CN103292820B - Provide a user with equipment and the method for the accurately continuation of the journey scope of moving body - Google Patents
Provide a user with equipment and the method for the accurately continuation of the journey scope of moving body Download PDFInfo
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Abstract
According to the invention it is proposed that the equipment of a kind of scope of accurately continuing a journey providing a user with moving body, including: the device of the endurance distance of moving body is estimated roughly according to the dump energy of moving body；With the current location of moving body as the center of circle, drawing circle with the endurance distance estimated roughly for radius, all or part of of the intersection point intersected with the circumference of this circle by the road chain in map is set as the device of reference destination；The attribute information of the road chain according to the map, determines the device in each bar reference destination path from the current location of moving body to each reference destination；For every reference destination path, by the accumulative energy consumption of Mei Tiao road chain arriving this reference destination path is compared to determine the device of the energy zero point of moving body with the dump energy of moving body；And the device according to the scope of accurately continuing a journey providing a user with moving body for energy zero point determined by each bar reference destination path.
Description
Technical field
The present invention relates to field of navigation systems, particularly relate to one and provide a user with moving body
The equipment of the accurately continuation of the journey scope of (such as vehicle) and method, it is possible to current according to moving body
Dump energy provides a user with the accurate continuation of the journey scope of moving body.
Background technology
For a user, the continuation of the journey scope grasping vehicle is extremely important, contributes to selecting suitably
Driving path.At present, most of vehicles are provided with dump energy instruction device, such as, remain
Oil mass instruction device and dump energy instruction device etc., these instruction devices obtain the residue of vehicle
Energy information, and present to user in the way of pointer or numeral.User is according to instruction device
Understand the dump energy situation of vehicle, and estimate continuation of the journey scope based on driving experience, to judge to be
Continue to travel and still add energy.Such as, user knows that vehicle can be in suburbs when filling it up with oil
Travelling 600 kilometers on more unobstructed road, current Fuel Oil Remaining is 10%, and thus user estimates
Calculate vehicle to can continue to travel 60 kilometers, owing to destination's distance current location also has 350 kilometers,
User selects to arrive first neighbouring oiling, leaves for destination the most again.This evaluation method based on drive
The experience of sailing includes that vehicle performance is known by user, and the understanding to road conditions.But due to
The vehicle performance of different automobile types is different, and the topological structure of road is different, the smooth and fluctuating of road
Degree there are differences, and the traffic of road also changes in real time, meanwhile, in some car
The use of equipment, such as air-conditioning, sound equipment, car light etc., weather conditions, such as wind-force and temperature
Deng, the loading capacity of vehicle, also can affect continuation of the journey scope so that user is difficult to estimate exactly sometimes
Calculate continuation of the journey scope.And, for the firm user driven soon or rent vehicle, more it is difficult to
The continuation of the journey scope of estimation vehicle.
The continuation of the journey scope of vehicle is by vehicle, the topological structure of road, the smooth and fluctuating journey of road
Degree, the traffic of road, the service condition of in-vehicle device, weather conditions, load condition,
The impact of the many factors such as the driving habits of user.For electric motor car, continuation of the journey scope is also subject to
Impact to cell degradation degree.Therefore, when estimating continuation of the journey scope, needs consider many
The factor of kind.The present invention proposes a kind of equipment according to dump energy estimation continuation of the journey scope and method.
This equipment can know the dump energy of Current vehicle, the current location of vehicle, in-vehicle device
Service condition, the driving habits of user and vehicle load situation.Meanwhile, this equipment can obtain
The topological structure of multiple geography information, such as road and the gradient situation of road.It addition, should
Equipment can real-time reception traffic related information and weather conditions information.As user it should be understood that continue
During boat scope, these data-evaluations of equipment utilization continuation of the journey scope, and will continuation of the journey by navigation terminal
Scope shows on navigation map, presents to user in the way of the clearest and the most definite.
Up to the present, some patents are also had to propose comprehensive considering various effects to estimate continuation of the journey model
Enclose, and present to user by navigation terminal.Such as, United States Patent (USP) US2011/0112710
User is allowed to set cornering ability, such as Maximum speed limit, peak acceleration etc. before driving, with
And driving style, such as mitigation, fierceness etc..Drive time, according to set cornering ability and
Driving style, dump energy, road grade and class information, estimate and show continuation of the journey scope.
When the driving behavior of user exceeds the setting of cornering ability, point out.This known example explanation
After user specifies destination and calculates driving path, how to estimate continuation of the journey scope, and mention
When user does not sets destination, equally comprehensive considering various effects estimation continuation of the journey scope,
But do not provide clear and definite evaluation method.
