CN108407640B - Highway vehicle guiding system with charging lane and guiding method - Google Patents

Highway vehicle guiding system with charging lane and guiding method Download PDF

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Publication number
CN108407640B
CN108407640B CN201810182811.6A CN201810182811A CN108407640B CN 108407640 B CN108407640 B CN 108407640B CN 201810182811 A CN201810182811 A CN 201810182811A CN 108407640 B CN108407640 B CN 108407640B
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vehicle
charging
lane
electric
unit
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CN108407640A (en
Inventor
吴文静
马芳武
贾洪飞
罗清玉
梁志康
陈润超
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Jilin University
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Jilin University
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30Constructional details of charging stations
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/12Inductive energy transfer
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/60Monitoring or controlling charging stations
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/60Monitoring or controlling charging stations
    • B60L53/66Data transfer between charging stations and vehicles
    • B60L53/665Methods related to measuring, billing or payment
    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/70Energy storage systems for electromobility, e.g. batteries
    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10Technologies relating to charging of electric vehicles
    • Y02T90/12Electric charging stations
    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10Technologies relating to charging of electric vehicles
    • Y02T90/14Plug-in electric vehicles
    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10Technologies relating to charging of electric vehicles
    • Y02T90/16Information or communication technologies improving the operation of electric vehicles

Abstract

The invention provides a highway vehicle guiding system with a charging lane and a guiding method, wherein the system comprises the following components: the intelligent vehicle-mounted device comprises a common lane, a charging lane, intelligent driving vehicle-mounted equipment consisting of vehicle-mounted sensors and vehicle-mounted units, a road side unit connected with the vehicle-mounted equipment, and communication network equipment for communication between the vehicle-mounted equipment and the road side equipment; the in-vehicle charging electronic system is connected with the vehicle-mounted equipment and consists of a radio frequency transmitter and a wireless charging receiver; the road charging subsystem is connected with the in-vehicle charging electronic system; and the user card is connected with the charging electronic system in the vehicle and is used for charging the electric quantity. The invention sets the slow lane of the highway as the charging road of the electric vehicle, reduces the queuing time of vehicle charging, improves the running efficiency of the vehicle, charges on a special road, saves the construction and maintenance cost of the charging road, avoids the interference of the charging vehicle on the non-charging vehicle and avoids the waste of electric power.

Description

Highway vehicle guiding system with charging lane and guiding method
Technical Field
The invention relates to the technical field of intelligent traffic, in particular to a highway vehicle guiding system with a charging lane and a guiding method.
Background
In 2015, a technical route diagram (2015 edition) of key fields of < 2025 manufactured by china > was promulgated by the ministry of national industry and informatization, 10 fields such as new material industry and 23 key development directions are defined, wherein clear proposals of pure electric and plug-in hybrid electric vehicles, fuel cell vehicles, energy-saving vehicles and intelligent internet vehicles are key development directions in the future in China. Among new energy automobiles in China, electric automobiles are the trend direction of future automobile development. With the development of battery technology, the cruising ability of the electric automobile is improved, however, the convenient and efficient charging technology is always the bottleneck limiting the development of the electric automobile. The existing charging technology can be roughly divided into two categories of charging in a fixed power station and charging without stopping. The charging mode overcomes the defects that the charging mode of a fixed power station is high in cost, long in time consumption, large in quantity of demands and inconvenient to use, and particularly relieves the congestion condition of an electric automobile charging station in a highway. However, if the induction charging coils are laid on all the ground, on one hand, the induction charging coils are easy to cause interference to non-charging electric vehicles, and on the other hand, the induction charging coils have the defects of energy waste, difficult charging and the like.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a guidance system and a guidance method for a highway vehicle with a charging lane, so as to solve the problems that the existing non-stop charging method lays induction charging coils on all lanes, which causes interference to non-charging electric vehicles, and wastes energy.
