CN107180281A - Path planning optimization method, device and the equipment of a kind of electric automobile - Google Patents
Path planning optimization method, device and the equipment of a kind of electric automobile Download PDFInfo
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- CN107180281A CN107180281A CN201710467222.8A CN201710467222A CN107180281A CN 107180281 A CN107180281 A CN 107180281A CN 201710467222 A CN201710467222 A CN 201710467222A CN 107180281 A CN107180281 A CN 107180281A
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Abstract
A kind of path planning optimization method of electric automobile includes：According to cluster radius set in advance, the cluster and the barycenter of cluster of the charging pile website included between the start position of user and final position are searched；Path planning is carried out according to the barycenter for the cluster and the cluster searched.It is that unit carries out path planning that the present invention, which is only needed to according to cluster, it greatly simplified the complexity of path planning, and include multiple charging pile websites in each cluster, therefore user can be greatly improved charge in the cluster successful probability, be conducive to improving the reliability of path planning.
Description
Technical field
The invention belongs to path planning field, more particularly to the path planning optimization method of electric automobile a kind of, device and
Equipment.
Background technology
With electric automobile popularization and use, the charging pile equipment supporting with it is also more and more.In face of more and more
Charging pile equipment, for electric automobile go on a journey path planning seem more and more important.If the path of planning can not cause
Electric automobile is travelled in course continuation mileage to charging pile website, then electric automobile can be caused can not to complete predetermined stroke, to use
The trip at family is made troubles.
In order to solve the problem of electric automobile can not be travelled in course continuation mileage to charging pile website, basis is currently suggested
The position of charging pile website, and charging pile website parameter, with reference to the hobby feature of user, carry out layout of roads, so as to
To help user to quickly find suitable travel route.But, when user is charged according to the circuit of planning, if run into
Charging pile is stopped transport or failure, and needs to plan circuit again so that the reliability of circuit is not high, and with charging pile website
Quantity it is more and more, the calculating of path planning becomes increasingly complex.
The content of the invention
In view of this, it is existing to solve the embodiments of the invention provide a kind of path planning optimization method of electric automobile
The reliability of the programme path of electric automobile is not high in technology, the problem of calculating of path planning becomes increasingly complex.
The first aspect of the embodiment of the present invention provides a kind of path planning optimization method of electric automobile, methods described bag
Include：
According to cluster radius set in advance, the charging pile station included between the start position of user and final position is searched
The cluster of point and the barycenter of cluster；
Path planning is carried out according to the barycenter for the cluster and the cluster searched.
It is described according to cluster set in advance with reference in a first aspect, in the first possible implementation of first aspect
Radius, searches the step of the cluster of the charging pile website included between the start position of user and final position and the barycenter of cluster
Suddenly, including：
Obtain and be not assigned to the arbitrary initial charging pile websites of other clusters, and with initial charge stake website
Distance is less than the first set that the charging pile website of the cluster radius is constituted；
Calculate other charging pile websites of any one the charging pile website in the first set into first set it
Between distance average value, the minimum charging pile website of average value for obtaining distance is first nodal point；
Obtain the first nodal point, and charging pile of the distance less than the cluster radius with the first nodal point
Website constitutes second set；
Calculate other charging pile websites of any one the charging pile website in the second set into second set
The average value of distance, the charging pile website for obtaining the average value minimum of distance is the second central point；
Judge whether first nodal point and the second central point are identical, if identical, with the charging pile station in second set
Point is cluster, and the second central point is the barycenter of cluster；If it is not the same, then continuing to search for the second central point and cluster radius
The 3rd central point in three set and the 3rd set, until the i-th central point found is identical with the i-th -1 central point, its
Middle i is more than or equal to 2.
With reference to the first possible implementation of first aspect or first aspect, second in first aspect may realization
In mode, described according to cluster radius set in advance, what is included between the start position of lookup user and final position fills
Before the step of barycenter of the cluster of electric stake website and cluster, methods described also includes：
According to the characteristic parameter of charging pile website, the characteristic parameter of the hobby data of user and the vehicle of user is calculated
User and the matching degree of charging pile website；
It is described according to cluster radius set in advance, search the charging included between the start position of user and final position
Stake website cluster and cluster barycenter the step of include：
According to cluster radius set in advance, include between the start position of user and final position and user is searched
Matching degree be more than predetermined threshold charging pile website cluster and the barycenter of cluster.