Another United States Patent (USP) 5,539,399 describes the continuation of the journey scope for electric motor car and estimates and aobvious
Show method.When dump energy sets thresholding less than certain, system is estimated automatically according to dump energy
Calculate endurance distance and show continuation of the journey scope by the circle that radius is endurance distance.Work as user
During request continuation of the journey scope estimation more accurately, system synthesis considers topological structure and the gradient of road
Information, first calculates the energy consumption of present road, if energy consumption is less than dump energy, then along vehicle
The road component of travel direction continues to calculate forward, until total energy consumption is more than dump energy；Then,
Opposite direction along vehicle heading calculates each road component one by one, until gross energy is more than surplus
Complementary energy.After the calculating completing forward and backward road component, system is drawn and presents continuation of the journey
Scope is to user.This known example and the present invention have following difference: (1) this known example is in estimation
During endurance distance, the road component around moving body current location is calculated one by one energy consumption and with surplus
Complementary energy compares, when road component is more, and energy consumption computationally intensive, the treatability to equipment
Height can be required, it is difficult to realize processing in real time.And the present invention is first with moving body current location and surplus
Complementary energy determines reference destination, and arrives the path of each reference destination, then for this
A little paths make energy calculation, and determine along energy zero point during these route, the most at last can
Amount zero point is connected to form continuation of the journey scope, so can ensure accurately to show continuation of the journey scope and minimizing simultaneously
Equipment computation burden.(2) this known example is the most accurately estimated, and this
In addition invention, also sails another in dump energy into less than certain setting thresholding, moving body
Road, transport information update, opening of device on moving body or closedown, weather conditions update,
Load condition changes, the driving habits of user changes etc. multiple under the conditions of the most automatically
Update continuation of the journey scope, so ensure that the real-time that continuation of the journey scope is estimated.(3) known
Example only considered topological structure and the gradient of road when accurately estimating, and the present invention is comprehensive
Close and consider the model of moving body, the topological structure of road, the gradient of road, the traffic of road
The service condition of the equipment on situation, moving body, weather conditions, load condition, the driving of user
Sail what the many factors such as custom carried out calculating.
Summary of the invention
The problems referred to above in view of prior art, it is proposed that the present invention.Therefore, the purpose of the present invention
It is to provide equipment and the method for a kind of accurately continuation of the journey scope providing a user with moving body, it is possible to root
The accurate continuation of the journey scope of moving body is provided a user with, specifically according to the current remaining of moving body
Ground, it is possible to utilize the information such as dump energy and road topology structure, accurately estimation continuation of the journey scope,
And alleviate the computation burden of equipment.
To achieve these goals, according to the invention it is proposed that one provides a user with moving body
The equipment of scope of accurately continuing a journey, including endurance distance estimation device, surplus according to moving body
Complementary energy estimates the endurance distance of moving body roughly；Reference destination setting device, with movement
The current location of body is the center of circle, draws circle for radius, by ground with the endurance distance estimated roughly
All or part of of the intersection point that road chain in figure intersects with the circumference of this circle is set as reference purpose
Ground；Reference destination path determines device, according to the map in the attribute information of road chain, determine
From each bar reference destination path of the current location of moving body to each reference destination；Energy
Zero point determines device, for every reference destination path, by by this reference destination of arrival
The accumulative energy consumption of Mei Tiao road chain in path and the dump energy of moving body are compared to determine movement
The energy zero point of body, described energy zero point is the residue making moving body on this reference destination path
The movable body position point of energy expenditure to zero；And accurately continuation of the journey scope provides device, according to pin
Energy zero point determined by each bar reference destination path is provided a user with the accurate of moving body
Continuation of the journey scope.
Preferably, described reference destination path is to reference purpose from the current location of moving body
Shortest path, the fastest path or the system recommendation path on ground.
Preferably, the circumference equal dividing of this circle is multiple circle by described reference destination setting device
Arc, and for each circular arc, by the intersection point of road chain nearest for the midpoint from this circular arc Yu this circular arc
It is set as reference destination.
Preferably, described energy zero point determines that device, for every reference destination path, passes through
The accumulative energy consumption of the Mei Tiao road chain in this reference destination path and the dump energy of moving body will be arrived
Compare, determine the energy zero point road chain that there is energy zero point on it；By by this energy of arrival
Every accumulative energy consumption in strip point section of amount zero point road chain compares with the dump energy of moving body
Relatively, determine and there is the shape point section of energy zero point；And by cutting from this shape point section
Energy consumption is gone to be equal to the length of the accumulative energy consumption in this shape point section and the energy consumption difference of dump energy,
Determine energy zero point.
Preferably, described endurance distance estimation device is always according to the unlatching shape of the equipment on moving body
Condition, estimates the endurance distance of moving body roughly.
Preferably, described accumulative energy consumption is based on moving body model, the topological structure of road, road
The service condition of the equipment on the smooth and fluctuating quantity on road, the traffic of road, moving body,
At least one in the driving habits of weather conditions, the load condition of moving body and user,
Calculate.
