CN108422886A - Electric vehicle charge control device based on route planning and control method - Google Patents
Electric vehicle charge control device based on route planning and control method Download PDFInfo
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- CN108422886A CN108422886A CN201810375576.4A CN201810375576A CN108422886A CN 108422886 A CN108422886 A CN 108422886A CN 201810375576 A CN201810375576 A CN 201810375576A CN 108422886 A CN108422886 A CN 108422886A
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- parking stall
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION 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
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/31—Charging columns specially adapted for electric vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION 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
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/60—Monitoring or controlling charging stations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/70—Interactions with external data bases, e.g. traffic centres
- B60L2240/72—Charging station selection relying on external data
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION 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
- B60L2260/00—Operating Modes
- B60L2260/40—Control modes
- B60L2260/50—Control modes by future state prediction
- B60L2260/52—Control modes by future state prediction drive range estimation, e.g. of estimation of available travel distance
-
- 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
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- 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
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- 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
- Y02T90/12—Electric charging stations
Abstract
The present invention provides a kind of electric vehicle charge control device and control method based on route planning, device includes the charging pile monitoring module being arranged on charging pile and the electric vehicle module being arranged on electric vehicle, method are：The whole-car parameters of electric vehicle to be charged, battery parameter are input in central control board；Charging pile and parking stall state are monitored, and charging pile, the position on parking stall, status information are sent to electric vehicle module；Calculate residual driving range of electromobile number；According to waiting for that remaining continual mileage number and charging pile position, status information screen charging pile, candidate charging pile is obtained, path planning is carried out to final candidate charging pile；The present invention monitors electric automobile charging pile in real time, avoid charging parking stall it is occupied the problems such as, ensure that charging pile is constantly in " available mode "；Based on route planning a road that can be charged in time to electric vehicle is provided to driver.
Description
Technical field
The invention belongs to electric vehicle field, it is related to a kind of electric vehicle charge control device based on route planning and control
Method processed
Background technology
With the continuous intensification of global energy crisis, in increasingly exhausted and the atmosphere pollution, Global Temperature of petroleum resources
The harm aggravation risen, and the vehicles of the electric vehicle as a new generation, in energy-saving and emission-reduction, reduce the mankind to conventional fossil energy
In terms of the dependence in source, compares orthodox car and have incomparable advantage.Therefore, countries in the world are numerous and confused under such environment situation
Corresponding policy is put into effect, the development and application of electric vehicle are pushed.
Currently, electric vehicle is in the Demonstration And Extension phase, but due to various types of other accumulator, generally existing in electric vehicle
The critical defects such as price height, short life, appearance and size and big, the charging time length of weight so that battery often occurs in electric vehicle
Electricity exhausts and the place that do not arrive at the destination or charge is so that the problem of cannot continuing traveling, i.e., battery continual mileage is not also
Can meet the needs of driver to the maximum extent；Simultaneously as (such as electric vehicle charges charging equipment of electric automobile at this stage
Stand, charging pile etc.) it is not widely available, this equally hinders the popularization and use of electric vehicle.
Meanwhile electric vehicle charging at this stage usually faces such a problem：Electric vehicle charging parking stall is occupied, and
Existing device does not propose effective solution method to problems.
As Patent No. 201510680905.2 patent in describe a kind of continual mileage display methods of electric vehicle,
Device and system obtain the maximum continual mileage parameter of electric vehicle and determine the factor for influencing electric automobile during traveling mileage,
The remaining continual mileage parameter of electric vehicle is calculated and shows that electric vehicle influences the parameter of mileage factor and remaining driving
Mileage parameter.The calculating of remaining continual mileage has only been carried out, but has not continued to propose corresponding method and measure to solve to remain
Remaining continual mileage is led to the problem of when inadequate.
Invention content
The present invention provides a kind of electric vehicle charge control device and control method based on route planning.The present invention has
Following purpose：1. a pair electric automobile charging pile monitors in real time, the generation for the problems such as avoiding charging parking stall occupied ensures to fill
Electric stake is constantly in " available mode "；2. another free-revving engine of the present invention is to provide a kind of electronic vapour based on route planning
Vehicle battery charge controller and method, when electricity will exhaust, providing one to driver based on route planning can be timely
To the road that electric vehicle charges, rationally to solve to exhaust due to battery capacity so that remaining continual mileage can not make
Such issues that electric vehicle arrives at is finally reached the purpose for the continual mileage for extending electric vehicle.
The present invention adopts the following technical scheme that realization：
The present invention provides a kind of electric vehicle charge control devices based on route planning, which is characterized in that including filling
Electric stake monitoring module and electric vehicle module, electric vehicle module are set on electric vehicle to be charged；
Charging pile monitoring module includes stall testing apparatus and electric quantity detection apparatus, wherein stall testing apparatus includes
One wireless communication module, an infrared scanner, a voice announcer, four pressure sensors, two with lifting dress
Obstacle block, a timer and the control circuit set, infrared scanner are integrated in an integrated box with voice announcer
In and on surface of the charging pile towards parking stall, an obstacle block and its lifting gear are located at parking stall left side boundary line
In one hole located underground at middle part, one that another obstacle block is located on the right of parking stall in the middle part of boundary line be located at ground
Under hole in, two obstacle blocks be arranged symmetrically and hole above be equipped with from dynamic dividing plate, from dynamic dividing plate by a micro-machine
It driving and moves horizontally to open or close the hole for accommodating obstacle block, four pressure sensors are respectively provided at four, parking stall angle,
Two pressure sensors that two angles far from charging pile on parking stall are arranged are front pressure sensor, and setting is leaned on parking stall
Two pressure sensors at two angles of nearly charging pile are rear pressure sensor, and timer is sensed with one of rear pressure
Device connects, and wireless communication module can wirelessly communicate connection with the wireless communication module in electric vehicle central control board and can also connect
Enter the vehicle type information database of internet, it is pressure sensor, infrared scanner, voice announcer, wireless communication module, small
The elevating mechanism of type motor and obstacle block is connect with control circuit, and electric quantity detection apparatus is arranged on charging pile, electricity inspection
The control circuit for surveying device and charging pile connects, and the location information of the charging pile is stored in the control circuit of charging pile.