The invention provides a highway vehicle guiding system with a charging lane, which comprises: the intelligent road charging system comprises a common lane, a charging lane, intelligent driving vehicle-mounted equipment, a road side unit, communication network equipment, an in-vehicle charging electronic system, a road charging subsystem and a user card; the common lane is used for allowing the electric vehicle which does not need to be charged to run; the charging lane is used for the electric vehicle which needs to be charged to run; the intelligent driving vehicle-mounted equipment comprises a vehicle-mounted sensor and a vehicle-mounted unit, wherein the vehicle-mounted sensor comprises an in-vehicle current sensor and an out-vehicle environment sensing sensor, the in-vehicle current sensor is used for sensing electric quantity information of the electric vehicle in real time and transmitting the electric quantity information to the vehicle-mounted unit, and the out-vehicle environment sensing sensor is used for sensing out-vehicle environment information and transmitting the out-vehicle environment information to the vehicle-mounted; the vehicle-mounted unit is used for judging whether the electric vehicle needs to be charged according to the electric quantity information and the environment information, and sending a charging request to the road side unit through the communication network equipment when the electric vehicle is judged to need to be charged; the road side unit is used for acquiring the running information and the electric quantity information of the electric vehicles on other lanes in a preset range according to the charging request, analyzing the lane change guide information and sending the lane change guide information to the vehicle-mounted unit of the electric vehicle needing to be charged, and the vehicle-mounted unit of the electric vehicle needing to be charged adjusts the speed of the vehicle to be switched from the common lane to the charging lane according to the lane change guide information; the road charging subsystem comprises charging units uniformly arranged on a charging lane; the in-vehicle charging subsystem comprises a radio frequency transmitter and a wireless charging receiver, wherein the radio frequency transmitter is used for transmitting an activation signal to the road charging subsystem to activate the charging unit; the wireless charging receiver comprises a processor, a wireless power receiving coil and an alternating current-direct current converter; wherein the processor is used for verifying the activation signal; the wireless power receiving coil is arranged at the bottom of the electric vehicle and is connected with a battery of the electric vehicle through an alternating current-direct current converter; the alternating current-direct current converter is used for converting alternating current into direct current; the wireless power receiving coil is used for coupling the charging unit and wirelessly charging a battery of the electric vehicle; the user card is used to connect with the charging electronic system in the car, the radio frequency emitter calculates the corresponding amount of money according to the charged electric quantity information, and deducts from the user card.
The invention provides a highway vehicle guiding method with a charging lane, which comprises the following steps:
step S1: collecting electric quantity information and environment information outside the electric vehicle through a vehicle-mounted sensor;
step S2: the vehicle-mounted unit calculates the endurance mileage of the electric vehicle according to the electric quantity information and the external environment information acquired by the vehicle-mounted sensor, and judges whether the endurance mileage can reach the destination;
step S3: when the endurance mileage fails to reach the destination, the vehicle-mounted unit judges whether a battery of the electric vehicle is lower than a preset electric quantity;
step S4: when the battery of the electric vehicle is lower than the preset electric quantity, the vehicle-mounted unit sends a charging request to the road side unit through the communication network equipment;
step S5: the road side unit collects the running information and the electric quantity information of the electric vehicle on other lanes in a preset range according to the charging request, analyzes the lane change guide information and sends the lane change guide information to the vehicle-mounted unit of the electric vehicle needing to be charged;
step S6: the vehicle-mounted unit of the electric vehicle needing to be charged adjusts the speed of the vehicle to be switched from the common lane to the charging lane according to the received lane changing guide information;
step S7: after the electric vehicle enters a charging lane, an activation signal is transmitted to a road charging subsystem through a radio frequency transmitter, and a charging unit is activated;
step S8: the processor demodulates and decrypts the activation signal and verifies the activation signal;
step S9: when the activation signal passes the verification, the wireless charging receiver turns on the alternating current-direct current converter, and the wireless power receiving coil is coupled with the charging unit to wirelessly charge the battery of the electric vehicle.