It addition, according to the invention it is proposed that a kind of model of accurately continuing a journey providing a user with moving body
The method enclosed, including: according to the dump energy of moving body estimate roughly the continuation of the journey of moving body away from
From；With the current location of moving body as the center of circle, paint with the endurance distance estimated roughly for radius
Rounding, all or part of of the intersection point intersected with the circumference of this circle by the road chain in map sets
For reference destination；The attribute information of the road chain according to the map, determine from moving body is current
Position is to each bar reference destination path of each reference destination；For every reference destination
Path, by accumulative energy consumption and the moving body of the Mei Tiao road chain by arriving this reference destination path
Dump energy be compared to determine that the energy zero point of moving body, described energy zero point are this ginseng
Examine the movable body position point making the dump energy of moving body be consumed to zero on destination path；And
Moving body is provided a user with according to for energy zero point determined by each bar reference destination path
Scope of accurately continuing a journey.
In this area, " road chain " is the directed edge (reference standard constituting road network
ISO19133), the direction of road chain represents the travel direction of moving body.In the present invention, map
In path link chain of passing by one's way represent, from current location to the driving path specifying position be by
A series of continuous print roads chain composition.On the other hand, road network is by rule road chain and a road
The node of interchain is constituted.
In this area, " endurance distance " refers to can to travel with the dump energy that moving body is current
Distance, this distance calculates generally according to full energy endurance distance and the dump energy of moving body,
It it is rough estimated value.In the present invention, " continuation of the journey scope " refers to the residue current with moving body
The scope that energy can travel, with a geometirc graphical presentation closed, the estimation of this scope needs
The many factors such as dump energy to be considered, the topological structure of road, transport information.
The present invention is as follows compared to a part of advantage of prior art:
When 1, calculating continuation of the journey scope, it is not for Mei Tiao road chain and makes energy calculation, according to moving body
Current location and dump energy determine reference destination, just for arrive each reference destination road
Road chain in footpath makes energy calculation, thus reduces the computation burden of equipment.
2, when user ask update time, moving body situation change time or moving body ambient influence
When situation about driving changes, continuation of the journey scope is automatically updated, it is ensured that the real-time of estimation.
3, consider and affect the many factors of moving body continuation of the journey scope, thus estimate more accurately
Calculate continuation of the journey scope.
Accompanying drawing explanation
By the detailed description with reference to the following combination accompanying drawing preferred implementation to being used, this
Bright above-mentioned purpose, advantage and feature will become more apparent from, wherein:
Fig. 1 is the example knot of moving body continuation of the journey scope estimation device according to an embodiment of the invention
Composition.
Fig. 2 is the exemplary block diagram that mobile unit information receives device according to an embodiment of the invention.
Fig. 3 is the exemplary block diagram of real time information reception device according to an embodiment of the invention.
Fig. 4 is the exemplary flow of moving body continuation of the journey scope evaluation method according to an embodiment of the invention
Cheng Tu.
Fig. 5 is the example of the full energy endurance distance form of moving body according to an embodiment of the invention
Figure.
Fig. 6 scope of continuing a journey the most roughly presents on the display apparatus
Exemplary plot.
Fig. 7 is the example flow diagram of reference destination establishing method according to an embodiment of the invention.
Fig. 8 is the example flow diagram that energy zero point determines method according to an embodiment of the invention.
Fig. 9 is the exemplary plot of speed energy consumption correspondence form according to an embodiment of the invention.
Figure 10 is the exemplary plot that reference destination sets according to an embodiment of the invention.
Figure 11 is the exemplary plot that reference destination path determines according to an embodiment of the invention.
Figure 12 is the exemplary plot that energy zero point determines according to an embodiment of the invention.
Figure 13 is the exemplary plot of energy Null steering according to an embodiment of the invention.
Figure 14 a and Figure 14 b be the most accurately continue a journey scope provide example
Figure.
Detailed description of the invention
The overall technological scheme of the present invention is as follows:
First, it is determined that the need of updating continuation of the journey scope.The state of moving body is needed to refer to during judgement
With external information such as transport information etc., this judgement can be periodically survey moving body state and
Whether external information changes, it is also possible to be when moving body state or external information change
Time the notice that receives.If a determination be made that need to update continuation of the journey scope, then continue executing with continuous
Boat range estimation, otherwise, does not carry out any operation.When endurance distance is estimated, according to movement
The unlatching situation estimation endurance distance of the equipment in the dump energy of body and/or moving body, this continuation of the journey
Distance, using as the radius of circle in rough continuation of the journey scope estimation, also will be used for the accurately scope of continuing a journey and estimate
Reference destination during calculation sets.Next, it is determined whether accurately estimate continuation of the journey scope.During judgement
Need to refer to dump energy, if dump energy sets thresholding less than certain, the most accurately continue a journey
Scope is estimated；Otherwise, scope of continuing a journey roughly is estimated.
In rough continuation of the journey scope estimation, with the current location of moving body as the center of circle, with endurance distance
Circle is drawn, using this circle as the rough continuation of the journey scope estimated for radius.