With reference to the first possible implementation of first aspect or first aspect, the third in first aspect may be realized
In mode, it is described according to the barycenter of the cluster searched and the cluster carry out path planning the step of include：
The quantity of the charging pile website included according to cluster, and charging pile website in cluster and user match
The matching degree of degree, computing cluster and user；
Path planning is carried out according to the matching degree of the position of the barycenter of the cluster and cluster and user.
With reference in a first aspect, in the 4th kind of possible implementation of first aspect, methods described also includes：
When user reaches the cluster in planned path, the distance of the charging pile website in user and cluster, with
And user and the matching degree of the feature of charging pile website, generate charging pile recommendation list.
Second aspect, device, described device bag are optimized the embodiments of the invention provide a kind of path planning of electric automobile
Include：
Cluster searching unit, for according to cluster radius set in advance, searching start position and the final position of user
Between the cluster and the barycenter of cluster of the charging pile website that include；
Path planning unit, for carrying out path planning according to the barycenter for the cluster and the cluster searched.
With reference to second aspect, in the first possible implementation of second aspect, the cluster searching unit includes：
First set searching unit, the arbitrary initial charging pile website of other clusters is not assigned to for obtaining, and
It is less than the first set that the charging pile website of the cluster radius is constituted with the distance of initial charge stake website；
First nodal point computation subunit, for calculating any one charging pile website in the first set to first
The average value of the distance between other charging pile websites in set, it is the to obtain the minimum charging pile website of average value of distance
One central point；
Second set obtains subelement, for obtaining the first nodal point, and the distance with the first nodal point
Charging pile website less than the cluster radius constitutes second set；
Second central point computation subunit, for calculating any one charging pile website in the second set to second
The average value of the distance of other charging pile websites in set, the minimum charging pile website of average value for obtaining distance is in second
Heart point；
Judgment sub-unit, for judging whether first nodal point and the second central point are identical, if identical, with the second collection
Charging pile website in conjunction is cluster, and the second central point is the barycenter of cluster；If it is not the same, then with the second central point and cluster
Radius continues to search for the 3rd central point in the 3rd set and the 3rd set, until the i-th central point found and the i-th -1
Central point is identical, and wherein i is more than or equal to 2.
With reference to the first possible implementation of second aspect or second aspect, second in second aspect may realization
In mode, described device also includes：
Matching degree computing unit, for the characteristic parameter according to charging pile website, the hobby data of user and user's
The characteristic parameter of vehicle, calculates user and the matching degree of charging pile website；
The cluster searching unit is used for：
According to cluster radius set in advance, include between the start position of user and final position and user is searched
Matching degree be more than predetermined threshold charging pile website cluster and the barycenter of cluster.
The third aspect of the embodiment of the present invention provides a kind of path planning optimization equipment of electric automobile, including storage
Device, processor and it is stored in the computer program that can be run in the memory and on the processor, the processor
The step of path planning optimization method of any one electric automobile of first aspect is realized when performing the computer program.
The fourth aspect of the embodiment of the present invention provides a kind of computer-readable recording medium, computer-readable storage medium
Matter, the computer-readable recording medium storage has computer program, it is characterised in that the computer program is held by processor
Realized during row as described in any one of first aspect the step of the path planning optimization method of electric automobile.
The beneficial effect that the embodiment of the present invention exists compared with prior art is：By charging pile website by way of cluster
Simplified, when carrying out path planning, it is only necessary to which path planning is carried out for unit according to cluster, greatly simplified path rule
The complexity drawn；In addition, the path planned by trunking mode, includes multiple charging pile websites, therefore in each cluster
User can be greatly improved to charge in the cluster successful probability, be conducive to improving the reliability of path planning.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
In required for the accompanying drawing that uses be briefly described, it should be apparent that, drawings in the following description are only some of the present invention
Embodiment, for those of ordinary skill in the art, without having to pay creative labor, can also be according to these
Accompanying drawing obtains other accompanying drawings.
