CN103868518A - Navigation path planning computer program product of electric traffic carry tool - Google Patents

Navigation path planning computer program product of electric traffic carry tool Download PDF

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Publication number
CN103868518A
CN103868518A CN201210539972.9A CN201210539972A CN103868518A CN 103868518 A CN103868518 A CN 103868518A CN 201210539972 A CN201210539972 A CN 201210539972A CN 103868518 A CN103868518 A CN 103868518A
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weight
path planning
navigation path
charging station
path
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CN103868518B (en
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陈明杰
李政益
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Hua-Chuang Automobile Information Technical Center Co Ltd
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Hua-Chuang Automobile Information Technical Center Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
    • G01C21/3469—Fuel consumption; Energy use; Emission aspects
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
    • G01C21/3461—Preferred or disfavoured areas, e.g. dangerous zones, toll or emission zones, intersections, manoeuvre types, segments such as motorways, toll roads, ferries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles
    • Y02T90/167—Systems integrating technologies related to power network operation and communication or information technologies for supporting the interoperability of electric or hybrid vehicles, i.e. smartgrids as interface for battery charging of electric vehicles [EV] or hybrid vehicles [HEV]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
    • Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
    • Y04S30/00—Systems supporting specific end-user applications in the sector of transportation
    • Y04S30/10—Systems supporting the interoperability of electric or hybrid vehicles
    • Y04S30/12—Remote or cooperative charging

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Navigation (AREA)

Abstract

The invention discloses a path planning computer program product of an electric traffic carry tool, a navigation system is loaded with a navigation path planning program, the navigation system comprises a map database, an input interface, a processing module and an output interface, the navigation path planning computer program product uses map information of the map database to define a starting point as a current planning point, and uses a path objective function to calculate a navigation path with best minimum total mileage cost of each path. The path objective function includes consumed mileage cost, to-be-consumed mileage cost, and residual cost obtained by path distance cost multiplied by overall power consumption weight, and the overall power consumption weight function can be divided into charging station feature related charging station on-active-duty weight and road feature related road priority weight, so that a navigation planning with an optimal path can be provided to the electric traffic carry tool.

Description

Electronic vehicle-carried navigation path planning computer program
Technical field
The present invention relates to a kind of electronic vehicle-carried navigation path planning computer program, espespecially include a path objective function for the relevant overall power consumption weight relevant to link characteristics of charging station characteristic by execution, and cook up the computer program of electronic vehicle-carried path optimizing.
Background technology
Along with scientific and technological progress and the development in epoch, people's philosophy of life gradually changes, thereby little by little pay attention to quality of life, and then drive the prevailing of travelling by car general mood, can go to accurately more rapidly destination for convenience of people, therefore satellite navigation path planning computer program has become the indispensable instrument of people's travelling by car, and it utilizes electronic chart and GPS (Global Positioning System; GPS) carry out path planning and navigation, that is to say, user only need to input behind the destination of wanting to go to, and satellite navigation path planning computer program can be according to user's position, and assisting user is found out the path optimizing that arrives destination.
But, in recent years along with the new line of environmental consciousness, the development of electric motor car thereby come into one's own, in the satellite navigation path planning computer program of prior art, although can plan optimization path, but generally charging station position is not included in to path optimizing planning, and because electric motor car has the restriction of electric weight endurance, therefore, although satellite navigation path planning computer program can be cooked up path optimizing, but the electric weight endurance that existing electric motor car has is limited, make electric motor car still need to look for charging station to certain place and depart from path optimizing, and cannot arrive destination according to planned path optimizing, and then make navigation effect not good.
On existing, various navigation path planning methods are as ant group algorithm (Ant Colony Optimization, ACO), Dick Si Tela (Dijkstra) algorithm, A* algorithm or Moore (Moore/Pape) algorithm; Ant group algorithm is generally used for the planning of random walk, and dijkstra's algorithm is from the periphery of starting point, the shortest path of determining each node one by one; Moore/Pape algorithm is the computing method of shortest path, the quickest in the time of the calculating to multi-to-multi, but is relatively not suitable for the calculating of one-to-many; And calculated amount is less and applicable one-to-many be calculated as A* algorithm, it is mainly an objective function of definition, again this objective function is carried out to the maximal value (minimum value) of differential in the hope of desired value, objective function is found out as a result of path planning of minimum cost after conventionally assessing the cost with F=G+H; Wherein F is that estimated cost, G from initial point to impact point are that real cost, H from initial point to a certain node is the estimated cost from a certain node to impact point optimal path; And this algorithm is taken road attribute, length and the required time of electronic map data conventionally as basis.