Electric vehicle module includes continual mileage statistical system, automatic navigator, central control board and miniscope,
Continual mileage statistical system includes the electric quantity display device being connect with electromobile battery to be charged and electric vehicle to be charged
The velocity sensor of itself；Miniscope includes a display screen and a voice announcer, electric quantity display device, velocity pick-up
Device, display screen and voice announcer are connect with the central control board of electric vehicle to be charged.
The present invention also provides a kind of electric vehicle charge control method based on route planning, which is characterized in that specific
Steps are as follows：
The whole-car parameters of electric vehicle to be charged, battery parameter are input in central control board by step (1)；
Step (2) charging pile monitoring module monitors charging pile and parking stall state, and by charging pile, the position on parking stall
It sets, status information is sent to electric vehicle module；
Step (3) continual mileage statistical system obtains the velocity information of electric vehicle to be charged driving cycle；Establish allusion quotation
Fuzzy model between type standard condition characteristic parameter and energy consumption；Central control board is by the speed of charging electric automobile driving cycle
Degree information, which is updated in the fuzzy model between typical standard operating mode feature parameter and energy consumption, calculates electric vehicle residue to be charged
Continual mileage number,；
Step (4) central control board is according to residual driving range of electromobile number to be charged and charging pile position, state
Information screens charging pile three times, obtains final candidate charging pile, and automatic navigator is to final candidate's charging pile into walking along the street
Diameter is planned；
Wherein,
Step (2) detailed process is：
When front, pressure sensor detects that pressure gradually increases and pressure direction is that parking is directed toward outside parking stall
Position is internal, when as automobile proceeds by parking action, triggers infrared scanner, and infrared scanner is to the Automobile that stops
Board is scanned, and by the license plate number scanned, module accesses the vehicle type information database of internet with true by radio communication
Surely the type of parking action automobile is carried out：
A, if it is determined that the car category for carrying out parking action is electric vehicle, then voice announcer, which is reported, " stops as electricity
Electrical automobile please charge ", it is to complete parking action when four pressure sensors detect that pressure no longer increases, works as vapour
Pressure sensor triggering timing device starts timing when vehicle has just completed parking action, and timer detects vehicle parking time t1, in addition
If time threshold t0, take t0=10~30s；If t1＞ t0When charging pile monitoring module in electric quantity detection apparatus be not detected and fill
Electric stake has corresponding charging action, then triggers alarm, and voice announcer plays voice warning " forbidding occupying charging parking position "；
If electric vehicle is in time t0Interior carry out charging operations, electric quantity detection apparatus detect the electricity to charge in real time
The electricity s of electrical automobile accumulator1, work as s1When=100% or the car owner moves when stopped the charging work of charging pile, voice broadcast
Device plays voice prompt " vehicle that charging is completed leaves in time ", timer initiation timing, and timer, which starts detection, to be completed to fill
Electric rear vehicle storage period t2If t2＞ t0When automobile be still parked at parking stall, then trigger alarm, the police of voice announcer voice
It accuses " forbidding occupying charging parking position "；
After automobile completes parking action, if front pressure sensor and rear pressure sensor do not detect pressure
Power changes, and illustrates that parking stall is in " by using " state, then charging pile use state value a=0；If front pressure sensor and
Rear pressure sensor detects that pressure value is zeroed, i.e., automobile has run out parking stall, then charging pile use state value a=1；
Meanwhile charging pile monitoring module by radio communication device by a, s1Numerical value be sent to electric vehicle module；
B, if it is determined that the car category for carrying out parking action is orthodox car, control circuit control is opened from dynamic dividing plate, is controlled
The elevating mechanism of obstacle block processed drives obstacle block to rise, while voice announcer carries out phonetic warning, prevent orthodox car stop into
Parking stall.
Step (3) detailed process is：
First, the characteristic parameter information of each segment of typical standard operating mode is obtained：Pure electric automobile is established in MATLAB
Vehicle energy consumption model, input operating mode are 10 typical standard operating modes, and each typical standard operating mode takes 1200s, successively by each
Typical standard operating mode is divided into 12 groups of segments, runs each typical standard operating mode, and each typical standard operating mode segment takes four spies
Levy parameter：Average speed120 groups of data can be obtained at the uniform velocity ratio P, deceleration ratio R, total energy consumption E；
Next establishes the fuzzy model between typical standard operating mode feature parameter and energy consumption：
Structure one is by N group L dimensional vectors xjThe data set X, each L dimensional vectors x of compositionjFour spies including each segment
Levy parameter, wherein N=120, L=4, X=(x1,x2,…,xj) j=1,2 ..., N
Using the degree of belief for fuzzy C-means clustering algorithm, that is, BFCM algorithms extraction data set X that degree of belief is added.
It enables, uijFor fuzzy membership, that is, xjBelong to the degree of i classes, c is cluster classification number, beljIt is data in cluster process
In degree of belief, that is, xjDegree of belief, viFor the i-th class cluster centre i=1,2 ..., c, dij=d (vi,xj) it is data xjAnd cluster
Center viDistance, m is ratio of slenderness, controls the degree of sharing between classification, and general m takes 2.0 ideal, therefore takes m=
2.0。
It is initialized：There are four characteristic parameters, therefore classification number is 4, setting cluster classification number c=4, iteration ends value ε,
Maximum iteration bmaxIt can be determined according to specific required precision；
Initialize fuzzy membership uij, it is made to meet uij∈(0,1)
Update degree of belief belj：
It enables
Update cluster centre vi；
In formula,Indicate updated cluster centre.
