurance distance, and all or part of of the intersection point that road and circumference are intersected is as the reference destination.Then, determine path, reference purpose ground.When determining, being starting point with the current location of moving body, is terminal point with each reference purpose ground respectively, carries out path computing based on map data base.This path can be shortest path, also can be the fastest path, can also be the system recommendation path.Here, the system recommendation path recommendation paths that to be system provide according to user's hobby or demand.After path, reference purpose ground generates, at every paths, calculating energy zero point.During calculating, current location with moving body is starting point, calculate to arrive the accumulative total energy consumption of every road chain one by one, the required information of using comprises the operating position, weather conditions, the load-carrying situation of moving body, user's driving habits of traffic, the equipment on the moving body of smooth and fluctuating quantity, the road of topological structure, the road of moving body model, road etc.The dump energy of accumulative total energy consumption and moving body is compared, determine energy road at zero point chain.Energy road at zero point chain refers to the accumulative total energy consumption of this road chain just more than or equal to the dump energy of moving body, and for last road chain of energy road at zero point chain, the accumulative total energy consumption is less than the dump energy of moving body.Determine a point at energy road at zero point chain, equate with the dump energy of moving body in this some accumulative total energy consumption, with this point as energy zero point.At last, provide accurate continuation of the journey scope.When providing, each energy is connected zero point successively, form the geometric figure of sealing, be shown to the user as accurate continuation of the journey scope.
Below, the preferred embodiments of the present invention will be described with reference to the accompanying drawings.
Fig. 1 is the example structure figure of moving body continuation of the journey scope estimation device of the present invention.Moving body continuation of the journey scope estimation device of the present invention comprises: mobile unit information receiving trap 11, real time information reception device 12, memory storage 13 and real-time treating apparatus 14.Wherein, information such as the operating position of the dump energy of mobile unit information receiving trap 11 real-time collecting moving bodys, the current location of moving body, the equipment on the moving body, user's driving habits and moving body load-carrying situation, and be stored in the memory storage 13.Real time information reception device 12 receives traffic related information and weather conditions information in real time, and is stored in the memory storage 13.Memory storage 13 store map data storehouses, mobile unit information and real-time information.Treating apparatus 14 checks periodically whether moving body state and external information change in real time, if change, then upgrades the continuation of the journey scope.Perhaps, when real-time treating apparatus receives the notice that changes for information about of mobile unit information receiving trap 11 or real time information reception device 12 transmissions, upgrade the continuation of the journey scope.Then, treating apparatus sends to display device 15 with the continuation of the journey scope in real time, and this process of transmitting can be based on the bus of (but being not limited to) cable network, wireless network, mobile network or device interior.Display device 15 can include, but is not limited to the display screen of navigating instrument, the display screen of computer or the display screen of smart mobile phone etc.
Fig. 2 is the example structure figure of mobile unit information receiving trap of the present invention.Mobile unit information receiving trap of the present invention comprises: the equipment operating position receiving trap 113 on moving body dump energy receiving trap 111, moving body current location receiving trap 112, the moving body, user's driving habits receiving trap 114 and moving body load-carrying situation receiving trap 115.Wherein, the dump energy situation of moving body dump energy receiving trap 111 periodic queries moving bodys, for example Fuel Oil Remaining, residual fuel amount, dump energy etc.The positional information of moving body current location receiving trap 112 periodic queries moving bodys, this positional information is (but being not limited to) latitude and longitude information of receiving by GPS (GPS) equipment normally, or road chain number and be positioned at positional information on the chain of road.Equipment on the equipment operating position receiving trap 113 periodic queries moving bodys on the moving body is unlatching or the closed condition of air-conditioning, sound equipment, illuminating lamp etc. for example.Equipment operating position receiving trap 113 on the moving body also can be on moving body the state of equipment receive notice when changing.User's driving habits receiving trap 114 is collected the user to the operating position of throttle, clutch, brake, parking brake, the driving habits of analysis user.For example, if the user still often steps on the gas continually and brakes, show that then this user belongs to fierce driving style on unobstructed road.The collection of driving habits also can be undertaken by user's manual setting.For example, equipment provides mitigation, fierceness, several driving style options such as usual to select for users.The general assembly (TW) that moving body load-carrying situation receiving trap 115 is collected moving body, the weight, passenger weight and the goods weight that comprise moving body self, wherein, the weight of moving body self is definite value generally speaking, passenger weight can obtain by the load cell under the seat, and goods weight can obtain by the load cell of boot.