At the prior art of various navigation path planning methods, as No. TW201122433 disclosed navigation hint method of Taiwan patent, utilize and calculate the cost in different paths, produce cost residual quantity departing between route and optimization route, and take the path of residual quantity minimum as the path of navigation hint; And for example Taiwan patent is openly utilized map datum and identification minimum cost path for No. TW201211508, to determine the route to destination from starting point; These disclosed technology, on objective function, only consider the cost that mileage is relevant, for electric motor car the power consumption characteristic of long-drawn-out pass there is no method and directly use, electric motor car is except considering mileage, and the power consumption characteristic system of entirety and road category, whether to have the charging station of charging station or that kind be directly related.U.S. Patent Publication No. US20120010767 discloses motor vehicle driven by mixed power (Hybrid electric vehicle, HEV) use battery electric quantity state (Battery State-of-charge, SoC) objective function for optimizing, as Fig. 1, in driving path 9, from the starting point Ps several nodes of process (Pr1, Pr2, Pr3 and Pr4) between Pt to terminal, calculate the battery electric quantity state of each node and list possible battery electric quantity state (SoC 1, SoC 2..., SoC n), via the computing of optimizing, calculate the combination of the best SoC of each node, separately in follow-up navigation, adding category of roads is the consideration of routing again, but in disclosed technology, link characteristics is not included in to the calculating of objective function; Moreover 8204638 of US Patent No. are included road speed in the calculating of carrying out best power source path in the objective function of motor vehicle driven by mixed power; 5913917 quantitative characteristicss with tunnel of US Patent No. are taking point rate (fraction) as weights.
But because electronic vehicle-carried electric weight is limited, when existing navigation path planning computer program or calculation method are applied to electric motor car, in the Consideration in its plan optimization path, only, taking mileage cost as calculating or adding the quantity point rate in tunnel as weights, do not comprise the situation of overall power consumption; But in fact the cost of mileages of transport route is not just with relevant apart from length, and should consider the situation of overall power consumption, the power consumption of different road attributes (such as the power consumption characteristic of highway, through street, provincial highway, county road, township road, Ordinary Rd and other roads etc. is not identical) and whether have charging station etc., only taking mileage cost, time cost or the quantitative characteristics that adds tunnel as computing method such as weights, different from the electronic vehicle-carried electricity consumption condition of travelling of reality, the method that there is no is specifically applied in electronic vehicle-carried navigational system.
Summary of the invention
Fundamental purpose of the present invention is to provide a kind of electronic vehicle-carried navigation path planning computer program, with mileage cost and overall power consumption weight definition outbound path objective function, after the total kilometrage cost in the each path of computing, and cook up path optimizing, provide by this and more meet electronic vehicle-carried navigational computer program product.
For achieving the above object, the present invention by the following technical solutions:
A kind of navigation path planning computer program, it mainly, in the Consideration in plan optimization path, further considers overall power consumption factor; Navigation path planning computer program is applicable to navigational system, and described guidance system configuration is at truck-mounted computer, notebook, digital map navigation computing machine, handheld computer, smart mobile phone etc., not by being limit; Navigational system comprises map data base (map database), inputting interface, processing module (processing unit) and output interface; Navigational system (navigation system) is loaded with navigation path planning program, carries out the following step:
S1: utilize inputting interface and map data base to define starting point (starting point) for working as preplanning point (current point) by user, navigation path planning routine plan goes out by working as preplanning point at least two path n to terminal;
S2: processing module is utilized map data base and worked as preplanning point, loads the cartographic information that comprises at least two via nodes and the cartographic information that loads charging station position; Find out be adjacent to when each via node of preplanning point be each path i (i=1,2 ..., i ... N path), each path i comprises a via node, if having charging station on the i of path, path i also comprises charging station position;
S3: processing module, by path objective function (route objectivefunction) F (n) of navigation path planning program, is calculated out when preplanning point is through the total kilometrage cost Fi of each path i of via node; Wherein path objective function F (n) defines suc as formula (1):
F(n)＝G(n)+H(n) ......(1)
Wherein, F (n) is the total kilometrage cost function of path n, G (n) for expending mileage cost function, H (n) is remaining mileage cost function; Wherein, the remaining mileage cost function of H (n) launches suc as formula (2):
F(n)＝G(n)+H(n)
＝G(n)+h(n)·W(n) ......(2)
Wherein, h (n) is for working as preplanning point air line distance cost function to terminal, and W (n) is overall power consumption weighting function; Formula (2) represents that remaining mileage cost function H (n) is the air line distance cost function h (n) of remaining mileage and the product of overall power consumption weighting function W (n), meaning, remaining mileage cost is not only the cost of distance, must be multiplied by the weights of overall power consumption;
S4: navigation path planning program minimizes path objective function F (n), find out the minimum total kilometrage cost F* in path, calculate out the corresponding via node of minimum total kilometrage cost, being defined as the continues node (approaching node) of advancing; Wherein, path optimizing is to march to the set of paths of terminal from starting point along at least one above-mentioned node of advancing of continuing; Wherein, the total kilometrage cost F of each path i iand path objective function optimization is suc as formula (3) and formula (4):
F i＝G+(h i·W) ......(3)
F * = min i F ( i ) = min i ( G + h i · W ) . . . . . . ( 4 )
S5: continue while advancing node electronic vehicle-carried marching to, navigation path planning program judges whether the node of advancing of continuing is terminal; And
S6: in the judged result of step S5 while being no, the navigation path planning program node of advancing continuing redefines as above-mentioned starting point, and repeats above-mentioned steps S1 to S5; Output interface output navigation path planning program process or execution result.