According to updated cluster centreUpdate fuzzy membership uij：
(dij)2=(xj-vi (b))TA(xj-vi (b))
In formula,Indicate that updated fuzzy membership, A are unit symmetrical matrix, the d as k=ikj=dij
IfIteration ends, degree of establishing trust belj.Otherwise, it enablesB=b+1 updates again
Degree of belief belj。
Fuzzy rule is extracted using iWM methods, the fuzzy mould between characteristic parameter and energy consumption is established according to fuzzy rule base
Type：
First, it builds one and possesses sample T, the T={ (x ' that N singly exports n inputs(p)；y(p)), p=1,2 ..., N will
The average speed of each typical standard operating mode segmentAt the uniform velocity ratio P, deceleration ratio R are inputted as one group of sample, by each allusion quotation
The total energy consumption E of type standard condition segment is exported as the sample of the group.
Wherein, n=3,Indicate pth group input data, y(p)∈ R indicate pth group
Output,Respectively represent the average speed of pth groupAt the uniform velocity ratio P and deceleration ratio R.
It is d by the interval division of input variableqA fuzzy subset, wherein q is number of fuzzy rules, by the value of output variable
Domain is divided into d0A fuzzy subset, if A and B indicates input variable x ' respectively(p)With output variable y(p)Fuzzy set.
Angle value is subordinate to as membership function calculating using Gaussian function：
Wherein, μA(x′(p)) and μB(y(p)) respectively indicate pth group sample data input value and output valve membership function
Value, the value of b, σ can determine as needed.
It calculates each group of sample data and calculates the weight w that degree of membership is multiplied(p)：
Complete fuzzy rule base is created, specific descriptions form is：
After establishing fuzzy rule above, following mould can be obtained using product calculation, weighted average anti fuzzy method
Fuzzy model y (x), and the sample degree of belief bel that will be obtained by BFCM algorithmsjDegree of belief as fuzzy rule is updated to fuzzy
In model：
Wherein,It is q rules in fuzzy membership function μB(y)=1 corresponding point when.
It has established after the fuzzy model between characteristic parameter and energy consumption, the velocity sensor in continual mileage statistical system
The velocity information of driving cycle is obtained during electric automobile during traveling to be charged, driving cycle is temporally equally divided into more
A segment, and obtain the characteristic parameter of each segment：Average speedAt the uniform velocity ratio P ' and deceleration ratio N ', characteristic parameter
The electric vehicle speed and acceleration information transmitted according to velocity sensor by central control board obtains, by average speed
At the uniform velocity ratio P ' and deceleration ratio N ' are input to the energy consumption that can be obtained each segment in fuzzy model；
Central control board further calculates residual driving range of electromobile by following calculating process：
Ecost=∑ E '
Erest=Etotal-Ecost
Srest=lErest
In formula, E ' is the energy consumption of the electric vehicle to be charged each segment of driving cycle；EcostFor electric vehicle to be charged
Total energy consumption；EtotalFor the gross energy of electric vehicle to be charged, obtained by electric vehicle parameter to be charged；ErestFor electricity to be charged
The dump energy of electrical automobile；ScostFor the mileage that electric vehicle to be charged has travelled, obtained by electric vehicle mileometer to be charged
It arrives；L is the mileage of unit energy consumption traveling；SrestFor remaining continual mileage number；
According to the residual driving range of electromobile number obtained, central control board is by residual driving range of electromobile number
SrestWith remaining travel distance SneedSize comparison is carried out, if Srest-Sneed＞ Sy, then miniscope display electric vehicle is remaining
Continual mileage number and voice prompt " target location can be successfully arrived at "；If Srest-Sneed≤Sy, then start route planning system
System, and voice prompt " remaining insufficient driving range "；
Wherein, SyFor mileage threshold value, S is takeny=1~2km.
The detailed process of step (4) is：
It is obtained by the wireless communication module connection of wireless communication module and charging pile in electric vehicle to be charged and is respectively filled
The location information of electric stake is retained using electric vehicle present position to be charged as the center of circle, is continued with electric vehicle residue to be charged
Sail mileage number SrestIt is all charging piles in the range of radius as first candidate charging pile, and retains first candidate charging pile
Location information；
Then electric vehicle present position to be charged is cooked up to the best of each candidate charging pile with automatic navigator
Driving path retains best driving path course and is less than residual driving range of electromobile number S to be chargedrestCandidate charging pile
As secondary candidate charging pile, and retain the location information of secondary candidate charging pile；
The secondary candidate charging pile of a=0 is rejected, retains a by the use state value a for last reading secondary candidate charging pile
=1 secondary candidate charging pile is as final candidate charging pile, finally, automatic navigator each of is cooked up final candidate and is filled
The best driving path of electric stake is shown on the display screen of miniscope, and the mark pair beside each final candidate charging pile
The electricity s for the accumulator of electric car to charge answered1。
Compared with prior art the beneficial effects of the invention are as follows：
1. the present invention is equipped with charging pile monitoring module, the working condition of charging pile can be monitored in real time, can not only be ensured
Charging pile is constantly in " available mode ", solves the problems, such as that charging parking stall is occupied, and device will charge by radio communication
Stake location information and whether available information is sent to electric vehicle module plans one convenient for route planning system and correctly may be used
Capable charging road；
2. device is connect the present invention by radio communication with electric vehicle module by charging pile monitoring module, charging is realized
Information mutual communication between stake and electric vehicle, improves the feasibility and practicability of route planning；
3. the present invention is equipped with infrared scanner in charging pile monitoring module and obstacle is fast, stopped class can be judged
Type, and traditional vehicle is prevented when vehicle does not stop into parking stall also to stop into can effectively avoid the occupied society in charging pile parking stall existing