Fig. 3 is the example structure figure of real time information reception device of the present invention.Real time information reception device of the present invention comprises: real-time traffic condition information receiving trap 121 and weather conditions information receiving trap 122.Wherein, real-time traffic condition information receiving trap 121 is periodically to the up-to-date traffic related information of traffic information center request, and traffic includes, but is not limited to congestion in road situation, road chain hourage, road chain travelling speed, control traffic message, road construction information, traffic accident information etc.Real-time traffic condition information receiving trap 121 also can receive notice when traffic related information upgrades.Weather conditions information receiving trap 122 is periodically to the up-to-date weather conditions information of forecast center's request, weather conditions include, but is not limited to rain, snow, hail, mist and wind direction wind-force etc., these information can be the unit issue with the zone, can be the unit issue with the road chain also.Weather conditions information receiving trap 122 also can receive notice when weather conditions information is upgraded.
Fig. 4 is the example flow diagram of moving body continuation of the journey scope evaluation method of the present invention.Specifically describe as follows:
Step S1: whether upgrade the continuation of the journey scope.Check periodically whether moving body state and external information change, if change, execution in step S2 then, otherwise, do not carry out any operation.This cycle can be default value, for example: 5 minutes, also can be specified by the user.Perhaps, receive the notice that moving body state or external information change, then execution in step S2.The state that refers to current time of changing is different with the state of previous moment.For example, for the moving body dump energy, changing to be defined as that energy rises or certain numerical value that descended, and for example 5%.For the moving body current location, changing to be defined as has entered a new road chain, also can be defined as with previous moment and keep at a certain distance away for example 1 kilometer.For the operating position of the equipment on the moving body, the state of the equipment that can be defined as that changes changes, and opens or the gear adjusting by closing to become such as air-conditioning, and sound equipment is by becoming higher volume than amount of bass, and illuminating lamp is become by unlatching closes.For user's driving habits, changing can be defined as that Equipment Inspection goes out that user's number of times that (and condition of road surface is identical) stepped on the gas or braked on identical road reduces or the user has manually changed the setting of driving style.For moving body load-carrying situation, changing can be defined as the moving body general assembly (TW) and reduced certain numerical value, for example 200 kilograms.
Step S2: endurance distance estimation.Estimate endurance distance roughly according to the dump energy of moving body and the unlatching situation of the equipment on the moving body.Evaluation method can be that this form is inequality at the model of different moving bodys according to the unlatching situation of the equipment on the full energy endurance distance form of moving body shown in Figure 5 and dump energy and/or the moving body.For example: current dump energy is 30%, and air-conditioning is opened, and sound equipment is in amount of bass, and illuminating lamp is closed, and then according to 430 kilometers of full energy endurance distances, estimating current endurance distance is 129 kilometers.After this step is finished, execution in step S3.
Step S3: whether accurately estimate the continuation of the journey scope.Judge whether that according to dump energy needs accurately estimate the continuation of the journey scope, if dump energy is set thresholding less than certain, then carry out the reference purpose ground setting S51 of accurate continuation of the journey scope estimation S5, otherwise, carry out rough continuation of the journey scope S4 is provided.This setting thresholding can be set up on their own by the user, also can be that equipment is set according to the custom that the user adds energy.For example, the user is set at 20% with thresholding, and then equipment will be in dump energy less than carrying out accurate continuation of the journey scope estimation S5 at 20% o'clock.Perhaps, device statistics goes out the user to be got used to adding energy during 5%～10% energy in residue, and then thresholding can be set at and be higher than 5%～10% numerical value, and for example 15%, in order to provide personalized information to the user.When thresholding is set, can also near the information of adding energy facilities of comprehensive moving body current location.For example, though the thresholding that the user sets is 20%, the device discovery dump energy is 25% o'clock, and the refuelling station's quantity in the endurance distance circumference for example, 3, is then carried out accurate continuation of the journey scope estimation S5 less than certain quantity.