Wherein, in step S3, expend mileage cost function G (n) for to have expended mileage cost function G from the reality of actual each via node of passing through of starting point 1(n) be about to expend again mileage cost function G 2(n) and, overall power consumption weights W be by charging station position defined charging station weights W s and road weights W r amass, suc as formula (5) and formula (6);
F(n)＝G(n)+H(n)
＝G 1(n)+G 2(n)+h(n)·W ......(5)
Use formula (5) with path objective function F (n), expend mileage cost function G (n), reality has expended mileage cost function G 1(n) be about to expend again mileage cost function G 2(n) the total kilometrage cost F in calculating i path itime, find out above-mentioned being adjacent in list and expend mileage cost G as each path i of each via node of preplanning point in opening iand the corresponding remaining mileage cost H of each path i i; Wherein, expend mileage cost G ifor having expended mileage cost G from the reality of actual each via node of passing through of starting point 1ibe about to expend again mileage cost G 2iand; Remaining mileage cost Hi is by via node air line distance cost h to terminal icalculate with the overall power consumption weights W of each path i.
Preferably, a kind of navigational system of the present invention, the navigation path planning program of navigational system, further carry out the following step in step S1:
S11: navigation path planning program is adjacent to each when the via node of preplanning point and lists in and open list (open list).
Further carry out the following step in step S5:
S51: will the continue node of advancing of navigation path planning program is listed in and closed list (close list).
Preferably, a kind of navigation path planning computer program of the present invention, processing module is calculated out the total kilometrage cost F of each path i by the path objective function F (n) of navigation path planning program itime, overall power consumption weights W is by the defined charging station weight in charging station position
Figure BDA00002580417800051
with road weight
Figure BDA00002580417800052
long-pending suc as formula (6);
W = Π ( W ^ s , W ^ r ) . . . . . . ( 6 )
Wherein, charging station weight (charging station active service weights W s) is contributed (charging station kind weights W st) with the mileage cost producing because of charging station kind, suc as formula (7) can be decomposed into the mileage cost contribution producing because of charging station position;
W ^ s = Π ( Ws , Wst ) . . . . . . ( 7 )
Road weight
Figure BDA00002580417800056
the power consumption contribution that can be decomposed into the mileage cost contribution (road priority weight Wr) that produces because of category of roads, produce because of different categories of roads (power consumption speed weights W is c) and because different roads connects the power consumption contribution (linking road category weights W ct) that grade produces, suc as formula (8):
W ^ r = Π ( Wr , Wc , Wct ) . . . . . . ( 8 )
Preferably, a kind of navigation path planning computer program of the present invention, further comprise weight database, weight database stores the data of various weights, comprises the data of charging station active service weights W s, charging station kind weights W st, road priority weight Wr, power consumption speed weights W c and linking-up road kind weights W ct; Can by user utilize inputting interface pre-enter with upgrade or via navigational system download in advance with upgrade or in be built in weight database, weight database also can combine with map data base, not by being limit.
In follow-up embodiment, the embodiment of proposition is for charging station weight
Figure BDA00002580417800062
road weight
Figure BDA00002580417800063
can its aspect of self-defining:
The numerical value of charging station active service weights W s, as: in charging station military service, weight numerical value, charging station are without military service weight numerical value, not by being limit;
The numerical value of charging station kind weights W st, as: quick charge station kind weight numerical value, rechargeable battery are changed station kind weight numerical value and mobile charging station kind weight numerical value, not by being limit;
The numerical value of road priority weight Wr, as: priority weight numerical value is done in highway priority weight numerical value, through street priority weight numerical value, provincial highway priority weight numerical value, county road priority weight numerical value, township road priority weight numerical value, urban district main roads priority weight numerical value, urban district secondary road priority weight numerical value and lane, not by being limit;
The numerical value of power consumption speed weights W c, as: power consumption weight numerical value is done in highway power consumption weight numerical value, through street power consumption weight numerical value, provincial highway power consumption weight numerical value, county road power consumption weight numerical value, township road power consumption weight numerical value, urban district main roads power consumption weight numerical value, urban district secondary road power consumption weight numerical value and lane, not by being limit;
Link the numerical value of road category weights W ct, as: annulus kind weight numerical value, Ordinary Rd kind weight numerical value, main roads kind weight numerical value, system overpass kind weight numerical value, integration crossing kind weight numerical value, overpass kind weight numerical value, side line kind weight numerical value and rest station kind weight numerical value, not by being limit.
By electronic vehicle-carried navigation path planning computer program of the present invention, can there is following one or more advantage:
The vehicle-carried navigation path planning computer program of the present invention is by the cartographic information of map data base, can plan electronic vehicle-carried guidance path via processing module, calculate the electronic vehicle-carried path optimizing that arrives at terminal from starting point via via node; Can make the minimum total kilometrage cost of electronic vehicle-carried employing arrive at terminal by starting point.
The vehicle-carried navigation path planning computer program of the present invention is on the path planning of optimizing, adopting mileage cost and power consumption weight is path objective function, electronic vehicle-carried most important power consumption factor can be weighted mileage cost by this, make path objective function consistent with electronic the most basic vehicle-carried demand outside, computing obtain optimal path not only considered mileage cost, more weighting power consumption factor; Compared to prior art, because existing satellite navigation path planning computer program is applied to electronic when vehicle-carried, in the Consideration in its plan optimization path, do not comprise power consumption factor, make travelling because of different condition of road surface or because charging causes the increase of total kilometrage cost of electric motor car, i.e. the shortcoming of the vehicle-carried real path optimizing of driving path on-electric; Further illustrate, because electronic vehicle-carried electric weight is limited, be everlasting and need charging midway because electric weight is not enough, electronic vehicle-carried navigation path planning in prior art, do not consider the mileage cost causing because of charging, making electronicly vehicle-carriedly still needs to look for charging station to certain place and departs from path optimizing, and then makes navigation effect not good.