Fig. 1 is the implementation process schematic diagram of the path planning optimization method of electric automobile provided in an embodiment of the present invention；
Fig. 2 is the method implementation process schematic diagram of the cluster of lookup charging pile website provided in an embodiment of the present invention；
Fig. 3 is that the path planning of electric automobile provided in an embodiment of the present invention optimizes the schematic diagram of device；
Fig. 4 is that the path planning of electric automobile provided in an embodiment of the present invention optimizes the schematic diagram of equipment.
Embodiment
In describing below, in order to illustrate rather than in order to limit, it is proposed that such as tool of particular system structure, technology etc
Body details, thoroughly to understand the embodiment of the present invention.However, it will be clear to one skilled in the art that there is no these specific
The present invention can also be realized in the other embodiments of details.In other situations, omit to well-known system, device, electricity
Road and the detailed description of method, in case unnecessary details hinders description of the invention.
In order to illustrate technical solutions according to the invention, illustrated below by specific embodiment.
It is the implementation process of the path planning optimization method of electric automobile provided in an embodiment of the present invention as shown in Figure 1, in detail
State as follows：
In step S101, according to cluster radius set in advance, between start position and the final position of searching user
Including charging pile website cluster and the barycenter of cluster.
The cluster, the charging pile set that can be constituted for multiple charging pile websites.One is constituted by multiple charging pile websites
Individual set, and gather in a charging pile website as the set barycenter, carry out path planning when, it is only necessary to according to
Path planning is carried out in the position of the barycenter.For charging pile website more and more intensive region, by by charging pile website cluster
Mode, can effectively reduce the complexity planned according to charging pile website.Such as, have 100 between beginning and end
Individual charging pile website, when directly being planned according to charging pile website, due to charging pile station included between beginning and end
The quantity of point is more, and with the increase of charging pile website, the amount of calculation in path planning also can be in exponential increase.Pass through collection
The mode of group, according to the cluster radius of setting, the charging pile website between beginning and end is simplified, such as from original
100 charging pile websites, being divided into 10 clusters, (quantity in each cluster may be differed, and the number of the quantity of cluster can
Determined with the position according to charging pile website and cluster radius).When carrying out path planning, it is only necessary to according to this 10 clusters
Planned, the complexity to path planning greatly reduced.In addition, the efficiency in order to improve path planning, can be advance
Calculate the cluster between any two charging pile website.
The cluster radius, can be close with the position of the distribution of the charging pile website in the region where user and distribution
Degree is related.The determination of the cluster radius, when can be distributed according to charging pile website, charging pile website and a certain central point away from
From the quantity of the smaller and included charging pile website of average value more be advisable.Such as, the average value of distance can be set up
With the mapping table of the mapping table of score value, and charging pile website quantity and score value, respectively from corresponding weight system
Number calculates total score, is first used as preferably cluster radius with the cluster radius corresponding to score value highest scheme.Certainly, institute
Stating cluster radius can also be specified by user.
The start position of the user, user current position when can be path planning, can also be specified by user
Original position.The final position, is user or the destination locations specified by system.Between the start position and final position
Charging pile website cluster barycenter, can be by the cluster region of charging pile website central point, or fill
The center charging pile website of the cluster region of electric stake website.
Also, the barycenter of the cluster of the charging pile website, can be while cluster be predefined, by the barycenter of cluster
Position be stored in the data related to cluster.It is used as a kind of mistake of the barycenter of the lookup cluster of optimization in the embodiment of the present invention
Journey (can also can in real time search the cluster for determining charging pile website) to predefine the cluster of charging pile website, can be with
Including process as shown in Figure 2：
In step s 201, obtain and be not assigned to the arbitrary initial charging pile websites of other clusters, and with it is described just
The distance of beginning charging pile website is less than the first set that the charging pile website of the cluster radius is constituted.
Specifically, after user determines original position and final position, can search accordingly positioned at start position with
Charging pile website between final position, and can determine that any charging pile website is initial according to the charging pile website of lookup
Charging pile website, carries out the lookup of cluster.Wherein, a kind of embodiment of optimization can be since start position, to search the
One belongs to charging and fills a website as initial charge stake website., can be by the cluster determined when n-th cluster is determined
Included charging pile website is excluded, and charging pile website is determined from remaining charging pile website as initial charge stake website,
And according to initial charge stake website and cluster radius, it is determined that including the first set of multiple charging piles.
In step S202, any one the charging pile website calculated in the first set is other into first set
The average value of the distance between charging pile website, the charging pile website for obtaining the average value minimum of distance is first nodal point.