By utilizing the highway vehicle guiding system with the charging lane and the guiding method, the following technical effects can be achieved:
1. compared with a fixed power station charging mode, the wireless charging mode meets the real-time charging requirement of the electric vehicle, reduces the vehicle charging queuing time and improves the vehicle running efficiency, and on the other hand, a special charging lane is independently established on one side of a common lane, and a charging unit is laid on the charging lane for charging the electric vehicle needing to be charged, so that the construction and maintenance cost of a charging road can be saved, the interference of the charging vehicle on a non-charging vehicle can be avoided, and the waste of energy is avoided;
2. the vehicle charging management and control system is based on the vehicle networking technology, the electric quantity condition of the vehicle is monitored in real time, the traffic management and control center manages the distribution of the vehicle on different lanes according to the electric quantity condition of the vehicle, the charging requirement of the electric vehicle is met in real time, and the traffic efficiency of a road network is improved.
Drawings
Other objects and results of the present invention will become more apparent and more readily appreciated as the same becomes better understood by reference to the following description taken in conjunction with the accompanying drawings. In the drawings:
FIG. 1 is a schematic diagram of a highway vehicle guidance system with a charging lane according to an embodiment of the present invention;
FIG. 2 is a schematic illustration of an installation location of a highway vehicle guidance system with a charging lane according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an actual scenario of a highway vehicle guidance system with a charging lane according to an embodiment of the present invention;
FIG. 4 is a schematic flow chart of a highway vehicle guidance method with a charging lane according to an embodiment of the invention;
fig. 5 is a flowchart illustrating a lane change guidance method for a vehicle according to an embodiment of the present invention.
Wherein the reference numerals include: common Lane Lane 1-Lane 2, charging Lane Lane3, intelligent driving vehicle-mounted equipment 1, vehicle-mounted detector 11, vehicle-mounted unit 12, road side unit 2, communication network equipment 3, in-vehicle charging electronic system 4, radio frequency transmitter 41, wireless charging receiver 42, road charging subsystem 5, charging units 5-1-5, user card 6 and electric vehicle V1~V3
Detailed Description
In the following description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of one or more embodiments. It may be evident, however, that such embodiment(s) may be practiced without these specific details. In other instances, well-known structures and devices are shown in block diagram form in order to facilitate describing one or more embodiments.
The vehicle in the present invention refers to an electric vehicle, and the vehicle described below corresponds to the same concept as the electric vehicle.
The invention provides an expressway vehicle guiding system with a charging lane, which is characterized in that a slowest lane (non-emergency lane) at the rightmost side of an expressway is set as the charging lane, and vehicles are guided to enter and exit from the charging lane through information interaction of V2V, V2I and I2V according to the charging requirement of an electric vehicle, so that the charging efficiency of the vehicles is improved, the energy is saved, the passing efficiency of road traffic is improved, and the interference of the charging vehicles on other vehicles is reduced.
As shown in fig. 1 and 2, an embodiment of the present invention provides a highway vehicle guidance system with a charging lane, including: the intelligent driving system comprises a common lane, a charging lane, intelligent driving vehicle-mounted equipment 1, a road side unit 2, communication network equipment 3, an in-vehicle charging electronic system 4, a road charging subsystem 5 and a user card 6; the invention takes the overtaking lane and the traffic lane as the common lanes on the basis of the existing expressway, and the electric vehicle which does not need to be charged runs on the common lanes; the charging lane is one, the slow lane of the expressway is used as the charging lane, when the electric vehicle needs to be charged, the electric vehicle is switched into the charging lane from the common lane to be charged in the process of continuously driving, and the electric vehicle returns to the common lane again after charging is finished.
The intelligent driving vehicle-mounted device 1 comprises a vehicle-mounted sensor 11 and a vehicle-mounted unit 12, wherein the vehicle-mounted sensor 11 comprises an in-vehicle current sensor and an out-vehicle environment sensing sensor, the in-vehicle current sensor is used for sensing electric quantity information of an electric vehicle in real time and transmitting the electric quantity information to the vehicle-mounted unit 12, and therefore condition information about the vehicle is provided for a driver; the vehicle exterior environment sensing sensor is used for sensing environment information outside a vehicle and transmitting the environment information to the vehicle-mounted unit 12, and currently, mainstream sensors for sensing the environment around the vehicle comprise three types, namely a laser radar (LiDAR), a millimeter wave radar (millimeterwave) and a vision sensor; the vehicle-mounted unit 12 is used for judging whether the electric vehicle needs to be charged according to the electric quantity information and the environment information, and sending a charging request to the road side unit 2 through the communication network equipment 3 when the electric vehicle is judged to need to be charged; the on-Board unit 12 is an obu (on Board unit) or obd (on Board diagnostic) diagnostic terminal, the on-Board sensor 11 inputs the information inside the vehicle and the information outside the vehicle to the on-Board unit 12, the on-Board unit 12 makes a charging decision in time for the electric vehicle in a low-power state after analysis, and sends a charging request to the drive test unit 2 through the communication network device 3.