Step S4: continuation of the journey scope roughly provides.Current location with moving body is the center of circle, is the radius draw circles with the endurance distance, with the continuation of the journey scope of this circle as rough estimation.Fig. 6 has provided the example embodiment that rough continuation of the journey scope presents in display device 15.
Step S5: accurately continuation of the journey scope estimation.Accurately the estimation of continuation of the journey scope comprises four steps: S51 is set on reference purpose ground, and S52 is determined in path, reference purpose ground, and energy determines that S53 and accurate continuation of the journey scope provide S54 zero point.
Step S51: reference purpose ground is set.Current location with moving body is the center of circle, is the radius draw circles with the endurance distance, and all or part of of the intersection point that road and circumference are intersected is as the reference destination, and idiographic flow is referring to Fig. 7.
Step S52: path, reference purpose ground is determined.Utilize the road chain attribute information of map data base, for example length, speed limit, hourage, road chain grade etc. are calculated the path from the current location of moving body to each reference purpose ground, and this path can be shortest path, the fastest path or system recommendation path etc.During calculating, adoptable method includes, but is not limited to conventional shortest path first (as dijkstra's algorithm), heuristic path searching algorithm (as the A* algorithm), or the path search algorithm of optimizing (as the path search algorithm based on piecemeal path buffer memory) etc.Path, every reference purpose ground all is a road chain-ordering, for example, (Link1, Link2 ..., Link15).
Step S53: energy is determined zero point.For path, every reference purpose ground, be starting point with the current location of moving body, calculate the accumulative total energy consumption that arrives every road chain one by one, with the dump energy comparison of accumulative total energy consumption with moving body, determine energy road at zero point chain.Energy road at zero point chain refers to the accumulative total energy consumption of this road chain just more than or equal to the dump energy of moving body, and for last road chain of energy road at zero point chain, the accumulative total energy consumption is less than the dump energy of moving body.Then, determine a point at energy road at zero point chain, equate with the dump energy of moving body in this some accumulative total energy consumption, with this point as energy zero point.The idiographic flow that energy zero point is determined is referring to Fig. 8.
Step S54: accurately continuation of the journey scope provides.Each energy is connected zero point successively, form the geometric figure of sealing, as accurate continuation of the journey scope.Connect energy during zero point, can adopt straight line to connect, also can adopt smooth curve to connect.
Fig. 7 is the example flow diagram of reference purpose of the present invention ground establishing method.Specifically describe as follows:
Step S511: circumference five equilibrium.To be the center of circle with the current location of moving body, be that the circumference of the circle of radius is divided into N circular arc with the endurance distance.During division, can be starting point according to any direction, for example: the intersection point according to due east direction and circumference be starting point.N is relevant with the limit number of the figure of expression continuation of the journey scope, generally chooses N＞5, for example: N=8.
Step S512: circumferential coordinates is calculated.According to the coordinate in the center of circle and the coordinate figure of each arcuate midway point correspondence of radius calculation, as circumferential coordinates, for example (x1, y1), (x2, y2) ..., (x8, y8).
Step S513: circumferential coordinates matches the road chain.Method with map match matches each circumferential coordinates on the nearest road chain.During coupling, guarantee that match point is positioned at the center of circle and the formed sector region of circular arc, for example (x1, y1), (x2, y2) ..., (x8 y8) matches road chain L1 respectively, L2 ..., on the L8.
Step S514: reference purpose ground generates.With the intersection point of road chain and circular arc as the reference destination, the intersection point RD1 of road chain L1 and circular arc for example, the intersection point RD2 of road chain L2 and circular arc etc.