After the first set including multiple charging pile websites is determined, according to the position of charging pile website, it can calculate
The distance between other charging pile websites in any one charging pile website and first set in first set, it is possible to count
Calculate the average value for obtaining multiple distances.By comparing, the minimum charging pile website of the average value of distance can be obtained, and this is filled
Electric stake website further optimizes, and can be temporarily named as first nodal point.
In step S203, the first nodal point is obtained, and be less than the collection with the distance of the first nodal point
The charging pile website of group's radius constitutes second set.
After first nodal point is determined, according to the position of first nodal point and cluster radius, it can redefine and fill
The set of electric stake website.If first nodal point is different from the position of initial charge stake website, what second set included fills
The charging pile website that electric stake website may also include from first set is different.
In step S204, any one the charging pile website calculated in the second set is other into second set
The average value of the distance of charging pile website, the charging pile website for obtaining the average value minimum of distance is the second central point.
According to the set of the charging pile website newly determined, i.e. second set, each charging pile station is recalculated
Point and the average value of the distance of other charging pile websites in second set, obtain the minimum charging pile website of the average value of distance
It is used as the second central point in second set.
In step S205, judge whether first nodal point and the second central point are identical, if identical, with second set
In charging pile website be cluster, the second central point be cluster barycenter；If it is not the same, then with the second central point and cluster half
Footpath continues to search for the 3rd central point in the 3rd set and the 3rd set, until in the i-th central point found and the i-th -1
Heart point is identical, and wherein i is more than or equal to 2.
If the second central point is different from first nodal point, show that first set is also differed with second set.Can be according to
According to the above-mentioned computational methods iterated, calculating obtains the 3rd central point and the 3rd set, and compares the 3rd central point and the second center
Whether point is identical, and so on, until the i-th central point is identical with the i-th -1 central point.This i-th central point looked into is the i-th collection
The barycenter of conjunction, i-th collection is combined into the cluster that found satisfaction is required.
Certainly, if the second central point is same charging pile website with first nodal point, then second set or the first collection
Charging pile website in conjunction is cluster, and the second central point or first nodal point are the barycenter of cluster.
In addition, the convenience in order to improve path planning, simplifies the search procedure of cluster, charging pile website can be carried out
Optimization, can precompute the matching degree of user and all charging pile websites, then according to the matching degree threshold value of setting, general
Charging pile website with degree less than certain value is filtered, so that during cluster lookup, the convenience that reduction cluster is searched.And by
In the relatively low charging pile website of matching degree, satisfaction when user is charged is relatively low, after filtering, can provide the user
The path planning of the charging pile website more optimized.
In step s 102, path planning is carried out according to the barycenter for the cluster and the cluster searched.
A kind of embodiment optimized as the present invention, it may be predetermined that the matching degree of each cluster and user, specifically
Can be according to the characteristic parameter of charging pile website, the characteristic parameter of the hobby data of user and the vehicle of user calculates user
With the matching degree of charging pile website.
Such as, can according to parameters such as the interface type of charging pile website, business hours, history favorable comment information, with reference to
Interface type, charging pile preference information of the electric automobile at family etc., determine the matching degree of user and charging pile, can be by cluster
Each charging pile website and the mode for matching summation of user, determine the matching degree of user and cluster, such as, for cluster A, bag
Include 5 charging pile websites, the matching degree of charging pile website and user are respectively 6,7,8,9,10, then, of cluster A and user
It is 40 with degree.Cluster B includes 10 charging pile websites, and matching degree is respectively 5,5,6,6,7,7,8,8,9,9, then cluster B
Matching degree with user is 70.
It is of course also possible to according to the quantity of the average value of matching degree, and charging pile website, and corresponding weights system
Number, calculates the matching degree of user and cluster.Such as, for cluster A, it includes five charging pile websites, and it is matched with user's
Degree is respectively 6,7,8,9,10, and cluster B includes 10 charging pile websites, and matching degree is respectively 5,5,6,6,7,7,8,8,9,9,
The weight coefficient of user and the matching degree of charging pile website is 50%, and the quantity correspondence weight coefficient of charging pile website is 50%,
So, the matching degree of cluster A and user are 8*50%+5*50%=6.5, and the matching degree of cluster B and user are 7*50%+
10*50%=8.5.