The vehicle-carried navigation path planning computer program of the present invention is on the path planning of optimizing, for can with electronic vehicle-carried practice on more approaching, the power consumption factor of institute's weighting, more can comprehensively add various power consumption factor, as charging station active service weight, charging station kind weight, road priority weight, power consumption speed weight, linking-up road kind weight etc., accuracy and the practicality of electronic vehicle-carried navigation are improved.
The present invention proposes a kind of electronic vehicle-carried navigational computer program product, can utilize navigational system to load navigation path planning program, use inputting interface and map data base to define starting point and terminal by user, navigation path planning program is by cartographic information and the data data of map data base, can calculate the path of minimum mileage cost the best of having considered power consumption factor, on display interface, show, offer electronic vehicle-carried driver with reference to use.
Brief description of the drawings
Fig. 1 prior art paths planning method schematic diagram;
Fig. 2 navigation path planning computer program of the present invention Organization Chart;
Fig. 3 navigation path planning computer program of the present invention application schematic diagram;
Fig. 4 shows the navigation path planning program execution step schematic diagram of the navigation path planning computer program of preferred embodiment of the present invention;
Fig. 5 shows the path planning schematic diagram of the navigation path planning computer program of preferred embodiment of the present invention; And
Fig. 6 A to Fig. 6 D shows that preferred embodiment of the present invention is applied to the path planning schematic diagram of navigation path planning computer program.
[primary clustering symbol description]
10: navigation path planning computer program 11: navigational system
111: map data base 112: inputting interface
113: processing module 114: output interface
12: navigation path planning program 13: weight database
A: starting point B1, B2, B3: via node
C1, C2, C3: via node Cs, Cs1, Cs2, Cs3, Cs4, Cs5, Cs6: charging station
D1, D2, D3: via node E, Pt: terminal
Pa: the node Pc that advances continues: when preplanning point
Pr, Pr1, Pr2, Pr3: via node Ps: starting point
R*: path optimizing S1～S6: execution step
Embodiment
For making the present invention more clearly full and accurate, hereby enumerate preferred embodiment and coordinate following diagram, structure of the present invention and technical characterictic thereof are described in detail as after.
Refer to Fig. 2, it is navigation path planning computer program Organization Chart of the present invention, in the drawings, navigation path planning computer program 10 comprises navigational system 11 and navigation path planning program 12, by navigational system 11, navigation path planning program 12 is loaded to carry out navigation path planning, navigational system 11 is made up of map data base 111, inputting interface 112, processing module 113 and output interface 114; In map data base 111, store place position, road category, linking-up road kind, distance (or the coordinate in each place) within the scope of driving, even in map data base 111, have position, the data such as whether charging station serves can charge, kind of charging station of charging station; Processing module 113 is generally by hardware, software and firmware and is formed, and can accept data that inputting interface 112 enters, obtain data, software program for execution, carry out mathematics or logical operation etc. and the information after computing is shown on output interface 114 from map data base 111 or other databases (as weight database 13).Refer to Fig. 3, it is the schematic diagram of navigation path planning computer program application of the present invention, navigational system 11 reads taking digital map navigation computing machine as the mode illustrating, 13 of weight database can be memory card (as SD card), but not as limit; Optimal path after computing can be presented on the screen (output interface 114) of digital map navigation computing machine.
Refer to Fig. 5, show the planning schematic diagram of the navigation path planning method of the embodiment of the present invention, in the drawings, navigation path planning method planning calculate electronic vehicle-carried from starting point Ps via via node Pr1 and via node Pr2 (path 1:Pr1 → Pr2) or arrive at the path optimizing (optimal route) of terminal Pt via charging station Cs and via node Pr3 (path 2:Pr1 → Cs → Pr3) via via node Pr1.Refer to Fig. 4, show the method flow schematic diagram of the navigation path planning method of the embodiment of the present invention, in the drawings, navigation path planning method comprises the following steps:
S1: utilize map data base 111, define one as preplanning point Pc, cook up by working as preplanning point Pc at least two path n of Pt to terminal; Each is adjacent to and lists unlatching list in when the via node (Pr) of preplanning point Pc; Wherein, vehicle-carriedly started by starting point Ps if electronic, first when path planning, starting point Ps defines one as preplanning point Pc; If the electronic vehicle-carried via node Pr1 that walks to is in planning when next path, via node Pr1 be definition as preplanning point Pc;
S2: utilize map data base 111, load the cartographic information of adjacent each via node (Pr) as preplanning point Pc and load the cartographic information of each charging station position (Cs) of the adjacent preplanning point Pc of working as; Find out be adjacent to when each via node of preplanning point Pc be each path i (i=1,2 ..., i ... N path), each path i at least comprises a via node, if having charging station on the i of path, path i also comprises charging station position;
At step S1 and S2, be applied to the vehicle-carried navigation path planning computer program 10 of the present invention as example taking preferred embodiment, utilize inputting interface 112 that starting point Ps is defined as preplanning point Pc by navigational system 11 or by user, navigational system 11 is utilized the cartographic information of map data base 111, and each is adjacent to and lists unlatching list in when the via node of preplanning point Pc.Further, user electronic vehicle-carried in, starting point Ps and terminal Pt are set by navigation path planning computer program 10, and determine after beginning path planning, navigational system 11 can start navigation path planning program 12 (map data base 111 is arranged in database or the high in the clouds system database of navigation path planning computer program 10) in map data base 111, loading comprises the cartographic information of at least two charging station position Cs and at least two via node Pr, and list at least two via nodes of required process in the path optimizing of Pt to terminal by starting point Ps, then starting point Ps is defined as to one as preplanning point Pc, then the via node Pr that each is adjacent to starting point Ps lists unlatching list in.For instance, if user taking in platform as starting point Ps, and the Taibei is terminal Pt, be adjacent to so via node (Pr) in platform comprised great Jia, rear in and rich former, therefore system can Jiang great Jia, rear in and rich three former via nodes list unlatching list in; For different display frame designs, navigational system 11 can show opening list or other information on output interface 114.