As this is the inaccessiable effect of remaining control device institute, and the charging pile of lazy weight can be enable to be effectively utilized, kept away
Exempt from the wasting of resources；
4. the present invention builds fuzzy model using BFCM algorithms with the FUZZY ALGORITHMS FOR CONTROL that iWM algorithms are combined, electricity is calculated
The remaining continual mileage of electrical automobile, it is more more acurrate than existing computational methods reliable, and remaining continual mileage at this time is carried out
Whether one preliminary judgement, that is, the remaining continual mileage for judging at this time can make electric vehicle arrive safe and sound destination, can
The driving condition of the electric vehicle of driver's accurate judgement at this time is helped, not only facilitate and is saved worry, this is an innovative point；
5. the present invention proposes a kind of route planning identifying system, will be not enough to arrive in remaining continual mileage
After point, carried out corresponding route planning for driver, obtain one it is fast and convenient, containing electric automobile charging station or fill
The route of electric stake solves electric vehicle continual mileage not so that electric vehicle can charge in remaining continual mileage
The problem of foot；
6. route planning system has carried out charging pile to delete choosing three times, not available charging pile and remaining driving are eliminated
The charging pile that mileage can not reach haves laid a good foundation for final path planning, improves efficiency, the standard of path planning
Exactness and practicability；
7. route planning system has marked out each final time other than obtaining the path of final candidate charging pile
The charge capacity for selecting the electric vehicle to charge on charging pile, for driver according to the needs of actual conditions into traveling
The screening of one step, realizes human-computer interaction so that route planning more hommization, scientific avoids machine processing and brings
The drawbacks of.
Description of the drawings
The present invention will be further described below with reference to the drawings：
Fig. 1 is the structural schematic diagram of the electric vehicle charge control device of the present invention based on route planning；
Fig. 2 is the charging pile monitoring module of the electric vehicle charge control device of the present invention based on route planning
Structural schematic diagram；
Fig. 3 is the flow chart of the electric vehicle charge control method of the present invention based on route planning；
Fig. 4 candidate charging pile schematic diagrames for the first time
The final candidate charging pile schematic diagrames of Fig. 5
In figure：1, charging pile, 2, integrated box, 3, rear pressure sensor, 4, parking stall, 5, obstacle block, 6, front pressure
Sensor, 7, partition board, 8, timer, 9, infrared scanner, 10, voice announcer.
Specific implementation mode
The present invention is explained in detail below in conjunction with the accompanying drawings：
A kind of electric vehicle charge control device based on route planning, which is characterized in that including charging pile monitoring module
With electric vehicle module, charging pile monitoring module is used for the available mode of comprehensive descision charging pile and is alerted accordingly；Electricity
Electrical automobile module is set on electric vehicle to be charged, for calculating residual driving range of electromobile to be charged and corresponding to carrying out
Route planning.Apparatus structure schematic diagram is as shown in Figure 1.
Charging pile monitoring module includes stall testing apparatus and electric quantity detection apparatus, and stall testing apparatus, electricity are examined
It surveys device to be all by radio communication connected with central control board into row information transmission, wherein stall testing apparatus includes infrared sweeps
Instrument 9,10, four pressure sensors of voice announcer, two obstacle block 5, timer 8 and the partition boards 7 for carrying lifting gear are retouched,
Infrared scanner 9, voice announcer 10 are integrated in an integrated box 2 and are mounted on surface of the charging pile 1 towards parking stall 4
On, infrared scanner 9 is for judging that parked car type, voice announcer 10 are used to prompt to be completed the electronic vapour of charging
Vehicle, the traditional vehicle for occupying parking stall are left in time, and pressure sensor is for detecting whether there is automobile parking at charging parking position, and one
A obstacle block 5 and its lifting gear be located in a hole located underground in the middle part of 4 left side boundary line of parking stall, another
Obstacle block 5 is located in a hole located underground in the middle part of 4 the right boundary line of parking stall, and two obstacle blocks 5 are arranged symmetrically and hole
It is equipped with above hole from dynamic dividing plate 7, is moved horizontally from dynamic dividing plate 7 by a micro-machine drive to open or close receiving obstacle
The hole of block 5, four pressure sensors are respectively provided at 4 four, parking stall angle, two on parking stall 4 far from charging pile 1 are arranged
Two pressure sensors at angle are front pressure sensor 6, and two pressures close to two angles of charging pile 1 on parking stall 4 are arranged
Force snesor is rear pressure sensor 3, and timer 8 is connect with one of rear pressure sensor 3, and wireless communication module can
The type of vehicle that internet can also be accessed with the wireless communication module wireless communication connection in electric vehicle central control board is believed
Cease database, pressure sensor, infrared scanner 9, voice announcer 10, wireless communication module, micro-machine and obstacle block 5
Elevating mechanism connect with control circuit, electric quantity detection apparatus is arranged on charging pile, for detecting the charging of automobile at this time
State.The control circuit of electric quantity detection apparatus and charging pile connects, and the position of the charging pile is stored in the control circuit of charging pile
Confidence ceases.
Charging pile monitoring module structure is as shown in Figure 2.
Electric vehicle module includes continual mileage statistical system, automatic navigator, central control board and miniscope,
Continual mileage statistical system includes the electric quantity display device being connect with electromobile battery to be charged and electric vehicle to be charged
The velocity sensor of itself；Miniscope includes a display screen and a voice announcer, electric quantity display device, velocity pick-up
Device, display screen and voice announcer are connect with the central control board of electric vehicle to be charged.
Electric vehicle charge control method based on route planning, which is characterized in that be as follows：
Device flow is as shown in Figure 3.