The road side unit 2 reads the driving information, the electric quantity information and the like of other vehicles in different lanes in a certain range through a short-range communication network simultaneously based on a radio frequency identification technology, after the traffic state analysis, the road side unit 2 sends vehicle guiding information, such as information of acceleration, deceleration, lane changing and the like, to the vehicle-mounted unit 12, and the vehicle-mounted unit 12 assists a driver to complete behavior operations such as lane changing and the like.
The Road Side Unit (Road Side Unit)2 is an expressway infrastructure, generally installed on both sides of a Road, and communicates with the on-board Unit 12 by using dsrc (dedicated Short Range communication) technology. The roadside unit 2 can efficiently collect road traffic information and perform centralized processing and feedback of the collected information. The design of the road side unit 2 conforms to the national standard of GB20851, and the communication frequency is 5.8 GHz. The road side unit 2 consists of a high-gain directional beam control read-write antenna and a radio frequency controller, wherein the high-gain directional beam control read-write antenna is a microwave transceiver module and is responsible for transmitting/receiving, modulating/demodulating, coding/decoding, encrypting/decrypting signals and data; the radio frequency controller is a module for controlling data transmission and reception and processing information transmission and reception to an upper computer.
The communication network device 3 is used for realizing the car networking, and mainly depends on two communication technologies: short-distance video communication (DSRC) (shortened Short Range communication) and long-distance mobile communication technologies, wherein the former mainly comprises RFID sensing equipment and 2.4G communication technologies such as WIFI (wireless fidelity), and the latter mainly comprises GPRS (general packet radio service), 3G, LTE, 4G and other mobile communication technologies.
The road charging subsystem 5 comprises charging units uniformly arranged on a charging lane, the charging units cover the whole charging lane, and 5 charging units are shown in fig. 2 and are respectively charging units 5-1-5.
The in-vehicle charging subsystem 4 comprises a radio frequency transmitter 41 and a wireless charging receiver 42, wherein the radio frequency transmitter 41 is used for transmitting an activation signal to the road charging subsystem 5 to activate the charging unit; the radio frequency transmitter 41 is controlled to be turned on or off by the on-board unit 12; the wireless charging receiver 42 includes a processor, a wireless power receiving coil, and an ac-dc converter; wherein, the processor is used for demodulating and decrypting the activation signal sent by the radio frequency transmitter 41 and then verifying the activation signal; the wireless power receiving coil is arranged at the bottom of the electric vehicle and is connected with a battery of the electric vehicle through an alternating current-direct current converter; the alternating current-direct current converter is used for converting alternating current into direct current; the wireless power receiving coil is used for being coupled with the charging unit to wirelessly charge the battery of the electric vehicle.
It should be noted that the charging unit and the in-vehicle wireless charging receiver 42 are wirelessly charged through the wireless power receiving coil, and the initial state of the charging unit is a sleep state and is activated by the rf transmitter 41 in the in-vehicle charging system of the electric vehicle. When the wireless charging receiver 42 at the bottom of the electric vehicle runs to a charging unit, for example, the charging unit 5-2 is activated to transmit wireless energy, and the wireless energy transmitted by the charging unit 5-2 is received by the wireless charging receiver 42 and then converted into electric energy to charge the battery of the electric vehicle.
The user card 6 is used to connect with the charging electronic system 4 in the car, and deduct from the user card after the radio frequency transmitter calculates the corresponding amount according to the charged electric quantity information. When the balance in the user card 6 is insufficient or the wireless charging function is turned off by the vehicle owner, the vehicle-mounted unit 12 turns off the radio frequency transmitter 41 and calculates the charge according to the amount of charging.