Fig. 8 is the example flow diagram that energy of the present invention is determined method zero point.Specifically describe as follows:
Step S531: road chain energy consumption calculation.Calculating the road chain can be consuming time, can comprise at least one (but being not limited to) in the following: the energy consumption of cruising, go up a slope or the descending energy consumption, and accelerate or the deceleration energy consumption energy consumption of the equipment on windage energy consumption and the moving body etc.And multiply by a coefficient as final road chain energy consumption according to user's driving habits in the energy consumption summation, and for example, for usual user, coefficient is 1, and for the user who relaxes, coefficient is 0.95, for the user of fierceness, coefficient is 1.2 etc.Various piece to energy consumption describes below:
The energy consumption of cruising Cr_E is the energy that moving body consumes when at the uniform velocity travelling on flat road, by current road chain travelling speed v[lk], the unit consumption of energy c under road chain length L and this speed (v) calculates.Wherein, the unit consumption of energy under certain speed can be determined that Fig. 9 has provided the example embodiment of the corresponding form of speed energy consumption of an electric motor car by the corresponding form of speed energy consumption, and this form is inequality at the model of different moving bodys.Calculating is cruised the method for energy consumption shown in following formula:
Cr_E＝c(v[lk])*L
The energy that upward slope energy consumption Cl_E or descending energy consumption Sl_E consume or reclaim when being moving body climbing or landslide.For the moving body that energy recycle device is arranged, the upward slope energy consumption of moving body is on the occasion of, i.e. consumed energy; The descending energy consumption is negative value, namely recovers energy.The upward slope energy consumption is calculated by the efficiency eta _ K of moving body weight M, gravity acceleration g, road chain length L, road grade θ, moving body kinetic energy.The descending energy consumption is calculated by the efficiency eta _ R of moving body weight M, gravity acceleration g, road chain length L, road grade θ, energy recycle device.The method of upward slope energy consumption and descending energy consumption of calculating is shown in following formula:
Sl_E＝M*g*L*sin(θ)*η_R
The energy that consumes or reclaim when accelerating the raising of energy consumption Ac_E and deceleration energy consumption De_E and moving body speed or speed reduction.For the moving body that energy recycle device is arranged, the acceleration energy consumption of moving body is on the occasion of, i.e. consumed energy; The deceleration energy consumption is negative value, namely recovers energy.The acceleration energy consumption is calculated by speed v [lk] and the speed v [lk-1] of last road chain, the efficiency eta _ K of moving body kinetic energy of moving body weight M, current road chain.The deceleration energy consumption is calculated by speed v [lk] and the speed v [lk-1] of last road chain, the efficiency eta _ R of energy recycle device of moving body weight M, current road chain.The method of upward slope energy consumption and descending energy consumption of calculating is shown in following formula:
Windage energy consumption Wi_E is the energy that moving body consumes when overcoming the resistance of wind.The windage energy consumption is by current road chain TT[lk hourage], prolong the wind speed Wi_v[lk of current road chain working direction] (if with the wind, then this is worth and is negative value; If against the wind, then this be worth on the occasion of; If calm, then this value is 0), the efficiency eta _ K of moving body air resistance coefficient γ, moving body kinetic energy calculates, shown in following formula:
The energy consumption El_E of the equipment on the moving body is the energy that electronic equipment on the moving body such as air-conditioning, sound equipment, illuminating lamp consume.The energy consumption of the equipment on the moving body is by the general power El_P of the electronic equipment of working, for example air-conditioning is opened, power is 1.5 kilowatts, sound equipment is in the louder volume state, power is 0.025 kilowatt, illuminating lamp is closed, and then general power is 1.525 kilowatts, and road chain t[lk hourage] and the efficiency eta _ E of moving body electric energy calculate.Calculate the method for the equipment energy consumption on the moving body shown in following formula:
In other embodiments, can consider other multiple factor, for example road chain grade influence that the energy consumption of cruising is caused, crossing quantity and traffic lights stand-by period, the influence that the wet and slippery degree of sleety weather road pavement causes etc.
Step S532: accumulative total energy consumption calculation.The accumulative total energy consumption refer to total energy consumption from path, reference purpose ground starting point to current road chain terminal point, the accumulative total energy consumption of current road chain equal the accumulative total energy consumption of last road chain and current road chain energy consumption with.