The whole-car parameters of electric vehicle to be charged, battery parameter are input in central control board by step (1)；
Step (2) charging pile monitoring module monitors charging pile and parking stall state, and by charging pile, the position on parking stall
It sets, status information is sent to electric vehicle module；
Step (3) continual mileage statistical system obtains the velocity information of electric vehicle to be charged driving cycle；Establish allusion quotation
Fuzzy model between type standard condition characteristic parameter and energy consumption；Central control board is by the speed of charging electric automobile driving cycle
Degree information, which is updated in the fuzzy model between typical standard operating mode feature parameter and energy consumption, calculates electric vehicle residue to be charged
Continual mileage number,；
Step (4) central control board is according to residual driving range of electromobile number to be charged and charging pile position, state
Information screens charging pile three times, obtains final candidate charging pile, and automatic navigator is to final candidate's charging pile into walking along the street
Diameter is planned；
Wherein,
Step (2) detailed process is：
When front pressure sensor 6 detects that pressure gradually increases and pressure direction is to be directed toward parking outside parking stall
Position is internal, when as automobile proceeds by parking action, triggers infrared scanner 9, and infrared scanner 9 is to the automobile that stops
Car plate is scanned, by the license plate number scanned by radio communication module access internet vehicle type information database with
Determine the type for carrying out parking action automobile：
If it is determined that the car category for carrying out parking action is electric vehicle, then voice announcer 10, which is reported, " stops as electricity
Electrical automobile please charge ", it is to complete parking action when four pressure sensors detect that pressure no longer increases, works as vapour
Pressure sensor triggering timing device 8 starts timing when vehicle has just completed parking action, and timer 8 detects vehicle parking time t1, this
Peripheral hardware time threshold t0, general t0=10~30s；If t1＞ t0When charging pile monitoring module in electric quantity detection apparatus do not detect
There is corresponding charging action to charging pile, then trigger alarm, voice announcer 10, which plays voice warning, " to be forbidden occupying charging parking
Position "；
If electric vehicle is in time t0Interior carry out charging operations, electric quantity detection apparatus detect the electricity to charge in real time
The electricity s of electrical automobile accumulator1, work as s1When=100% or when this car owner actively stopped the charging work of charging pile, voice is broadcast
Device 10 is reported to play voice prompt " vehicle that charging is completed leaves in time ", timer 8 starts timing, and timer 8 starts to detect
Complete charging rear vehicle storage period t2If t2＞ t0When automobile be still parked at parking stall, then trigger alarm, voice announcer
10 voice warnings " are forbidden occupying charging parking position "；
After automobile completes parking action, if front pressure sensor 6 and rear pressure sensor 3 do not detect
Pressure change illustrates that parking stall is in " by using " state, then charging pile use state value a=0；If front pressure sensor 6
And rear pressure sensor 3 detects that pressure value is zeroed, i.e., automobile has run out parking stall, then charging pile use state value a
=1；
Meanwhile charging pile monitoring module by radio communication device by a, s1Numerical value be sent to electric vehicle module；
B, if it is determined that the car category for carrying out parking action is orthodox car, control circuit control is opened from dynamic dividing plate 7, is controlled
The elevating mechanism of obstacle block 5 processed drives obstacle block 5 to rise, while voice announcer 10 carries out phonetic warning, prevents orthodox car
Stop into parking stall.
Step (3) detailed process is：
First, the characteristic parameter information of each segment of typical standard operating mode is obtained：Pure electric automobile is established in MATLAB
Vehicle energy consumption model, input operating mode are 10 typical standard operating modes, and each typical standard operating mode takes 1200s, successively by each
Typical standard operating mode is divided into 12 groups of segments, runs each typical standard operating mode, and each typical standard operating mode segment takes four spies
Levy parameter：120 groups of data can be obtained in average speed v, at the uniform velocity ratio P, deceleration ratio R, total energy consumption E；
Next establishes the fuzzy model between typical standard operating mode feature parameter and energy consumption：
Structure one is by N group L dimensional vectors xjThe data set X, each L dimensional vectors x of compositionjFour spies including each segment
Levy parameter, wherein N=120, L=4, X=(x1,x2,…,xj) j=1,2 ..., N
Using the degree of belief for fuzzy C-means clustering algorithm, that is, BFCM algorithms extraction data set X that degree of belief is added, calculated by BFCM
Method handles collected standard condition data, and the degree of belief of sample data is extracted in cluster process, can be to obtain
Good fuzzy rule base provides guarantee.
It enables, uijFor fuzzy membership, that is, xjBelong to the degree of i classes, c is cluster classification number, beljIt is data in cluster process
In degree of belief, that is, xjDegree of belief, viFor the i-th class cluster centre i=1,2 ..., c, dij=d (vi,xj) it is data xjAnd cluster
Center viDistance, m is ratio of slenderness, controls the degree of sharing between classification, and general m takes 2.0 ideal, therefore takes m=
2.0。
It is initialized：There are four characteristic parameters, therefore classification number is 4, setting cluster classification number c=4, iteration ends value ε,
Maximum iteration bmaxIt can be determined according to specific required precision；
Initialize fuzzy membership uij, it is made to meet uij∈(0,1)
Update degree of belief belj：
It enables
Update cluster centre vi；
In formula,Indicate updated cluster centre.
According to updated cluster centreUpdate fuzzy membership uij：
(dij)2=(xj-vi (b))TA(xj-vi (b))
In formula,Indicate that updated fuzzy membership, A are unit symmetrical matrix, the d as k=ikj=dij
IfIteration ends, degree of establishing trust belj.Otherwise, it enablesB=b+1 updates again
Degree of belief belj。
Fuzzy rule is extracted using iWM methods, the fuzzy mould between characteristic parameter and energy consumption is established according to fuzzy rule base
Type：
First, it builds one and possesses sample T, the T={ (x ' that N singly exports n inputs(p)；y(p)), p=1,2 ..., N will
The average speed of each typical standard operating mode segmentAt the uniform velocity ratio P, deceleration ratio R are inputted as one group of sample, by each allusion quotation
The total energy consumption E of type standard condition segment is exported as the sample of the group.