After the matching degree of user and cluster is determined, the collection between start position and final position can be searched
Group, and according to cluster and the height of the matching degree of user the higher cluster of matching degree can be selected to carry out path planning.
, can be according to the matter of the cluster between start position and final position after start position and final position is determined
The heart carries out path planning.Because the quantity of the barycenter of cluster is much smaller than the quantity of charging pile website, it therefore, it can greatly improve
The simplicity of path planning.Also, include multiple charging pile websites in same cluster, with charging pile website in cluster
The increase of quantity, the probability that user can be reliably completed charging is also higher, so as to improve the reliability of user's charging.
It should be understood that the size of the sequence number of each step is not meant to the priority of execution sequence, each process in above-described embodiment
Execution sequence should determine that the implementation process without tackling the embodiment of the present invention constitutes any limit with its function and internal logic
It is fixed.
Fig. 3 is a kind of structural representation of the path planning apparatus of electric automobile provided in an embodiment of the present invention, is described in detail such as
Under：
The path planning optimization device of the electric automobile includes：
Cluster searching unit 301, for according to cluster radius set in advance, searching start position and the terminal position of user
The cluster and the barycenter of cluster of the charging pile website included between putting；
Path planning unit 302, for carrying out path planning according to the barycenter for the cluster and the cluster searched.
It is preferred that, the cluster searching unit includes：
First set searching unit, the arbitrary initial charging pile website of other clusters is not assigned to for obtaining, and
It is less than the first set that the charging pile website of the cluster radius is constituted with the distance of initial charge stake website；
First nodal point computation subunit, for calculating any one charging pile website in the first set to first
The average value of the distance between other charging pile websites in set, it is the to obtain the minimum charging pile website of average value of distance
One central point；
Second set obtains subelement, for obtaining the first nodal point, and the distance with the first nodal point
Charging pile website less than the cluster radius constitutes second set；
Second central point computation subunit, for calculating any one charging pile website in the second set to second
The average value of the distance of other charging pile websites in set, the minimum charging pile website of average value for obtaining distance is in second
Heart point；
Judgment sub-unit, for judging whether first nodal point and the second central point are identical, if identical, with the second collection
Charging pile website in conjunction is cluster, and the second central point is the barycenter of cluster；If it is not the same, then with the second central point and cluster
Radius continues to search for the 3rd central point in the 3rd set and the 3rd set, until the i-th central point found and the i-th -1
Central point is identical, and wherein i is more than or equal to 2.
It is preferred that, described device also includes：
Matching degree computing unit, for the characteristic parameter according to charging pile website, the hobby data of user and user's
The characteristic parameter of vehicle, calculates user and the matching degree of charging pile website；
The cluster searching unit is used for：
According to cluster radius set in advance, include between the start position of user and final position and user is searched
Matching degree be more than predetermined threshold charging pile website cluster and the barycenter of cluster.
The path planning optimization device of electric automobile described in the embodiment of the present invention, the path with electric automobile described in Fig. 1-2
Plan optimization method correspondence.
Fig. 4 is that the path planning for the electric automobile that one embodiment of the invention is provided optimizes the schematic diagram of equipment.Such as Fig. 4 institutes
Show, the path planning optimization equipment 4 of the electric automobile of the embodiment includes：Processor 40, memory 41 and it is stored in described
In memory 41 and the computer program 42 that can be run on the processor 40, such as the path planning optimization journey of electric automobile
Sequence.The processor 40 realizes that the path planning optimization method of each above-mentioned electric automobile is real when performing the computer program 42
Apply the step in example, such as step 101 shown in Fig. 1 to 102.Or, the processor 40 performs the computer program 42
The function of each module/unit, such as function of module 301 to 302 shown in Fig. 3 in the above-mentioned each device embodiments of Shi Shixian.
Exemplary, the computer program 42 can be divided into one or more module/units, it is one or
Multiple module/units are stored in the memory 41, and are performed by the processor 40, to complete the present invention.Described one
Individual or multiple module/units can complete the series of computation machine programmed instruction section of specific function, and the instruction segment is used for
Implementation procedure of the computer program 42 in the path planning optimization equipment 4 of the electric automobile is described.For example, the meter
Calculation machine program 42 can be divided into cluster searching unit, path planning unit, and each module concrete function is as follows：
Cluster searching unit, for according to cluster radius set in advance, searching start position and the final position of user
Between the cluster and the barycenter of cluster of the charging pile website that include；
Path planning unit, for carrying out path planning according to the barycenter for the cluster and the cluster searched.