In accurately continuation of the journey scope estimation, firstly, it is necessary to set reference destination.During setting, with
The current location of moving body is the center of circle, draws circle with endurance distance for radius, by road and circumference
All or part of of the intersection point intersected is as reference destination.Then, it is determined that reference destination
Path.When determining, with the current location of moving body as starting point, respectively with each reference destination
For terminal, carry out path computing based on map data base.This path can be shortest path, also
Can be the fastest path, it is also possible to be system recommendation path.Here, system recommendation path is to be
The recommendation paths that system is given according to hobby or the demand of user.At reference destination coordinates measurement
After, for every paths, calculate energy zero point.During calculating, with the current location of moving body it is
Starting point, calculates the accumulative energy consumption arriving Mei Tiao road chain one by one, needed for the information used include mobile
Build number, the topological structure of road, the smooth and fluctuating quantity of road, the traffic of road,
The service condition of the equipment on moving body, weather conditions, the load condition of moving body, user
Driving habits etc..Accumulative energy consumption is compared with the dump energy of moving body, determines energy zero point road
Chain.Energy zero point road chain refers to the accumulative energy consumption of this road chain and is suitably larger than remaining equal to moving body
Complementary energy, for the previous bar road chain of energy zero point road chain, accumulative energy consumption remaining less than moving body
Complementary energy.Energy zero point road chain determines a point, adds up energy consumption and moving body at this point
Dump energy is equal, using this point as energy zero point.Finally, it is provided that scope of accurately continuing a journey.Carry
When supplying, each energy zero point is sequentially connected with, forms the geometric figure closed, as accurately
Continuation of the journey scope is shown to user.
Below, the preferred embodiments of the present invention will be described with reference to the attached figures.
Fig. 1 is the exemplary block diagram of the moving body continuation of the journey scope estimation device of the present invention.The present invention's
Moving body continuation of the journey scope estimation device includes: mobile unit information receives device 11, real time information connects
Receiving apparatus 12, storage device 13 and real-time processing device 14.Wherein, mobile unit information receives
On the dump energy of device 11 real-time collecting moving body, the current location of moving body, moving body
The information such as the service condition of equipment, the driving habits of user and moving body load condition, and store
In storage device 13.Real time information reception device 12 real-time reception traffic related information and sky
Gas condition information, and be stored in storage device 13.Storage device 13 store map data base,
Mobile unit information and real time information.Real-time processing device 14 periodically survey moving body state and
Whether external information changes, if changing, then updates continuation of the journey scope.Or, work as reality
Time processing means receive mobile unit information and receive device 11 or real time information reception device 12
During the notice changed for information about sent, update continuation of the journey scope.Then, dress is processed in real time
Putting and continuation of the journey scope is sent to display device 15, this transmission process can be based on (but not limited to)
The bus of cable network, wireless network, mobile network or device interior.Display device 15
The display screen of navigator, the display screen of computer or smart mobile phone can be included, but is not limited to
Display screen etc..
Fig. 2 is the exemplary block diagram of the mobile unit information reception device of the present invention.The movement of the present invention
Body information receiver includes: moving body dump energy receives device 111, moving body present bit
Put the equipment service condition reception device 113 on reception device 112, moving body, user drives habit
Used reception device 114 and moving body load condition receive device 115.Wherein, moving body residue
The dump energy situation of energy acceptance device 111 periodic queries moving body, such as Fuel Oil Remaining,
Remaining fuel amounts, dump energy etc..Moving body current location receives device 112 periodic queries
The positional information of moving body, this positional information is typically (but not limited to) by the GPS (whole world
Alignment system) latitude and longitude information that receives of equipment, or road chain number and being positioned on the chain of road
Positional information.Equipment service condition on moving body receives device 113 periodic queries moving body
On equipment such as air-conditioning, sound equipment, illuminating lamp etc. be turned on and off state.On moving body
Equipment service condition receives device 113 and can also the state of equipment on moving body change
Time receive notice.User's driving habits receive device 114 collect user to throttle, clutch,
Brake, the service condition of parking brake, analyze the driving habits of user.Such as, if the user while lead to
Step on the gas the most continually on smooth road and brake, then showing that this user belongs to fierce driving
Sailing lattice.The collection of driving habits can also be carried out by manually setting of user.Such as,
Equipment provides several driving style options for user selections such as relaxing, fierce, usual.Moving body
Load condition receives device 115 and collects the gross weight of moving body, including moving body self weight,
Passenger weight and goods weight, wherein, the weight of moving body self is generally definite value,
Passenger weight can be obtained by the load cell under seat, and goods weight can pass through standby
The load cell of case obtains.
Fig. 3 is the exemplary block diagram of the real time information reception device of the present invention.The real-time letter of the present invention
Breath receives device and includes: real-time traffic condition information receiver 121 and weather conditions information connect
Receiving apparatus 122.Wherein, real-time traffic condition information receiver 121 is periodically to traffic
The traffic related information that information centre's request is up-to-date, traffic includes, but is not limited to road
Jam situation, road chain hourage, road chain travelling speed, control traffic message, road construction
Information, traffic accident information etc..Real-time traffic condition information receiver 121 can also handed over
Logical condition information receives notice when updating.Weather conditions information receives device 122 periodically
To RSMC's up-to-date weather conditions information of request, weather conditions include, but is not limited to rain,
Snow, hail, mist and wind direction wind-force etc., these information can be issued in units of region,
Can also issue in units of the chain of Shi Yi road.Weather conditions information receives device 122 can also be
Weather conditions information receives notice when updating.