Step S533: whether the accumulative total energy consumption is more than or equal to dump energy.The dump energy of accumulative total energy consumption and moving body is compared, if the accumulative total energy consumption is more than or equal to dump energy, and the accumulative total energy consumption of last road chain shows that less than dump energy energy is positioned on the chain of current road zero point, the current road chain of this moment is energy road at zero point chain, carries out energy and generates S534 zero point; Otherwise, carry out road chain energy consumption calculation S531, calculate the energy consumption of next bar road chain.
Step S534: energy generates zero point.In map data base, every road chain also comprises a plurality of shape points except starting point and terminal point, and these shape points are used for describing the shape of road, have coordinate information.When energy generates zero point, utilize the shape point information of road chain, starting point from energy road at zero point chain, calculate the energy consumption and the accumulative total energy consumption that arrive each shape point highway section, method is similar to road chain energy consumption calculation S531 and accumulative total energy consumption calculation S532, difference is: in this step, energy consumption calculation is carried out at each shape point, and the accumulative total energy consumption is the energy consumption summation that arrives current shape point highway section.If the accumulative total energy consumption in chain shape point highway section, energy road at zero point is more than or equal to dump energy, and the accumulative total energy consumption in previous shape point highway section shows that less than dump energy energy is positioned on the current shape point highway section zero point.According to the accumulative total energy consumption in current shape point highway section and the energy consumption difference of dump energy, and the length in current shape point highway section, clip the length that energy consumption equals the energy consumption difference from current shape point highway section, the point of Que Dinging is energy zero point thus.
Figure 10 is the example embodiment that reference purpose ground is set.In this embodiment, N=6, the final reference purpose ground of setting is RD1, RD2 ..., RD6.
Figure 11 is the example embodiment that path, reference purpose ground is determined.Among this embodiment, at the reference purpose ground RD1 that sets among Figure 10, RD2 ..., RD6, the shortest path that calculates respectively are Route1, Route2 ..., Route6.
Figure 12 is energy definite example embodiment at zero point.In this embodiment, at the shortest path Route1 among Figure 11, calculating energy zero point.Route1 by the road chain (Lk[1], Lk[2] ..., Lk[n]) form, at first, calculate energy consumption and the accumulative total energy consumption of every road chain successively from the current location of moving body according to road chain energy consumption calculation S531 and accumulative total energy consumption calculation S532.Then, relatively add up energy consumption and dump energy in the accumulative total energy consumption in whether more than or equal to dump energy S533, road chain Lk[m] the accumulative total energy consumption more than or equal to dump energy, and road chain Lk[m-1] the accumulative total energy consumption less than dump energy, therefore determine road chain Lk[m] be energy road at zero point chain.Next, generate among the S534 zero point at energy, calculate road chain Lk[m successively] energy consumption in each shape point highway section, i.e. Lk[m, 1], Lk[m, 2], Lk[m, 3], Lk[m, 4] energy consumption.Because shape point highway section Lk[m, 2] therefore accumulative total energy consumption accumulative total energy consumption is more than or equal to dump energy, and Lk[m, 1] determines that less than dump energy energy is positioned at Lk[m, 2 zero point] on.Shape point highway section Lk[m, 2] energy consumption is 0.04 kilowatt hour, and length is 20 meters, shape point highway section Lk[m, 2] the accumulative total energy consumption and the difference of dump energy be 0.01 kilowatt hour, then in shape point highway section Lk[m, 2] on clip 15 meters, determined point both had been energy zero point.
Figure 13 is the example embodiment of energy generation at zero point.Among this embodiment, at the shortest path Route1 among Figure 11, Route2 ..., Route6, calculating its energy zero point respectively is EZ1, EZ2 ..., EZ6.
Figure 14 (a) and Figure 14 (b) are the example embodiment that accurately continuation of the journey scope provides.Among this embodiment, with the energy EZ1 at zero point among Figure 13, EZ2 ..., EZ6 connects with straight line or smooth curve respectively, forms accurate continuation of the journey scope, and in the scope is the place that can arrive with current dump energy, and scope is outward the place that can not arrive.