The invention mainly uses long-distance logistics transport trucks. The product sequence of the new generation popular Delivery includes a purely electric E-Delivery version. The vehicle is mainly aimed at the new energy logistics vehicle market in south America. After one charge, the endurance mileage of the popular E-Delivery is 200 km, which is a sample for the present invention, and the one charge time is determined by the type of the battery and the capacity of the battery. The general electric vehicle can be charged 50% in 30 minutes after being charged quickly, can be charged in 1-1.5 hours after being charged slowly, can be charged about 6-12 hours after being charged slowly, the charging time of each brand and each model of electric vehicle is different, the wireless charging general duration time needs more charging time than that of a fixed charging facility, and therefore, the charging time is assumed to be 6-12 hours in the invention.
The above description explains the logic structure of the highway vehicle guiding system with a charging lane provided by the invention in detail, and the invention also provides a highway vehicle guiding method with a charging lane corresponding to the vehicle guiding system.
As shown in fig. 3 and 4, it is assumed that all vehicles travel according to their electric quantities according to rules, that is, a high-electric-quantity vehicle has a cruising range of more than 100 km and is required to travel in a Lane1, a medium-electric-quantity vehicle has a cruising range of 10-100 km and is required to travel in a Lane2, and when the cruising range of the electric quantity is less than 10 km, the low-electric-quantity vehicle is required to be charged by switching from the Lane2 to a Lane 3.
The invention provides a highway vehicle guiding method with a charging lane, which comprises the following steps:
step1, the vehicle-mounted sensor 11 collects the electric quantity information and the environment information outside the vehicle.
Step 2: the on-board unit 12 will calculate the range of the vehicle based on the information collected by the on-board sensor 11.
In addition, information such as the position and speed of the vehicle will also be transmitted to the roadside unit 2 through the communication network device 3.
Step 3: the on-board unit 12 assists the vehicle in making decisions as to whether and when charging is required.
The on-board unit 12 determines whether the range of the vehicle battery can satisfy the vehicle arrival destination? If yes, go to Step 4; if not, go to Step 5.
Step 4: the vehicle keeps the original lane (lane1/lane2) unchanged.
Step 5: the on-board unit 12 determines whether the vehicle is in low battery? If not, go to Step 11; if yes, go to Step 6.
Step 6: the vehicle-mounted unit 12 sends a request for changing the lane to the charging lane3 to the road-side unit 2, the road-side unit 2 receives the signal, proposes a vehicle speed control scheme based on the acquired information such as the position and the speed of other vehicles around the vehicle, transmits the scheme to the vehicle-mounted unit, the vehicle-mounted unit receives the signal, adjusts the speed of the vehicle, assists the vehicle to change the lane to the charging lane3, and shifts to Step 7.
Step 7: the electric vehicle sends an activation signal through the radio frequency transmitter 41, the wireless power receiving coil receives the activation signal, demodulates and decrypts the activation signal through the processor, and then verifies the activation signal, and the wireless charging receiver 42 in the vehicle after verification starts the alternating current-direct current converter, converts the stored electric energy into direct current, and charges the battery of the electric vehicle.
Step 8: the in-vehicle unit 12 determines whether the charge amount of the vehicle satisfies the demand for traveling to the destination? If so, the process proceeds to Step9, otherwise, the process proceeds to Step 7.
Step 9: the on-board unit 12 turns off the rf transmitter 41 and the user card deducts the corresponding fee from the account information in the rf transmitter 41.
Step 10: the on-board unit 12 sends a signal to the roadside unit 2 to switch to the general lane1/lane 2.
Step 11: determine if the vehicle is already at medium charge? If yes, the Step is carried out to Step 12; if not, the process proceeds to Step 15.
Step 12: the roadside unit 2 determines whether the vehicle is in Lane 1? If yes, go to Step 13; if not, go to Step 14.
Step 13: the roadside unit 2 sends a guidance signal to the on-board unit 12 prompting the vehicle to change lanes to Lane 2.
Step 14: the vehicle keeps driving in the Lane2 of the original Lane.
Step 15: the vehicle keeps the Lane1/Lane2 running in the original Lane.