Fig. 4 is the example flow diagram of the moving body continuation of the journey scope evaluation method of the present invention.Specifically describe
As follows:
Step S1: whether update continuation of the journey scope.Periodically survey moving body state and outside letter
Whether breath changes, if changing, then performs step S2, otherwise, does not carry out any behaviour
Make.This cycle can be default value, such as: 5 minutes, it is also possible to specified by user.Or,
Receive moving body state or notice that external information changes, then perform step S2.Occur
Change refers to that the state of current time is different from the state of previous moment.Such as, for moving body
Dump energy, changing can be defined as energy and risen or fallen certain numerical value, such as
5%.For moving body current location, change and can be defined as entering a new road chain,
Can also be defined as keeping at a certain distance away with previous moment, such as 1 kilometer.For on moving body
The service condition of equipment, changing can be defined as the state of equipment and change, such as air-conditioning
Being become opening or gear regulation from closedown, sound equipment is become higher volume, illuminating lamp from relatively amount of bass
Become closing from unlatching.For user's driving habits, change and can be defined as equipment Inspection
Go out user's number of times that (and condition of road surface is identical) is stepped on the gas or braked on identical road to reduce
Or user has manually changed the setting of driving style.For moving body load condition, change
Moving body gross weight can be defined as and decrease certain numerical value, such as 200 kilograms.
Step S2: endurance distance is estimated.Setting in dump energy according to moving body and moving body
Standby unlatching situation estimates endurance distance roughly.Evaluation method can be according to shown in Fig. 5
Moving body expires opening of the equipment on energy endurance distance form and dump energy and/or moving body
Opening situation, this form differs for the model of different moving bodys.Such as: current residue
Energy is 30%, and air-conditioning is opened, and sound equipment is in amount of bass, and illuminating lamp is closed, then according to full energy
Amount endurance distance 430 kilometers, estimating current endurance distance is 129 kilometers.In this step
After being finished, perform step S3.
Step S3: the most accurately estimation continuation of the journey scope.Judge whether to need essence according to dump energy
Really estimation continuation of the journey scope, if dump energy sets thresholding less than certain, then performs model of accurately continuing a journey
The reference destination enclosing estimation S5 sets S51, otherwise, performs rough continuation of the journey scope and provides S4.
This setting thresholding can be by user's sets itself, it is also possible to be that equipment adds energy according to user
The custom of amount sets.Such as, threshold sets is 20% by user, then equipment will be in residual energy
Accurately continuation of the journey scope estimation S5 is performed when amount is less than 20%.Or, device statistics goes out user habit
Add energy when in residue 5%～10% energy, then thresholding may be set to higher than 5%～10%
Numerical value, such as 15%, in order to provide a user with the information of personalization.When threshold sets,
Can also the neighbouring information adding energy facilities in comprehensive moving body current location.Such as, although use
The thresholding that family sets is 20%, but equipment finds when dump energy is 25%, endurance distance circumference
Interior gas station's quantity, less than certain quantity, such as, 3, then performs accurate continuation of the journey scope and estimates
Calculate S5.
Step S4: rough continuation of the journey scope provides.With the current location of moving body as the center of circle, with continuous
Boat distance draws circle for radius, using this round continuation of the journey scope as rough estimation.Fig. 6 gives
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 includes four steps:
Reference destination sets S51, and reference destination path determines that S52, energy zero point determine S53
S54 is provided with accurately continuation of the journey scope.
Step S51: reference destination sets.With the current location of moving body as the center of circle, with continuation of the journey
Distance draws circle for radius, and all or part of of the intersection point intersected with circumference by road is as ginseng
Examining destination, idiographic flow sees Fig. 7.
Step S52: reference destination path determines.Utilize the road chain attribute information of map data base,
Such as length, speed limit, hourage, road chain grade etc., calculate from the current location of moving body
To the path of each reference destination, this path can be shortest path, the fastest path or system
Recommendation paths etc..During calculating, adoptable method includes, but is not limited to the shortest path of routine
Footpath algorithm (such as dijkstra's algorithm), heuristic path searching algorithm (such as A* algorithm), or excellent
The path search algorithm (path search algorithm as cached based on piecemeal path) etc. changed.Every
All Shi Yige road, reference destination path chain-ordering, such as, (Link1, Link2 ...,
Link15)。
Step S53: energy zero point determines.For every reference destination path, with moving body
Current location is starting point, calculates the accumulative energy consumption arriving Mei Tiao road chain one by one, by accumulative energy consumption with
The dump energy of moving body compares, and determines energy zero point road chain.Energy zero point road chain refers to this
The accumulative energy consumption of road chain is suitably larger than the dump energy equal to moving body, for energy zero point road chain
Previous bar road chain, accumulative energy consumption is less than the dump energy of moving body.Then, in energy zero point
Determine a point on the chain of road, add up energy consumption at this point equal with the dump energy of moving body, should
Point is as energy zero point.The idiographic flow that energy zero point determines sees Fig. 8.