The path planning optimization equipment 4 of the electric automobile can be desktop PC, notebook, palm PC and cloud
Hold the computing devices such as server.The path planning optimization equipment of the electric automobile may include, but be not limited only to, processor 40,
Memory 41.It will be understood by those skilled in the art that Fig. 4, which is only the path planning of electric automobile, optimizes the example of equipment 4, and
The restriction for optimizing equipment 4 to the path planning of electric automobile is not constituted, can include parts more more or less than diagram, or
Some parts, or different parts are combined, such as the path planning optimization equipment of described electric automobile can also include input
Output equipment, network access equipment, bus etc..
Alleged processor 40 can be CPU (Central Processing Unit, CPU), can also be
Other general processors, digital signal processor (Digital Signal Processor, DSP), application specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) or other PLDs, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor can also be any conventional processor
Deng.
The memory 41 can be that the path planning of the electric automobile optimizes the internal storage unit of equipment 4, for example
The path planning of electric automobile optimizes the hard disk or internal memory of equipment 4.The memory 41 can also be the road of the electric automobile
The grafting being equipped with the External memory equipment of footpath plan optimization equipment 4, such as the path planning optimization equipment 4 of described electric automobile
Formula hard disk, intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card, flash card
(Flash Card) etc..Further, the memory 41 both can also have been set in the path planning optimization including the electric automobile
Standby 4 internal storage unit also includes External memory equipment.The memory 41 is used to store the computer program and institute
State other programs and data needed for the path planning optimization equipment of electric automobile.The memory 41 can be also used for temporarily
Store the data that has exported or will export.
It is apparent to those skilled in the art that, for convenience of description and succinctly, only with above-mentioned each work(
Energy unit, the division progress of module are for example, in practical application, as needed can distribute above-mentioned functions by different
Functional unit, module are completed, i.e., the internal structure of described device is divided into different functional unit or module, more than completion
The all or part of function of description.Each functional unit, module in embodiment can be integrated in a processing unit, also may be used
To be that unit is individually physically present, can also two or more units it is integrated in a unit, it is above-mentioned integrated
Unit can both be realized in the form of hardware, it would however also be possible to employ the form of SFU software functional unit is realized.In addition, each function list
Member, the specific name of module are also only to facilitate mutually differentiation, is not limited to the protection domain of the application.Said system
The specific work process of middle unit, module, may be referred to the corresponding process in preceding method embodiment, will not be repeated here.
In the above-described embodiments, the description to each embodiment all emphasizes particularly on different fields, without detailed description or note in some embodiment
The part of load, may refer to the associated description of other embodiments.
Those of ordinary skill in the art are it is to be appreciated that the list of each example described with reference to the embodiments described herein
Member and algorithm steps, can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
Performed with hardware or software mode, depending on the application-specific and design constraint of technical scheme.Professional and technical personnel
Described function can be realized using distinct methods to each specific application, but this realization is it is not considered that exceed
The scope of the present invention.
, can be with embodiment provided by the present invention, it should be understood that disclosed device/terminal device and method
Realize by another way.For example, device described above/terminal device embodiment is only schematical, for example, institute
The division of module or unit is stated, only a kind of division of logic function there can be other dividing mode, for example when actually realizing
Multiple units or component can combine or be desirably integrated into another system, or some features can be ignored, or not perform.Separately
A bit, shown or discussed coupling or direct-coupling or communication connection each other can be by some interfaces, device
Or INDIRECT COUPLING or the communication connection of unit, can be electrical, machinery or other forms.
The unit illustrated as separating component can be or may not be it is physically separate, it is aobvious as unit
The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be selected to realize the mesh of this embodiment scheme according to the actual needs
's.
In addition, each functional unit in each embodiment of the invention can be integrated in a processing unit, can also
That unit is individually physically present, can also two or more units it is integrated in a unit.Above-mentioned integrated list
Member can both be realized in the form of hardware, it would however also be possible to employ the form of SFU software functional unit is realized.