As shown in fig. 3 and 5, the on-board unit 12 sends a lane change request to the roadside unit 2, and the roadside unit 2 guides lane change behavior of the vehicle in different lanes based on the collected information such as the position information and the vehicle speed of the vehicle in the lanes, and the detailed operation flow is as follows.
Step1: the on-board unit 12 sends a lane change signal to the roadside unit 2, and the roadside unit 2 receives a request for a lane change of a vehicle.
Step 2: judging whether the driving mileage of the vehicle is close to XminIs there a If so, the process proceeds to Step3, otherwise, the process proceeds to Step 9.
A situation in which the vehicle needs to stop waiting to merge into the lane3 for charging usually occurs when the range of the vehicle is in a limit state. At this time, the vehicle can only move from the initial speed V0Using the shortest time to decelerate to 0, i.e. maximum decelerationDegree dmaxAnd stopping after the deceleration to wait for the occurrence of the pluggable vehicle clearance. When the pluggable car gap appears, the speed is accelerated to the speed V of the target lane from the speed 0 in the shortest timemlI.e. maximum acceleration amaxThe distance maintained in this process can be regarded as the limit driving range X of the vehicleminNamely:
namely, when the driving range of the electric vehicle is close to XminAnd when the insertable vehicle gap is not found, the vehicle can adopt a parking waiting mode, so that the normal running of the electric vehicle is ensured.
Step 3: and the vehicles continue to run, and waiting for the target fleet to have a vehicle-inserting gap.
Step 4: the roadside unit 2 determines whether there is a vehicle-insertable interval in the target lane of the vehicle based on the road environment information? If so, go to Step5, and if not, go to Step 1.
Step 5: the vehicle-mounted unit 12 calculates the acceleration/deceleration required when the vehicle is integrated into the target vehicle fleet and the time required for integrating the target vehicle pair according to the position of the vehicle fleet to be integrated into the target lane and the relative speed.
Specifically, referring to FIG. 3, a vehicle V located in Lane Lane13Sending a signal to the roadside unit, and detecting the vehicle V at the tail of the fleet in Lane2 Lane to switch to Lane2 by the roadside unit 21With the first vehicle V of the fleet2Interval between, assuming vehicle V3Has an initial velocity of V0And the vehicle V of the target lane1The vehicle speed is VmlTo form a new fleet with the target fleet, the vehicle first accelerates to Vml(ii) a After the vehicles are converged, a certain interval between the vehicles and a front vehicle (or a rear vehicle) is required to be maintained as Xconst; the current position of the vehicle is spaced from the head (or tail) of the line of vehicles merging into the fleet by Xmerge. If the vehicle is driven from V0Accelerate to VmlBy adopting a relatively comfortable acceleration alphadesiredTravel, required distance: xaccdesiredIf the vehicle is required to meet the desired acceleration/deceleration distance, Xmerge-XconstComprises the following steps:
and the required acceleration/deceleration time taccdesiredComprises the following steps:
the vehicle adopts the initial speed V0The running time is as follows:
wherein the content of the first and second substances,xmlis the location of the target vehicle.
Step 6: the on-board unit 12 compares the initial speed and initial position of the vehicle itself, and the acceleration/deceleration capability of the vehicle with the control scheme, and determines whether the vehicle satisfies the requirements of the control scheme? If the result is satisfied, the operation proceeds to Step7, and if not, the operation proceeds to Step 1.
Step 7: the on-board unit 12 will direct the vehicle to adjust its own acceleration/deceleration and the timing at which the acceleration/deceleration of the guided vehicle begins, according to the control strategy.
Step 8: the on-board unit 12 assists the vehicle in changing lanes to the target lane.
Step 9: the vehicle is parked and waiting.
Step 10: the on-board unit 12 sends a request for importing a target lane to the roadside unit 3, and the roadside unit 3 sends a signal to a target lane fleet to divide one fleet into two fleets.