Wherein, n=3,Indicate pth group input data, y(p)∈ R indicate pth group
Output,Respectively represent the average speed of pth groupAt the uniform velocity ratio P and deceleration ratio R.
It is d by the interval division of input variableqA fuzzy subset, wherein q is number of fuzzy rules, by the value of output variable
Domain is divided into d0A fuzzy subset, if A and B indicates input variable x ' respectively(p)With output variable y(p)Fuzzy set.
Angle value is subordinate to as membership function calculating using Gaussian function：
Wherein, μA(x′(p)) and μB(y(p)) respectively indicate pth group sample data input value and output valve membership function
Value, the value of b, σ can determine as needed.
It calculates each group of sample data and calculates the weight w that degree of membership is multiplied(p)：
Complete fuzzy rule base is created, specific descriptions form is：
After establishing fuzzy rule above, following mould can be obtained using product calculation, weighted average anti fuzzy method
Fuzzy model y (x), and the sample degree of belief bel that will be obtained by BFCM algorithmsjDegree of belief as fuzzy rule is updated to fuzzy
In model：
Wherein,It is q rules in fuzzy membership function μB(y)=1 corresponding point when.
It has established after the fuzzy model between characteristic parameter and energy consumption, the velocity sensor in continual mileage statistical system
The velocity information of driving cycle is obtained during electric automobile during traveling to be charged, driving cycle is temporally equally divided into more
A segment, and obtain the characteristic parameter of each segment：Average speedAt the uniform velocity ratio P ' and deceleration ratio N ', characteristic parameter
The electric vehicle speed and acceleration information transmitted according to velocity sensor by central control board obtains, by average speed
At the uniform velocity ratio P ' and deceleration ratio N ' are input to the energy consumption E ' that can be obtained each segment in fuzzy model；
Central control board further calculates residual driving range of electromobile by following calculating process：
Ecost=∑ E '
Erest=Etotal-Ecost
Srest=lErest
In formula, E ' is the energy consumption of the electric vehicle to be charged each segment of driving cycle；EcostFor electric vehicle to be charged
Total energy consumption；EtotalFor the gross energy of electric vehicle to be charged, obtained by electric vehicle parameter to be charged；ErestFor electricity to be charged
The dump energy of electrical automobile；ScostFor the mileage that electric vehicle to be charged has travelled, obtained by electric vehicle mileometer to be charged
It arrives；L is the mileage of unit energy consumption traveling；SrestFor remaining continual mileage；
According to the residual driving range of electromobile number obtained, central control board is by residual driving range of electromobile number
SrestWith remaining travel distance SneedSize comparison is carried out, if Srest-Sneed＞ Sy, then miniscope display electric vehicle is remaining
Continual mileage number and voice prompt " target location can be successfully arrived at "；If Srest-Sneed≤Sy, then start route planning system
System, and voice prompt " remaining insufficient driving range "；
Wherein, SyFor mileage threshold value, S is generally takeny=1~2km.
Step (4) detailed process is：
It is obtained by the wireless communication module connection of wireless communication module and charging pile in electric vehicle to be charged and is respectively filled
The location information of electric stake is retained using electric vehicle present position to be charged as the center of circle, is continued with electric vehicle residue to be charged
Sail mileage SrestIt is all charging piles in the range of radius as first candidate charging pile, as shown in figure 4, and retaining first wait
Select the location information of charging pile；
Then electric vehicle present position to be charged is cooked up to the best of each candidate charging pile with automatic navigator
Driving path retains best driving path course and is less than residual driving range of electromobile S to be chargedrestCandidate charging pile make
For secondary candidate charging pile, and retain the location information of secondary candidate charging pile；
The secondary candidate charging pile of a=0 is rejected, retains a by the use state value a for last reading secondary candidate charging pile
=1 secondary candidate charging pile is as final candidate charging pile, finally, automatic navigator each of is cooked up final candidate and is filled
The best driving path of electric stake is shown on the display screen of miniscope, and the mark pair beside each final candidate charging pile
The electricity s for the accumulator of electric car to charge answered1, as shown in Figure 5.The s marked1For driver according to reality
The needs of border situation are further screened, for example, there is the final candidate charging piles of a, b two：Charging pile a is apart from electricity to be charged
Electrical automobile present position 2km and s1a=100%, charging pile b apart from electric vehicle present position 1km to be charged and
s1b=45%, at this time driver can substantially be determined according to the time reached needed for each charging pile the waiting needed for oneself when
Between, the selection of selection charging pile is determined in conjunction with the actual conditions of itself.