S3: by path objective function F (n), calculate out the total kilometrage cost F of each path i i; Wherein total kilometrage cost F idefine according to path objective function F (n), suc as formula (9):
F i＝G i+H i ......(9)
Wherein, F ifor the total kilometrage cost of path i, G ifor expending mileage cost, H ifor remaining mileage cost; Wherein, the H of path i iremaining mileage cost can be suc as formula (2) calculating that defines, total kilometrage cost F icalculate suc as formula (10):
F i＝G i+H i
＝G i+h i·W i ......(10)
Wherein, h ifor path i is as the preplanning point Pc air line distance cost of Pt to terminal, W ifor path i entirety power consumption weight numerical value; Formula (10) represents remaining mileage cost function H iequal the air line distance cost h of remaining mileage iwith overall power consumption weight numerical value W iproduct; Wherein, path i expend mileage cost G ifor having expended mileage cost G from the reality of actual each via node of passing through of starting point Ps 1ibe about to expend again mileage cost function G 2iand, overall power consumption weights W ifor by the defined charging station weight in charging station position with road weight
Figure BDA00002580417800112
product.
Charging station weight again
Figure BDA00002580417800113
can be the product of charging station active service weights W s and charging station kind weights W st; Road weight
Figure BDA00002580417800114
can be the product of road priority weight Wr, power consumption speed weights W c and linking-up road kind weights W ct; Therefore, total kilometrage cost F icalculate suc as formula (11);
F i＝G 1i+G 2i+h i·W i
＝G 1i+G 2i+h i·(Ws·Wst·Wr·Wc·Wct) ......(11)
At step S3, be applied to the present invention's vehicle-carried navigational system 10 as example taking preferred embodiment, processing module 113 is calculated total kilometrage cost F according to path objective function F (n) to each path i with navigation path planning program 12 i, as above-mentioned great Jia, rear in and rich former three via nodes be example, processing module 113 is calculated out the total kilometrage cost F via large first with navigation path planning program 12 1, via the total kilometrage cost F in rear 2and via rich former total kilometrage cost F 3; For different display frame design, navigational system 11 can show the total kilometrage cost in each path and size sequence thereof or other information on output interface 114.
S4: path objective function F (n) is minimized, find out the minimum total kilometrage cost (F in path in each path i, i=1, n) and be F*, calculate out the corresponding via node of minimum total kilometrage cost, being defined as the continues node Pa (approaching node) that advances; Wherein, path optimizing is to march to the set of paths of terminal Pt from starting point Ps along at least one above-mentioned node Pa that advances of continuing.
At step S4, be applied to navigation path planning computer program 10 of the present invention as example taking preferred embodiment, processing module 113 and navigation path planning program 12 are at total kilometrage cost F iin find out minimum total kilometrage cost F*, and corresponding via node is defined as to the node Pa that advances that continues.Further, continue taking above-mentioned great Jia, rear in and rich former three nodes as example, suppose to there is charging station in the path of large first and make total kilometrage cost F minimum, navigation path planning computer program 10 is selected the via node Pr of the large first node Pa that advances as continuing immediately so, represents that large first is the via node of next driving; For different display frame design, can and preferably continue each path advance node Pa or other information of navigational system 11 shows on output interface 114 with icon or word.
S5: continue while advancing node Pa electronic vehicle-carried marching to, judging continues, and whether the node Pa that advances is terminal Pt; When the node Pa that advances if continue is terminal Pt, the node Pa that advances of continuing lists in and closes list.
At step S5, the navigation path planning computer program 10 that is applied to the present invention taking preferred embodiment is as example, and step S5 continues while advancing node Pa electronic vehicle-carried marching to, and the node Pa that advances of continuing lists in and closes list.Continue taking above-mentioned great Jia, rear in and rich former three nodes as example, due to when the step S4, select the large first node Pa that advances as continuing, therefore user drives the electronic vehicle-carried large first that arrived, and now navigation path planning computer program 10 can be by large first this node Pa that advances of continuing list in and close list, using the large first of expression has passed by and in the time calculating next time, has not listed calculating category in.In addition, it is worth mentioning that, in step S5, all the other above-mentioned each be adjacent to the via node Pr as preplanning point Pc, list unlatching list in, that is to say, rear in and rich former two via nodes can list unlatching list in, use for next time calculation.For different display frame designs, navigational system 11 can show on output interface 114 with icon or word closing list, unlatching list or other information.
S6: while being no, the node Pa that advances continuing redefines as above-mentioned starting point Ps, and repeats above-mentioned steps S1 to S5 in the judged result of step S5.