Thus, according to the present invention, when accurate Calculation continuation of the journey scope, not carrying out energy at every road chain calculates, determine reference purpose ground according to moving body current location and dump energy, only carry out energy calculating at the road chain that arrives in each path, reference purpose ground, thereby reduce the computation burden of system.
As example, the present invention can realize in various navigator such as automatic navigator, navigation center server.
Although below show the present invention in conjunction with the preferred embodiments of the present invention, one skilled in the art will appreciate that under the situation that does not break away from the spirit and scope of the present invention, can carry out various modifications, replacement and change to the present invention.Therefore, the present invention should not limited by above-described embodiment, and should be limited by claims and equivalent thereof.
Claims (7)
1. equipment that provides the accurate continuation of the journey scope of moving body to the user comprises:
The endurance distance estimating device is estimated the endurance distance of moving body roughly according to the dump energy of moving body;
Reference purpose ground setting device is the center of circle with the current location of moving body, is the radius draw circles with the endurance distance of estimation roughly, and all or part of of the intersection point that the circumference of the road chain in the map and this circle is crossing is set at reference purpose ground;
Device is determined in path, reference purpose ground, and the attribute information of the road chain in is according to the map determined each path, bar reference purpose ground from the current location of moving body to each reference purpose ground;
Energy is determined device zero point, at path, every reference purpose ground, the accumulative total energy consumption of every road chain by will arriving this path, reference purpose ground and the dump energy of moving body compare to determine the energy zero point of moving body, and described energy is consumed to zero movable body position point for the dump energy that makes moving body on this path, reference purpose ground zero point; And
Accurate continuation of the journey scope generator is according to the accurate continuation of the journey scope that moving body is provided to the user at each determined energy in path, bar reference purpose ground zero point.
2. equipment according to claim 1, wherein,
Path, described reference purpose ground is shortest path, the fastest path or the system recommendation path from the current location of moving body to reference purpose ground.
3. equipment according to claim 1, wherein,
The circumference that described reference purpose ground setting device will be justified is divided into a plurality of circular arcs, and at each circular arc, will be set at reference purpose ground from the nearest road chain of the mid point of this circular arc and the intersection point of this circular arc.
4. equipment according to claim 1, wherein,
Described energy is determined device at path, every reference purpose ground zero point, and the accumulative total energy consumption of every road chain by will arriving this path, reference purpose ground and the dump energy of moving body compare, and determine to exist on it energy energy road at zero point chain at zero point; The accumulative total energy consumption in the every strip point highway section by will arriving this energy road at zero point chain and the dump energy of moving body compare, and determine to exist the energy shape point highway section at zero point; And by clip the length that energy consumption equals the energy consumption difference of the accumulative total energy consumption in this shape point highway section and dump energy from this shape point highway section, determine energy zero point.
5. equipment according to claim 1, wherein,
Described endurance distance estimating device is estimated the endurance distance of moving body roughly also according to the unlatching situation of the equipment on the moving body.
6. equipment according to claim 1, wherein,
Described accumulative total energy consumption is based at least one in the load-carrying situation of operating position, weather conditions, moving body of traffic, the equipment on the moving body of smooth and fluctuating quantity, the road of topological structure, the road of moving body model, road and user's the driving habits, calculates.
7. method that provides the accurate continuation of the journey scope of moving body to the user comprises:
Estimate the endurance distance of moving body roughly according to the dump energy of moving body;
Current location with moving body is the center of circle, is the radius draw circles with the endurance distance of estimating roughly, and all or part of of the intersection point that the circumference of the road chain in the map and this circle is crossing is set at reference purpose ground;
The attribute information of the road chain is according to the map determined each path, bar reference purpose ground from the current location of moving body to each reference purpose ground;
At path, every reference purpose ground, the accumulative total energy consumption of every road chain by will arriving this path, reference purpose ground and the dump energy of moving body compare to determine the energy zero point of moving body, and described energy is consumed to zero movable body position point for the dump energy that makes moving body on this path, reference purpose ground zero point; And
According to the accurate continuation of the journey scope that moving body is provided to the user at each determined energy in path, bar reference purpose ground zero point.
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