If the integrated module/unit realized using in the form of SFU software functional unit and as independent production marketing or
In use, can be stored in a computer read/write memory medium.Understood based on such, the present invention realizes above-mentioned implementation
All or part of flow in example method, can also instruct the hardware of correlation to complete, described meter by computer program
Calculation machine program can be stored in a computer-readable recording medium, and the computer program can be achieved when being executed by processor
The step of stating each embodiment of the method..Wherein, the computer program includes computer program code, the computer program
Code can be source code form, object identification code form, executable file or some intermediate forms etc..Computer-readable Jie
Matter can include：Can carry any entity or device of the computer program code, recording medium, USB flash disk, mobile hard disk,
Magnetic disc, CD, computer storage, read-only storage (ROM, Read-Only Memory), random access memory (RAM,
Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..It should be noted that described
The content that computer-readable medium is included can carry out appropriate increasing according to legislation in jurisdiction and the requirement of patent practice
Subtract, such as, in some jurisdictions, according to legislation and patent practice, computer-readable medium does not include electric carrier signal and electricity
Believe signal.
Embodiment described above is merely illustrative of the technical solution of the present invention, rather than its limitations；Although with reference to foregoing reality
Example is applied the present invention is described in detail, it will be understood by those within the art that：It still can be to foregoing each
Technical scheme described in embodiment is modified, or carries out equivalent substitution to which part technical characteristic；And these are changed
Or replace, the essence of appropriate technical solution is departed from the spirit and scope of various embodiments of the present invention technical scheme, all should
Within protection scope of the present invention.
Claims (10)
1. the path planning optimization method of a kind of electric automobile, it is characterised in that methods described includes：
According to cluster radius set in advance, the charging pile website included between the start position of lookup user and final position
The barycenter of cluster and cluster；
Path planning is carried out according to the barycenter for the cluster and the cluster searched.
2. the path planning optimization method of electric automobile according to claim 1, it is characterised in that the basis is set in advance
Fixed cluster radius, searches the cluster of charging pile website included between the start position of user and final position and cluster
The step of barycenter, including：
Obtain the arbitrary initial charging pile website for being not assigned to other clusters, and the distance with initial charge stake website
The first set constituted less than the charging pile website of the cluster radius；
Calculate between other charging pile websites of any one the charging pile website in the first set into first set
The average value of distance, the charging pile website for obtaining the average value minimum of distance is first nodal point；
Obtain the first nodal point, and charging pile website of the distance less than the cluster radius with the first nodal point
Constitute second set；
Calculate the distance of other charging pile websites of any one the charging pile website in the second set into second set
Average value, the minimum charging pile website of average value for obtaining distance is the second central point；
Judge whether first nodal point and the second central point identical, if identical, using the charging pile website in second set as
Cluster, the second central point is the barycenter of cluster；If it is not the same, then continuing to search for the 3rd collection with the second central point and cluster radius
The 3rd central point in conjunction and the 3rd set, until the i-th central point found is identical with the i-th -1 central point, wherein i is big
In or equal to 2.
3. the path planning optimization method of electric automobile according to claim 1 or claim 2, it is characterised in that pre- in the basis
The cluster radius first set, searches the cluster and collection of the charging pile website included between the start position of user and final position
Before the step of barycenter of group, methods described also includes：
According to the characteristic parameter of charging pile website, the characteristic parameter of the hobby data of user and the vehicle of user calculates user
With the matching degree of charging pile website；
It is described according to cluster radius set in advance, search the charging pile station included between the start position of user and final position
Point cluster and cluster barycenter the step of include：
According to cluster radius set in advance, including between the start position of user and final position, with user is searched
Cluster and the barycenter of cluster with degree more than the charging pile website of predetermined threshold.
4. the path planning optimization method of electric automobile according to claim 1 or claim 2, it is characterised in that described according to being looked into
The step of cluster and the barycenter of the cluster looked for carry out path planning includes：
The quantity of the charging pile website included according to cluster, and charging pile website and the matching degree of user in cluster, meter
Calculate cluster and the matching degree of user；
Path planning is carried out according to the matching degree of the position of the barycenter of the cluster and cluster and user.
5. the path planning optimization method of electric automobile according to claim 1, it is characterised in that methods described also includes：
When user reaches the cluster in planned path, the distance of the charging pile website in user and cluster, Yi Jiyong
Family and the matching degree of the feature of charging pile website, generate charging pile recommendation list.