Step S54: accurately continuation of the journey scope provides.Each energy zero point is sequentially connected with, forms envelope
The geometric figure closed, as scope of continuing a journey accurately.When connecting energy zero point, can use
Straight line connects, it would however also be possible to employ smooth curve connects.
Fig. 7 is the example flow diagram of the reference destination establishing method of the present invention.Specifically describe such as
Under:
Step S511: circumference equal dividing.By with the current location of moving body as the center of circle, with continuation of the journey away from
Circumference equal dividing from the circle for radius is N number of circular arc.During division, can be according to any direction
Starting point, such as: be starting point according to the intersection point in direction, due east Yu circumference.N and expression continuation of the journey scope
The limit number of figure relevant, typically choose N ＞ 5, such as: N=8.
Step S512: circumferential coordinates calculates.Coordinate according to the center of circle and each circular arc of radius calculation
The coordinate figure that midpoint is corresponding, as circumferential coordinates, such as (x1, y1), (x2, y2) ..., (x8, y8).
Step S513: circumferential coordinates matches road chain.By the method for map match by each circumference
On the road chain that coordinate matching to is nearest.During coupling, it is ensured that match point is positioned at the center of circle and circle
In the sector region that arc is formed, such as (x1, y1), (x2, y2) ..., (x8, y8) difference
It is fitted on road chain L1, L2 ..., on L8.
Step S514: reference destination generates.Using the intersection point of road chain and circular arc as reference purpose
The intersection point RD1, road chain L2 of ground, such as road chain L1 and circular arc and the intersection point RD2 etc. of circular arc.
Fig. 8 is the example flow diagram that the energy zero point of the present invention determines method.It is described in detail below:
Step S531: road chain energy consumption calculation.Calculating road chain can be time-consuming, can include the following
In at least one (but not limited to): cruise energy consumption, go up a slope or descending energy consumption, acceleration or deceleration energy
Consumption, the energy consumption etc. of the equipment in windage energy consumption and moving body.And exist according to the driving habits of user
A coefficient it is multiplied by as final road chain energy consumption, such as, for usual use in energy consumption summation
Family, coefficient is 1, and for the user relaxed, coefficient is 0.95, for fierce user,
Coefficient is 1.2 etc..Below the various piece of energy consumption is illustrated:
The energy that cruise energy consumption Cr_E i.e. moving body consumes when at the uniform velocity travelling on flat road, by
Specific energy consumption c (v) under current road chain travelling speed v [lk], road chain length L and this speed calculates
Draw.Wherein, the specific energy consumption under certain speed can be determined by speed energy consumption correspondence form, figure
The example embodiment of the 9 speed energy consumption correspondence forms giving an electric motor car, this form for
The model of different moving bodys differs.Calculate the method for cruise energy consumption as shown in equation below:
Cr_E=c (v [lk]) * L
Consume or reclaim when upward slope energy consumption Cl_E or the climbing of descending energy consumption Sl_E i.e. moving body or landslide
Energy.For there being the moving body of energy recycle device, the upward slope energy consumption of moving body be on the occasion of,
I.e. consumed energy；Descending energy consumption is negative value, i.e. recovers energy.Upward slope energy consumption is by moving body weight
M, gravity acceleration g, road chain length L, road grade θ, the conversion efficiency of moving body kinetic energy
η _ K calculates.Descending energy consumption is by moving body weight M, gravity acceleration g, road chain length
L, road grade θ, the efficiency eta _ R of energy recycle device calculate.Calculate and go up a slope
The method of energy consumption and descending energy consumption is as shown in equation below:
Sl_E=M*g*L*sin (θ) * η _ R
When accelerating energy consumption Ac_E and deceleration energy consumption De_E and the raising of moving body speed or speed reduction
The energy consumed or reclaim.For there being the moving body of energy recycle device, the acceleration energy of moving body
Consumption is on the occasion of, i.e. consumed energy；Deceleration energy consumption is negative value, i.e. recovers energy.Accelerate energy consumption by
Moving body weight M, the speed v [lk] of current road chain and the speed v [lk-1] of previous bar road chain, shifting
Efficiency eta _ the K of kinetoplast kinetic energy calculates.Deceleration energy consumption by moving body weight M, when
The speed v [lk] of front road chain and the speed v [lk-1] of previous bar road chain, the conversion of energy recycle device
Efficiency eta _ R calculates.Calculate the method such as equation below institute of upward slope energy consumption and descending energy consumption
Show:
Windage energy consumption Wi_E be moving body overcome wind resistance time consume energy.Windage energy consumption by
Current road chain TT hourage [lk], prolong current road chain direction of advance wind speed Wi_v [lk] (if
For with the wind, then this value is negative value；If against the wind, then this value be on the occasion of；If calm, then should
Value is 0), moving body air resistance coefficient γ, the efficiency eta _ K of moving body kinetic energy calculate,
As shown in equation below:
Energy consumption El_E of the equipment on moving body be the electronic equipment on moving body such as air-conditioning, sound equipment,
The energy that illuminating lamp consumes.The energy consumption of the equipment on moving body is by the electronic equipment worked
General power El_P, such as air-conditioning are opened, and power is 1.5 kilowatts, and sound equipment is in high volume state,
Power is 0.025 kilowatt, and illuminating lamp is closed, then general power is 1.525 kilowatts, and road chain trip
Efficiency eta _ the E of row time t [lk] and moving body electric energy calculates.Calculate on moving body
The method of equipment energy consumption is as shown in equation below:
In other embodiments, it may be considered that other many factors, such as road chain grade is to cruise energy
The impact that consumption causes, crossing quantity and traffic lights waiting time, sleety weather road pavement is wet and slippery
The impact etc. that degree causes.