Specifically, the distance between a following vehicle and a preceding vehicle in a certain fleet is adjusted to be the Leading vehicle (Leading vehicle) of another fleet. And adjusting the distance between the two fleets of vehicles to form a pluggable vehicle interval between the two fleets of vehicles, and turning to steps 7 and 8.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (2)

1. A highway vehicle guidance system with a charging lane comprising: common lane and charging vehicle
The intelligent road charging system comprises a road, intelligent driving vehicle-mounted equipment, a road side unit, communication network equipment, an in-vehicle charging electronic system, a road charging subsystem and a user card; wherein the content of the first and second substances,
the common lane is used for the electric vehicle without charging to run;
the charging lane is used for the electric vehicle which needs to be charged to run;
the intelligent driving vehicle-mounted equipment comprises a vehicle-mounted sensor and a vehicle-mounted unit, wherein the vehicle-mounted sensor comprises a vehicle-mounted current transmitter
The current sensor in the vehicle is used for sensing the electric quantity information of the electric vehicle in real time and transmitting the electric quantity information to the sensor
The vehicle-mounted unit is used for sensing environment information outside a vehicle and transmitting the environment information to the vehicle-mounted unit;
the vehicle-mounted unit is used for judging whether the electric vehicle needs to be charged according to the electric quantity information and the environment information, and
when the electric vehicle is judged to need to be charged, a charging request is sent to the road side unit through the communication network equipment;
the road side unit is used for acquiring the running information of the electric vehicles on other lanes in a preset range according to the charging request,
The electric quantity information is analyzed and the lane change guide information is sent to the vehicle-mounted unit of the electric vehicle needing to be charged, and the electric vehicle needing to be charged
The vehicle-mounted unit adjusts the speed of the vehicle to switch from a common lane to a charging lane according to the lane changing guide information;
the road charging subsystem comprises charging units uniformly arranged on the charging lane;
the in-vehicle charging system comprises a radio frequency transmitter and a wireless charging receiver, wherein the radio frequency transmitter is used for transmitting the radio frequency signal to the charging receiver
The road charging subsystem transmits an activation signal to activate the charging unit; the wireless charging receiver comprises a processor and a wireless charging unit
A power receiving coil and an AC-DC converter; wherein the processor is configured to verify the activation signal; the wireless is
The power receiving coil is arranged at the bottom of the electric vehicle and is connected with a battery of the electric vehicle through the alternating current-direct current converter; what is needed is
The alternating current-direct current converter is used for converting alternating current into direct current; the wireless power receiving coil is used for coupling the charger
An electric unit that wirelessly charges a battery of the electric vehicle;
the user card is used for being connected with the in-vehicle charging electronic system, and the radio frequency transmitter is used for transmitting the information of the charged electric quantity
The corresponding amount is calculated and deducted from the user card.
2. A method for guiding a highway vehicle having a charging lane, comprising:
step S1: collecting electric quantity information and environment information outside the electric vehicle through a vehicle-mounted sensor;
step S2: the vehicle-mounted unit calculates the electric power according to the electric quantity information and the external environment information acquired by the vehicle-mounted sensor
The driving mileage of the vehicle is judged, and whether the driving mileage can reach the destination or not is judged;
step S3: when the driving mileage fails to reach the destination, the on-board unit judges whether the battery of the electric vehicle is
Whether the power is lower than the preset electric quantity or not;
step S4: when the battery of the electric vehicle is lower than the preset electric quantity, the vehicle-mounted unit passes through communication network equipment
Sending a charging request to a road side unit;
step S5: the road side unit collects driving information of electric vehicles on other lanes in a preset range according to the charging request
The information and the electric quantity information are analyzed to obtain lane change guide information and the lane change guide information is sent to a vehicle-mounted unit of the electric vehicle needing to be charged;
step S6: the vehicle-mounted unit of the electric vehicle needing charging adjusts the speed of the vehicle according to the received lane change guide information
Switching from a common lane to a charging lane;
step S7: after the electric vehicle enters a charging lane, an activation signal is transmitted to a road charging subsystem through a radio frequency transmitter,
activating the charging unit;
step S8: the processor demodulates and decrypts the activation signal and verifies the activation signal;
step S9: when the activation signal is verified, the wireless charging receiver turns on the AC-DC converter, and the wireless charging receiver is connected with the wireless charging receiver
The force receiving coil is coupled with the charging unit and wirelessly charges a battery of the electric vehicle.
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