6. the path planning optimization device of a kind of electric automobile, it is characterised in that described device includes：
Between cluster searching unit, start position and the final position for according to cluster radius set in advance, searching user
Including charging pile website cluster and the barycenter of cluster；
Path planning unit, for carrying out path planning according to the barycenter for the cluster and the cluster searched.
7. the path planning optimization device of electric automobile according to claim 6, it is characterised in that the cluster is searched single
Member includes：
First set searching unit, the arbitrary initial charging pile websites of other clusters is not assigned to for obtaining, and with institute
The distance for stating initial charge stake website is less than the first set that the charging pile website of the cluster radius is constituted；
First nodal point computation subunit, for calculating any one charging pile website in the first set to first set
In the distance between other charging pile websites average value, the minimum charging pile website of average value for obtaining distance is in first
Heart point；
Second set obtains subelement, is less than for obtaining the first nodal point, and with the distance of the first nodal point
The charging pile website of the cluster radius constitutes second set；
Second central point computation subunit, for calculating any one charging pile website in the second set to second set
In other charging pile websites distance average value, the minimum charging pile website of average value for obtaining distance is the second center
Point；
Judgment sub-unit, for judging whether first nodal point and the second central point are identical, if identical, with second set
Charging pile website be cluster, the second central point be cluster barycenter；If it is not the same, then with the second central point and cluster radius
The 3rd central point in the 3rd set and the 3rd set is continued to search for, until the i-th central point found and the i-th -1 center
Point is identical, and wherein i is more than or equal to 2.
8. the path planning optimization device of electric automobile according to claim 6 or 7, it is characterised in that described device is also wrapped
Include：
Matching degree computing unit, for the characteristic parameter according to charging pile website, the hobby data and the vehicle of user of user
Characteristic parameter, calculate the matching degree of user and charging pile website；
The cluster searching unit is used for：
According to cluster radius set in advance, including between the start position of user and final position, with user is searched
Cluster and the barycenter of cluster with degree more than the charging pile website of predetermined threshold.
9. a kind of path planning optimization equipment of electric automobile, including memory, processor and be stored in the memory
And the computer program that can be run on the processor, it is characterised in that described in the computing device during computer program
Realize as described in any one of claim 1 to 5 the step of the path planning optimization method of electric automobile.
10. a kind of computer-readable recording medium, the computer-readable recording medium storage has computer program, its feature exists
In the path planning of realization electric automobile as described in any one of claim 1 to 5 when the computer program is executed by processor
The step of optimization method.
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| CN201710467222.8A CN107180281B (en) | 2017-06-19 | 2017-06-19 | Path planning optimization method, device and equipment for electric automobile |
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| CN201710467222.8A CN107180281B (en) | 2017-06-19 | 2017-06-19 | Path planning optimization method, device and equipment for electric automobile |
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| CN107990907A (en) * | 2017-11-23 | 2018-05-04 | 英业达科技有限公司 | Travel path planing method and its user's terminal installation |
| CN109827584A (en) * | 2019-01-15 | 2019-05-31 | 北京百度网讯科技有限公司 | Paths planning method, device, electronic equipment and storage medium |
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| CN102709984A (en) * | 2012-06-13 | 2012-10-03 | 清华大学 | Electromobile charging path planning method based on intelligent transportation system |
| US20160096527A1 (en) * | 2014-10-02 | 2016-04-07 | Ford Global Technologies, Llc | Adaptive model predictive control for vehicle route planning |
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| CN102709984A (en) * | 2012-06-13 | 2012-10-03 | 清华大学 | Electromobile charging path planning method based on intelligent transportation system |
| US20160096527A1 (en) * | 2014-10-02 | 2016-04-07 | Ford Global Technologies, Llc | Adaptive model predictive control for vehicle route planning |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107990907A (en) * | 2017-11-23 | 2018-05-04 | 英业达科技有限公司 | Travel path planing method and its user's terminal installation |
| CN109827584A (en) * | 2019-01-15 | 2019-05-31 | 北京百度网讯科技有限公司 | Paths planning method, device, electronic equipment and storage medium |
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| Publication number | Publication date |
|---|---|
| CN107180281B (en) | 2020-06-26 |
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