Step S532: accumulative energy consumption calculation.Accumulative energy consumption refers to from reference destination path starting point
To the total energy consumption of current road chain terminal, the accumulative energy consumption of current road chain tiring out equal to previous bar road chain
Meter energy consumption and current road chain energy consumption and.
Step S533: whether accumulative energy consumption is more than or equal to dump energy.By accumulative energy consumption and movement
The dump energy of body compares, if accumulative energy consumption is more than or equal to dump energy, and previous bar
The accumulative energy consumption of road chain is less than dump energy, shows that energy zero point is positioned on the chain of current road, now
Current road chain be energy zero point road chain, perform energy Null steering S534；Otherwise, road is performed
Chain energy consumption calculation S531, calculates the energy consumption of next road chain.
Step S534: energy Null steering.In map data base, Mei Tiao road chain is except starting point
And terminal, also including multiple shape point, these shape points are used for describing the shape of road, have
Coordinate information.When energy Null steering, utilize the shape point information of road chain, from energy zero point
The starting point of road chain starts, and calculates energy consumption and accumulative energy consumption, the method arriving each shape point section
Being similar to road chain energy consumption calculation S531 and accumulative energy consumption calculation S532, difference is: in this step
In Zhou, energy consumption calculation is carried out for each shape point, and accumulative energy consumption is to arrive current shape
The energy consumption summation in some section.If the accumulative energy consumption in Similarity Between Line Segments point section, energy zero point road is more than
In dump energy, and the accumulative energy consumption in previous shape point section is less than dump energy, shows energy
Amount zero point is positioned on current shape point section.Accumulative energy consumption according to current shape point section is with surplus
The energy consumption difference of complementary energy, and the length in current shape point section, from current shape point section
On clip energy consumption equal to the length of energy consumption difference, the point thereby determined that is energy zero point.
Figure 10 is the example embodiment that reference destination sets.In this embodiment, N=6,
The reference destination set eventually as RD1, RD2 ..., RD6.
Figure 11 is the example embodiment that reference destination path determines.In this embodiment, for figure
Reference destination RD1 set in 10, RD2 ..., RD6, the shortest path calculated respectively
Footpath is Route1, Route2 ..., Route6.
Figure 12 is the example embodiment that energy zero point determines.In this embodiment, for Figure 11
In shortest path Route1, calculate energy zero point.Route1 by road chain (Lk [1], Lk [2] ...,
Lk [n]) composition, first, according to road chain energy consumption calculation S531 and accumulative energy consumption calculation S532 from
The current location of moving body calculates the energy consumption of Mei Tiao road chain and accumulative energy consumption successively.Then, tired
Whether meter energy consumption is more than or equal to relatively adding up energy consumption and dump energy, road in dump energy S533
The accumulative energy consumption of chain Lk [m] is more than or equal to dump energy, and the accumulative energy consumption on road chain Lk [m-1] is little
In dump energy, it is thus determined that road chain Lk [m] is energy zero point road chain.It follows that at energy
In Null steering S534, calculate the energy consumption in chain Lk [m] each shape point section, road successively, i.e.
Lk [m, 1], Lk [m, 2], Lk [m, 3], the energy consumption of Lk [m, 4].Due to shape point section Lk [m, 2]
Accumulative energy consumption more than or equal to dump energy, and the accumulative energy consumption of Lk [m, 1] is less than dump energy,
It is thus determined that energy zero point is positioned on Lk [m, 2].The energy consumption of shape point section Lk [m, 2] is 0.04
Kilowatt hour, a length of 20 meters, the accumulative energy consumption of shape point section Lk [m, 2] and dump energy
Difference is 0.01 kilowatt hour, then clip 15 meters on shape point section Lk [m, 2], determined by
Point had both been energy zero point.
Figure 13 is the example embodiment of energy Null steering.In this embodiment, in Figure 11
Shortest path Route1, Route2 ..., Route6, calculating its energy zero point respectively is EZ1,
EZ2 ..., EZ6.
Figure 14 (a) and Figure 14 (b) is the example embodiment that accurately continuation of the journey scope provides.This embodiment
In, by energy zero point EZ1 in Figure 13, EZ2 ..., EZ6 is respectively with straight line or smooth
Curve connects, and is formed and accurately continues a journey scope, in the range of be can to arrive with current dump energy
The place reached, is the most accessibility place outside scope.