Claims (2)
1. the electric vehicle charge control device based on route planning, which is characterized in that including charging pile monitoring module with it is electronic
Motor vehicle module, electric vehicle module are set on electric vehicle to be charged；
Charging pile monitoring module includes stall testing apparatus and electric quantity detection apparatus, wherein stall testing apparatus includes one
Wireless communication module, an infrared scanner (9), a voice announcer (10), four pressure sensors, two with lifting
The obstacle block (5) of device, a timer (8) and a control circuit, infrared scanner (9) collect with voice announcer (10)
In Cheng Yi integrated box (2) and on the surface of charging pile (1) towards parking stall (4), an obstacle block (5) and its
Lifting gear is located in a hole located underground in the middle part of parking stall (4) left side boundary line, another obstacle block (5) sets
In a hole located underground in the middle part of the boundary line of parking stall (4) the right, two obstacle blocks (5) are arranged symmetrically and above holes
It is equipped with from dynamic dividing plate (7), is moved horizontally from dynamic dividing plate (7) by a micro-machine drive and accommodate obstacle block to open or close
(5) hole, four pressure sensors are respectively provided at (4) four, parking stall angle, and setting is in parking stall (4) far from charging pile (1)
Two angles two pressure sensors be front pressure sensor (6), be arranged parking stall (4) close to charging pile (1) two
Two pressure sensors at a angle are rear pressure sensor (3), timer (8) and one of rear pressure sensor (3)
Connection, wireless communication module can wirelessly communicate connection with the wireless communication module in electric vehicle central control board and can also access
The vehicle type information database of internet, pressure sensor, infrared scanner (9), voice announcer (10), radio communication mold
The elevating mechanism of block, micro-machine and obstacle block (5) is connect with control circuit, and electric quantity detection apparatus is arranged in charging pile
On, the control circuit of electric quantity detection apparatus and charging pile connects, and the position of the charging pile is stored in the control circuit of charging pile
Information.
Electric vehicle module includes continual mileage statistical system, automatic navigator, central control board and miniscope, driving
Mileage statistical system includes the electric quantity display device being connect with electromobile battery to be charged and electric vehicle to be charged itself
Velocity sensor；Miniscope includes a display screen and a voice announcer, and electric quantity display device, is shown velocity sensor
Display screen and voice announcer are connect with the central control board of electric vehicle to be charged.
2. the electric vehicle charge control method based on route planning, which is characterized in that be as follows：
The whole-car parameters of electric vehicle to be charged, battery parameter are input in central control board by step (1)；
Step (2) charging pile monitoring module monitors charging pile and parking stall state, and by charging pile, the position on parking stall, shape
State information is sent to electric vehicle module；
Step (3) continual mileage statistical system obtains the velocity information of electric vehicle to be charged driving cycle；Establish typical mark
Fuzzy model between quasi- operating mode feature parameter and energy consumption；Central control board by charging electric automobile driving cycle speed believe
Breath, which is updated in the fuzzy model between typical standard operating mode feature parameter and energy consumption, calculates electric vehicle residue driving to be charged
Mileage number；
Step (4) central control board is according to residual driving range of electromobile number to be charged and charging pile position, status information
Charging pile is screened three times, obtains final candidate charging pile, automatic navigator carries out path rule to final candidate charging pile
It draws；
Wherein,
Step (2) detailed process is：
When front pressure sensor (6) detects that pressure gradually increases and pressure direction is to be directed toward parking stall outside parking stall
When inside, as automobile proceed by parking action, infrared scanner (9) is triggered, infrared scanner (9) is to the vapour that stops
Vehicle car plate is scanned, by the license plate number scanned by radio communication module access internet vehicle type information database
To determine the type for carrying out parking and acting automobile：
A, if it is determined that the car category for carrying out parking action is electric vehicle, then voice announcer (10), which is reported, " stops as electricity
Electrical automobile please charge ", it is to complete parking action when four pressure sensors detect that pressure no longer increases, works as vapour
Pressure sensor triggering timing device (8) starts timing when vehicle has just completed parking action, and timer (8) detects the vehicle parking time
t1, this peripheral hardware time threshold t0, take t0=10~30s；If t1＞ t0When charging pile monitoring module in electric quantity detection apparatus do not examine
Measuring charging pile has corresponding charging action, then triggers alarm, and voice announcer (10) plays voice warning and " forbids occupying and charge
Parking stall "；
If electric vehicle is in time t0Interior carry out charging operations, electric quantity detection apparatus detect the electronic vapour to charge in real time
The electricity s of vehicle accumulator1, work as s1When=100% or the car owner moves when stopped the charging work of charging pile, voice announcer
(10) voice prompt " vehicle that charging is completed leaves in time " is played, timer (8) starts timing, and timer (8) starts to examine
It surveys and completes charging rear vehicle storage period t2If t2＞ t0When automobile be still parked at parking stall, then trigger alarm, voice broadcast
Device (10) voice warning " is forbidden occupying charging parking position "；
After automobile completes parking action, if front pressure sensor (6) and rear pressure sensor (3) do not detect
Pressure change illustrates that parking stall is in " by using " state, then charging pile use state value a=0；If front pressure sensor
(6) and rear pressure sensor (3) detects that pressure value is zeroed, i.e., automobile has run out parking stall, then charging pile uses shape
State value a=1；
Meanwhile charging pile monitoring module by radio communication device by a, s1Numerical value be sent to electric vehicle module；
B, if it is determined that the car category for carrying out parking action is orthodox car, control circuit control is opened from dynamic dividing plate (7), is controlled
The elevating mechanism of obstacle block (5) drives obstacle block (5) to rise, while voice announcer (10) carries out phonetic warning, prevents tradition
Automobile stops into parking stall.
Step (3) detailed process is：
First, the characteristic parameter information of each segment of typical standard operating mode is obtained：Whole pure electric vehicle is established in MATLAB
Energy consumption model, input operating mode are 10 typical standard operating modes, and each typical standard operating mode takes 1200s, successively by each typical case
Standard condition is divided into 12 groups of segments, runs each typical standard operating mode, and each typical standard operating mode segment takes four feature ginsengs
Number：Average speed120 groups of data can be obtained at the uniform velocity ratio P, deceleration ratio R, total energy consumption E；
Next establishes the fuzzy model between typical standard operating mode feature parameter and energy consumption：
Structure one is by N group L dimensional vectors xjThe data set X, each L dimensional vectors x of compositionjFour features ginseng including each segment
Number, wherein N=120, L=4, X=(x1,x2,…,xj) j=1,2 ..., N
Using the degree of belief for fuzzy C-means clustering algorithm, that is, BFCM algorithms extraction data set X that degree of belief is added.