At step S6, the navigation path planning computer program 10 that is applied to the present invention taking preferred embodiment is as example, navigation path planning computer program 10 judges whether large first is terminal Pt, if and the words of the large first terminal Pt that not to be user set, redefine as starting point Ps with enter node Pa by continued row, and repeat step S1 to S5, that is larger first is considered as to starting point Ps, and then to continue path planning until the continue node Pa that advances be terminal Ps, use plan optimization path; And if large first is the terminal Ps that user sets, carries out immediately step and finish.For different display frame designs, navigational system 11 can show with icon or word the real time status of navigation path planning or other information on output interface 114.
In order to make preferred embodiment of the present invention more clear, refer to Fig. 5, Fig. 5 shows the planning schematic diagram of the navigation path planning method of the navigation path planning computer program 10 of preferred embodiment of the present invention.As shown in Figure 5, Ps is starting point, Pr1, Pr2 and Pr3 are via node, Pt is terminal, wherein vehicle-carriedly travel from starting point Ps that (now via node Pr1 is the starting point that starts to carry out next path planning to via node Pr1 when electronic, be as preplanning point Pc) time, have two via node Pr2 and Pr3 (path 1 and path 2) and need to calculate total kilometrage cost F i(i=1, two paths of 2).G again 1for starting point Ps has expended mileage cost, G to the reality of via node Pr1 2i(i=1,2) expend mileage cost again for via node Pr1 being about to via node Pr2 (path 1) or via node Pr1 to via node Pr3 (path 2); Furthermore, G 2ibe i path via node Pr1 to the distance of via node (Pr2 or Pr3) and the product of road priority weight Wri, and in hi (i=1,2), h 1for via node Pr1 to terminal Pt (path 1) or via node Pr2 air line distance cost, the h2 of Pt (path 1) are the via node Pr3 air line distance cost of Pt (path 2) to terminal to terminal.
Wherein, with the total kilometrage cost F1 of via node Pr2 (path 1), its G1 is that starting point Ps has expended mileage cost to the reality of via node Pr1, its G 21for via node Pr1 to via node Pr2 (path 1) be about to expend again mileage cost, furthermore, G 21for via node Pr1 is to the distance of via node Pr2 and the product of road priority weight Wr1, and h 1for via node Pr2 air line distance cost, the h of Pt (path 1) to terminal 2for the via node Pr3 air line distance cost of Pt (path 2) to terminal.
For another specific embodiment, as Fig. 3, navigation path planning computer program 10 comprises draws together navigational system 11, navigation path planning program 12, weight database 13, and wherein weight database 13 includes charging station weight
Figure BDA00002580417800131
with road weight
Figure BDA00002580417800132
data, for not limiting embodiment, can be inputted by user, in be built in navigation path planning computer program 10, or can download data from high in the clouds, aspect in the following example:
The numerical value of charging station active service weights W s, as:
Charging station active service weights W s Numerical value
Weight in charging station military service 0.5
Charging station is without military service weight 1.0
Whether the charging station on path there is is military service (in business) or be not on active service (in closing a business), give different weights.
The numerical value of charging station kind weights W st, as:
Charging station kind weights W st Numerical value
Quick charge station weight 1
Rechargeable battery is changed station weight 0.4
Mobile charging station weight 0.4
Give different weights to the different kind of the charging station on path, as quick charge station, need to spend mileage cost higher, the rechargeable battery of replaceable battery change station (whole Battery pack is pulled down and installed another Battery pack) and mobile charging station (as after car in tow the formula battery that drags of a battery carry out quick-replaceable) spend mileage cost and approach, give identical weight at the present embodiment.
The numerical value of road priority weight Wr, as:
Road priority weight Wr Numerical value
Highway priority weight 0.8
Through street priority weight 1
Provincial highway priority weight 3
County road priority weight 4
Township road priority weight 6
Urban district main roads priority weight 3.5
Urban district secondary road priority weight 4.5
Priority weight is done in lane 8
To the selection of the different kinds of roads on path, give different weights according to its different mileage cost.
The numerical value of power consumption speed weights W c, and the reference rate of its Main Basis road kenel and setting, as:
Power consumption speed weights W c Numerical value Reference rate
Highway power consumption weight 0.033 110km/h
Through street power consumption weight 0.045 80km/h
Provincial highway power consumption weight 0.06 60km/h
County road power consumption weight 0.072 50km/h
Township road power consumption weight 0.09 40km/h
Urban district main roads power consumption weight 0.06 60km/h
Urban district secondary road power consumption weight 0.072 50km/h
Power consumption weight is done in lane 0.18 20km/h
Different kinds of roads on path are had to different power consumption benchmark, give different weights according to its different mileage cost; Conventionally power consumption benchmark can be reference by the speed of travelling of different kinds of roads.
Link the numerical value of road category weights W ct, as:
Link road category weights W ct Numerical value
Annulus kind weight 1
Ordinary Rd kind weight 1
Main roads kind weight 1
System overpass kind weight 1
Integration crossing kind weight 1
Overpass kind weight 0.5
Side line kind weight 1
Rest station kind weight 1.5
The various link roads that connect because of road on path are had to different mileage costs, give different weights according to its different mileage cost.