Thus, according to the present invention, when accurately calculating continuation of the journey scope, it is not for Mei Tiao road chain and carries out
Energy balane, determines reference destination according to moving body current location and dump energy, just for
The road chain arrived in each reference destination path makes energy calculation, thus reduces the calculating of system
Burden.
As example, the present invention can be in the various navigation such as automatic navigator, navigation center server
Equipment realizes.
The present invention is shown already in connection with the preferred embodiments of the present invention although above, but this area
Skilled person will appreciate that, without departing from the spirit and scope of the present invention, permissible
The present invention is carried out various amendment, replaces and change.Therefore, the present invention should not be by above-mentioned enforcement
Example limits, and should be limited by claims and equivalent thereof.
Claims (7)
1. provide a user with an equipment for the scope of accurately continuing a journey of moving body, including:
Endurance distance estimation device, estimates moving body roughly according to the dump energy of moving body
Endurance distance；
Reference destination setting device, with the current location of moving body as the center of circle, to estimate roughly
The endurance distance calculated is that radius draws circle, the friendship intersected by the road chain in map with the circumference of this circle
All or part of of point is set as reference destination；
Reference destination path determines device, according to the map in the attribute information of road chain, determine
From each bar reference destination path of the current location of moving body to each reference destination；
Energy zero point determines device, for every reference destination path, by by this ginseng of arrival
The accumulative energy consumption of Mei Tiao road chain examining destination path is compared to the dump energy of moving body
Determine that the energy zero point of moving body, described energy zero point are to make on this reference destination path to move
The dump energy of body is consumed to the movable body position point of zero；And
Accurately continuation of the journey scope provides device, according to for determined by each bar reference destination path
Energy zero point provides a user with the accurate continuation of the journey scope of moving body.
Equipment the most according to claim 1, wherein,
Described reference destination path is from the current location of moving body to reference destination
Short path, the fastest path or system recommendation path.
Equipment the most according to claim 1, wherein,
The circumference equal dividing of this circle is multiple circular arc by described reference destination setting device, and for
Each circular arc, is set as reference by the intersection point of road chain nearest for the midpoint from this circular arc Yu this circular arc
Destination.
Equipment the most according to claim 1, wherein,
Described energy zero point determine device for every reference destination path, by should by arrival
The accumulative energy consumption of Mei Tiao road chain in reference destination path compares with the dump energy of moving body
Relatively, the energy zero point road chain that there is energy zero point on it is determined；By by this energy zero point of arrival
Every accumulative energy consumption in strip point section of road chain compares, really with the dump energy of moving body
Surely there is the shape point section of energy zero point；And by clipping energy consumption from this shape point section
Equal to accumulative energy consumption and the length of the energy consumption difference of dump energy in this shape point section, determine
Energy zero point.
Equipment the most according to claim 1, wherein,
Described endurance distance estimation device is always according to the unlatching situation of the equipment on moving body, roughly
The endurance distance of ground estimation moving body.
Equipment the most according to claim 1, wherein,
Described accumulative energy consumption be based on moving body model, the topological structure of road, road smooth
Vaporous with the service condition of equipment on fluctuating quantity, the traffic of road, moving body, sky
At least one in the driving habits of condition, the load condition of moving body and user, calculates
Go out.
7. the method providing a user with the scope of accurately continuing a journey of moving body, including:
Dump energy according to moving body estimates the endurance distance of moving body roughly；
With the current location of moving body as the center of circle, paint with the endurance distance estimated roughly for radius
Rounding, all or part of of the intersection point intersected with the circumference of this circle by the road chain in map sets
For reference destination；
The attribute information of the road chain according to the map, determines from the current location of moving body to each
Each bar reference destination path of reference destination；
For every reference destination path, by every of this reference destination path will be arrived
The accumulative energy consumption of road chain and the dump energy of moving body are compared to determine the energy zero of moving body
Point, described energy zero point is to make the dump energy of moving body be consumed on this reference destination path
The movable body position point of zero；And
Provide a user with according to for energy zero point determined by each bar reference destination path
The scope of accurately continuing a journey of moving body.
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| CN109186623A (en) * | 2018-09-10 | 2019-01-11 | 威马智慧出行科技（上海）有限公司 | A kind of travelable range dynamic display method and its system |
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| WO2020047862A1 (en) * | 2018-09-07 | 2020-03-12 | 深圳配天智能技术研究院有限公司 | Method for acquiring remaining driving mileage of vehicle, electronic device, and vehicle |
| CN111026819B (en) * | 2018-10-09 | 2023-05-09 | 沈阳美行科技股份有限公司 | Method and device for determining vehicle driving range |
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| CN111016665B (en) * | 2018-10-09 | 2023-04-07 | 沈阳美行科技股份有限公司 | Method and device for determining driving range of electric vehicle |
| CN110186473B (en) * | 2019-05-29 | 2023-05-02 | 腾讯科技（深圳）有限公司 | Image processing method, device, electronic equipment and storage medium |
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