It enables, uijFor fuzzy membership, that is, xjBelong to the degree of i classes, c is cluster classification number, beljIt is data in cluster process
Degree of belief, that is, xjDegree of belief, viFor the i-th class cluster centre i=1,2 ..., c, dij=d (vi,xj) it is data xjAnd cluster centre
viDistance, m is ratio of slenderness, controls the degree of sharing between classification, and general m takes 2.0 ideal, therefore takes m=2.0.
It is initialized：There are four characteristic parameters, therefore classification number is 4, setting cluster classification number c=4, iteration ends value ε, maximum
Iterations bmaxIt can be determined according to specific required precision；
Initialize fuzzy membership uij, it is made to meet uij∈(0,1)
Update degree of belief belj：
It enables
Update cluster centre vi；
In formula,Indicate updated cluster centre.
According to updated cluster centreUpdate fuzzy membership uij：
(dij)2=(xj-vi (b))TA(xj-vi (b))
In formula,Indicate that updated fuzzy membership, A are unit symmetrical matrix, the d as k=ikj=dij
IfIteration ends, degree of establishing trust belj.Otherwise, it enablesAgain update is trusted
Spend belj。
Fuzzy rule is extracted using iWM methods, the fuzzy model between characteristic parameter and energy consumption is established according to fuzzy rule base：
First, it builds one and possesses sample T, the T={ (x ' that N singly exports n inputs(p)；y(p)), p=1,2 ..., N will be each
The average speed of typical standard operating mode segmentAt the uniform velocity ratio P, deceleration ratio R are inputted as one group of sample, will each typical mark
The total energy consumption E of quasi- operating mode segment is exported as the sample of the group.
Wherein, n=3,Indicate pth group input data, y(p)∈ R indicate the output of pth group,Respectively represent the average speed of pth groupAt the uniform velocity ratio P and deceleration ratio R.
It is d by the interval division of input variableqA fuzzy subset, wherein q is number of fuzzy rules, and the codomain of output variable is divided
For d0A fuzzy subset, if A and B indicates input variable x ' respectively(p)With output variable y(p)Fuzzy set.
Angle value is subordinate to as membership function calculating using Gaussian function：
Wherein, μA(x′(p)) and μB(y(p)) respectively indicate pth group sample data input value and output valve membership function value, b,
The value of σ can determine as needed.
It calculates each group of sample data and calculates the weight w that degree of membership is multiplied(p)：
Complete fuzzy rule base is created, specific descriptions form is：
After establishing fuzzy rule above, following fuzzy mould can be obtained using product calculation, weighted average anti fuzzy method
Type y (x), and the sample degree of belief bel that will be obtained by BFCM algorithmsjDegree of belief as fuzzy rule is updated to fuzzy model
In：
Wherein,It is q rules in fuzzy membership function μB(y)=1 corresponding point when.
It has established after the fuzzy model between characteristic parameter and energy consumption, the velocity sensor in continual mileage statistical system obtains
The velocity information of driving cycle during electric automobile during traveling to be charged, multiple are temporally equally divided by driving cycle
Section, and obtain the characteristic parameter of each segment：Average speedAt the uniform velocity ratio P ' and deceleration ratio N ', characteristic parameter is in
The electric vehicle speed and acceleration information that centre console is transmitted according to velocity sensor obtain, by average speedAt the uniform velocity
Ratio P ' and deceleration ratio N ' are input to the energy consumption that can be obtained each segment in fuzzy model；
Central control board further calculates residual driving range of electromobile by following calculating process：
Ecost=∑ E '
Erest=Etotal-Ecost
Srest=lErest
In formula, E ' is the energy consumption of the electric vehicle to be charged each segment of driving cycle；EcostFor the total energy of electric vehicle to be charged
Consumption；EtotalFor the gross energy of electric vehicle to be charged, obtained by electric vehicle parameter to be charged；ErestFor electric vehicle to be charged
Dump energy；ScostFor the mileage that electric vehicle to be charged has travelled, obtained by electric vehicle mileometer to be charged；L is
The mileage of specific energy consumption traveling；SrestFor remaining continual mileage number；
According to the residual driving range of electromobile number obtained, central control board is by residual driving range of electromobile number SrestWith
Remaining travel distance SneedSize comparison is carried out, if Srest-Sneed＞ Sy, then miniscope display electric vehicle residue driving
Mileage number and voice prompt " target location can be successfully arrived at "；If Srest-Sneed≤Sy, then start route planning system, and
Voice prompt " remaining insufficient driving range "；
Wherein, SyFor mileage threshold value, S is takeny=1~2km.
The detailed process of step (4) is：
Each charging pile is obtained by the wireless communication module connection of wireless communication module and charging pile in electric vehicle to be charged
Location information, retain using electric vehicle present position to be charged as the center of circle, in electric vehicle residue driving to be charged
Number of passes SrestIt is all charging piles in the range of radius as first candidate charging pile, and retains the position of first candidate charging pile
Confidence ceases；
Then with automatic navigator cook up electric vehicle present position to be charged to each candidate charging pile best traveling
Path retains best driving path course and is less than residual driving range of electromobile number S to be chargedrestCandidate charging pile conduct
Secondary candidate's charging pile, and retain the location information of secondary candidate charging pile；
The secondary candidate charging pile of a=0 is rejected, retains a=1's by the use state value a for last reading secondary candidate charging pile
Secondary candidate's charging pile is as final candidate charging pile, finally, automatic navigator each of is cooked up final candidate charging pile
Best driving path be shown on the display screen of miniscope, and mark beside each final candidate charging pile corresponding
The electricity s of the accumulator of electric car to charge1。
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