Entirety power consumption weights W i is the product of charging station active service weights W s, charging station kind weights W st, road priority weight Wr, power consumption speed weights W c and linking-up road kind weights W ct in the i of path; Therefore for path 1 (via node Pr2 Pt to terminal), overall power consumption weights W 1=Ws 1* Wst 1* Wr 1* Wc 1* Wct 1.If via node Pr1 does not have charging station to the path of via node Pr2, and the road kenel of its walking path is highway, linking-up road kenel is system overpass, therefore charging station active service weights W s 1be 1; Road priority weight Wr 1be 0.8; Power consumption speed weights W c 1be 0.033; Link road category weights W ct 1be 1; And charging station kind weights W st 1can be 1, accordingly, overall power consumption weights W 1result of product be 1*0.8*0.033*1*1.
In like manner, with the total kilometrage cost F2 of via node Pr3 (path 2), to be starting point Ps expended mileage cost to the reality of via node Pr1 to its G1, its G22 be via node Pr1 to via node Pr3 be about to expend again mileage cost, furthermore, G22 be via node Pr1 to the distance of via node Pr3 and the product of road priority weight Wr, and h2 is the via node Pr3 air line distance cost of Pt to terminal.
In addition, if via node Pr1 has charging station Cs to the path of via node Pr3, and the kind of charging station Cs is that rechargeable battery is changed station, and the road kenel of its walking path is highway, linking-up road kenel is system overpass, and therefore charging station active service weights W s is 0.5; Road priority weight Wr is 0.8; Power consumption speed weights W c is 0.033; Linking road category weights W ct is that 1 charging station kind weights W st can be 0.4, and accordingly, the result of product of overall power consumption weights W is 0.5*0.8*0.033*1*0.4.Therefore, total kilometrage cost F2 that can discovery of relay nodes Pr3 after the total kilometrage cost F of relatively via node Pr2 and Pr3 is less, makes the path planning can be taking via node Pr3 as optimal path.
In order to make preferred embodiment of the present invention more clear, see also Fig. 2 and Fig. 6 A to Fig. 6 D, Fig. 6 A to Fig. 6 D shows that preferred embodiment of the present invention is applied to the path planning schematic diagram of navigational system.As shown in the figure, after above-mentioned steps starts, carry out step S1 and utilize cartographic information, starting point is defined as to one as preplanning point Pc, and each is adjacent to and lists unlatching list in as the via node Pr of preplanning point Pc.Further, it is starting point that user sets A, and E is terminal, and in the time starting path planning, system can be defined as starting point A as preplanning point Ps, and lists three via node B1, B2 and B3 in unlatching list.
In step S2, navigational system 11 makes processing module 113 start the total kilometrage cost F via B1, B2 and the each path i of B3 according to aforesaid path objective function F (n) calculation i.More particularly, because the overall power consumption weights W of remaining mileage cost H comprises charging station active service weights W s, to the path of via node B1, there is charging station Cs1 and only only have starting point A to set out, therefore the total kilometrage cost F of via node B1 is less, the charging station of can not passing through to the path of via node B2 and B3 and starting point A sets out, therefore can be larger compared to the total kilometrage cost F of via node B1.
In step S3, processing module 113 and navigation path planning program 12 calculate open in list being adjacent to as preplanning point Pc each correspond respectively to above-mentioned each via node (each path total kilometrage cost F i) i.Further, after above-mentioned calculation, processing module 113 and navigation path planning program 12 can calculate the total kilometrage cost F of each via node B1, B2 and B3 in step S3 according to formula (11) i, the F1 of suppose relay Node B 1 is 30, the F2 of via node B2 is 60, and the F3 of via node B3 is 70.
In step S4, processing module 113 and navigation path planning program 12 are at total kilometrage cost F iin find out minimum total kilometrage cost F*, and corresponding via node is defined as to the node Pa that advances that continues.Further, due in step S3, the F1 that finds out via node B1 is 30, the F2 of via node B2 is 60, and the F3 of via node B3 is 70, therefore, processing module 113 and navigation path planning program 12 are further found out via node B1 in step S4, because its F1 is minimum, and then via node B1 is defined as to the node Pa that advances that continues, now the output interface 114 of navigation path planning computer program 100 shows as the picture of Fig. 6 A.
In step S5, judging continues, and whether the node Pa that advances is terminal Pt.Further, when user drives electric motor car to via node B1, navigation path planning computer program 10 can be listed via node B1 to close list in, use and represent that via node B1 has passed by and in the time calculating next time, do not list calculating category in, in addition, navigation path planning computer program 10 can be listed via node B2 and B3 in unlatching list.In addition, the node Pa that advances owing to continuing is via node B1, and terminal is E, therefore judged result is no, therefore can directly carry out will the continue node Pa that advances of step S6 redefines as starting point Ps, that is to say, via node B1 redefines as starting point Ps, then repeated execution of steps S1 to S5.It is worth mentioning that, in the process repeating, in unlatching list taking via node B1 as starting point Ps, navigation path planning computer program 10 can be listed via node B2, B3, C1, C2 and C3 in unlatching list, and in preferred embodiment, because via node B2 and B3 think and retrace one's steps via an authentication mechanism, therefore via node B2 and B3 can be excluded immediately opening outside list.
And in the upper process once repeating, via node B1 is starting point Ps, on path, there are via node C1, C2 and C3, and charging station Cs2, therefrom select preferably path via navigation 10 according to formula (11), for example, on the path of via node C2, there is charging station Cs2, its after computing its total kilometrage cost F compared with little and the node of advancing of making to continue is C2, now the output interface 114 of navigation path planning computer program 10 shows as the picture of Fig. 6 B, and because via node C2 is not terminal E, therefore repeated execution of steps S1 to S5 again.
In the process repeating for the second time, navigation path planning computer program 10 can be from via node D1, in D2 and D3, select preferably path, for example, though have charging station Cs4 on the path of via node D1, but do via lane in its path, road priority weight Wr and power consumption speed weights W c are all higher, therefore its total kilometrage cost F is larger, and it is less with the total kilometrage cost F of via node D2, and the node Pa that advances of making to continue is D2, now the output interface 114 of navigation path planning computer program 10 shows as the picture of Fig. 6 C, and because via node D2 is not terminal E, therefore repeated execution of steps S1 to S5 again.
Follow-up in the process repeating for the third time, cook up the path toward terminal E, and then cook up path optimizing P* as shown in Figure 6 D.
The above; be only the specific embodiment of the present invention, but protection scope of the present invention is not limited to this, any be familiar with those skilled in the art the present invention disclose technical scope in; can expect easily changing or replacing, within all should being encompassed in protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of described claim.

Claims (10)

1. a navigation path planning computer program, is to load navigation path planning program by navigational system, and described navigational system comprises map data base, inputting interface, processing module and output interface; Described navigational system is carried out the following step:
S1: utilize inputting interface and map data base to define starting point for working as preplanning point by user, navigation path planning routine plan goes out by working as preplanning point at least two paths to terminal;
S2: processing module is utilized map data base and worked as preplanning point, loads the cartographic information that comprises at least two via nodes and the cartographic information that loads charging station position, and wherein each paths comprises via node;
S3: processing module, by the path objective function of navigation path planning program, is calculated out when preplanning point is through the total kilometrage cost of each paths of via node;
S4: navigation path planning program, by total kilometrage cost minimization, is calculated out the minimum corresponding via node of total kilometrage cost, and is defined as the node of advancing that continues; Wherein, path optimizing is to march to the set of paths of terminal from starting point along at least one above-mentioned node of advancing of continuing;
S5: continue while advancing node electronic vehicle-carried marching to, navigation path planning program judges whether the node of advancing of continuing is terminal; And
S6: in the judged result of step S5 while being no, the navigation path planning program node of advancing continuing redefines as above-mentioned starting point, and repeats above-mentioned steps S1 to S5; Output interface output navigation path planning program process or execution result;
Wherein, the total kilometrage cost function that path objective function is each path, it is the addition combination that expends mileage cost function and remaining mileage cost function;
Wherein, expending mileage cost function is to be about to expend mileage cost function and the actual addition combination that has expended mileage cost function again; Wherein, expend mileage cost function on path from the reality of the actual above-mentioned via node of passing through of starting point expended mileage cost, actual expended mileage cost function for path on from when preplanning point is to mileage cost that via node was about to expend again;
Wherein, remaining mileage cost is from via node air line distance cost to terminal and the product of overall power consumption weight.
2. navigation path planning computer program according to claim 1, navigational system also comprises step S11 in execution step S1:
S11: each is adjacent to and lists unlatching list in when the via node of preplanning point;
In execution step S5, also comprise step S51:
S51: the node of advancing of continuing is listed in and closed list.
3. navigation path planning computer program according to claim 1, navigation path planning program is in step S3, use path objective function to calculate out when preplanning point is through the total kilometrage cost of each paths of via node, wherein overall power consumption weight is the product by the defined charging station weight in charging station position and road weight.
4. navigation path planning computer program according to claim 3, navigation path planning program is in step S3, and charging station weight is the product of charging station active service weight and charging station kind weight; Wherein road weight is the product of road priority weight, power consumption speed weight and linking-up road kind weight.
5. navigation path planning computer program according to claim 4, navigational system further comprises weight database, weight database stores the data of charging station weight and road weight, it pre-enters for user utilizes inputting interface, via navigational system download in advance or in be built in weight database.
6. navigation path planning computer program according to claim 5, weight database comprises the data of charging station active service weight, charging station kind weight, road priority weight, power consumption speed weight and linking-up road kind weight.
7. navigation path planning computer program according to claim 6, the power consumption speed weight data of weight database comprise: the data of power consumption weight are done in highway power consumption weight, through street power consumption weight, provincial highway power consumption weight, county road power consumption weight, township road power consumption weight, urban district main roads power consumption weight, urban district secondary road power consumption weight or lane.
8. navigation path planning computer program according to claim 6, the linking-up road kind weight data of weight database comprise: the data of annulus kind weight, Ordinary Rd kind weight, main roads kind weight, system overpass kind weight, integration crossing kind weight, overpass kind weight, side line kind weight or rest station kind weight.
9. navigation path planning computer program according to claim 6, the charging station kind weight data of weight database comprise: quick charge station kind weight, rechargeable battery are changed the data of station kind weight or mobile charging station kind weight; Wherein, the charging station active service weight data of weight database comprise: in charging station military service, weight or charging station are without the data of military service weight.
10. navigation path planning computer program according to claim 6, the road priority weight data of weight database comprise: the data of priority weight are done in highway priority weight, through street priority weight, provincial highway priority weight, county road priority weight, township road priority weight, urban district main roads priority weight, urban district secondary road priority weight or lane.
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