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 PDF

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Publication number
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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charging pile
electric automobile
automobile
charged
charging
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CN108422886B (en
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闵海涛
宋琪
李成宏
于远彬
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Jilin University
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Jilin University
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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

Route planning-based electric vehicle charging control device and control method
Technical Field
The invention belongs to the field of electric automobiles, and relates to an electric automobile charging control device and method based on route planning
Background
Along with the continuous deepening of the global energy crisis, the gradual depletion of petroleum resources, the atmospheric pollution and the harm aggravated by the global temperature rise are caused, and the electric automobile as a new generation of transportation tool has incomparable advantages compared with the traditional automobile in the aspects of energy conservation and emission reduction and reduction of human dependence on traditional fossil energy. Therefore, under the environment situation, corresponding policies are issued in various countries in the world, and the development and application of the electric vehicle are promoted.
At present, electric automobiles are in a demonstration and popularization period, but due to the fact that various types of storage batteries in the electric automobiles generally have the serious defects of high price, short service life, large appearance size and weight, long charging time and the like, the electric automobiles often have the problem that the electric quantity of the batteries is exhausted and cannot reach a destination or a charging place so that the electric automobiles cannot continue to run, namely the driving range of the batteries cannot meet the requirements of drivers to the maximum extent; meanwhile, at the present stage, electric vehicle charging equipment (such as an electric vehicle charging station, a charging pile and the like) is not widely popularized, so that popularization and use of the electric vehicle are also hindered.
Meanwhile, the charging of the electric automobile at present often faces such a problem: the charging parking space of the electric automobile is occupied, and the existing device does not provide an effective solution to the problems.
For example, patent No. 201510680905.2 describes a driving range display method, device and system for an electric vehicle, which obtains a maximum driving range parameter of the electric vehicle and determines factors affecting the driving range of the electric vehicle, calculates a remaining driving range parameter of the electric vehicle, and displays the parameters affecting the driving range factor of the electric vehicle and the remaining driving range parameter. Only the calculation of the residual driving range is carried out, but corresponding measures are not continuously proposed to solve the problem caused by insufficient residual driving range.
Disclosure of Invention
The invention provides an electric vehicle charging control device and method based on route planning. The invention has the following purposes: 1. the charging pile of the electric automobile is monitored in real time, the problems that the charging parking space is occupied and the like are avoided, and the charging pile is guaranteed to be in an available state all the time; 2. another important objective of the present invention is to provide a route planning-based electric vehicle charging control apparatus and method, which provides a road for charging an electric vehicle in time to a driver based on the route planning when the electric quantity is about to be exhausted, so as to reasonably solve the problem that the remaining driving range cannot reach the destination due to the exhaustion of the electric quantity of the battery, and finally achieve the purpose of extending the driving range of the electric vehicle.
The invention is realized by adopting the following technical scheme:
the invention provides an electric automobile charging control device based on route planning, which is characterized by comprising a charging pile monitoring module and an electric automobile module, wherein the electric automobile module is arranged on an electric automobile to be charged;
the charging pile monitoring module comprises a parking space detection device and an electric quantity detection device, wherein the parking space detection device comprises a wireless communication module, an infrared scanner, a voice broadcaster, four pressure sensors, two barrier blocks with lifting devices, a timer and a control circuit, the infrared scanner and the voice broadcaster are integrated in an integrated box and are installed on the surface of the charging pile facing to a parking space, one barrier block and the lifting devices thereof are arranged in a hole in the ground in the middle of the left boundary of the parking space, the other barrier block is arranged in a hole in the ground in the middle of the right boundary of the parking space, the two barrier blocks are symmetrically arranged, automatic partition plates are arranged above the holes, the automatic partition plates are driven by a small motor to horizontally move to open or close the holes for accommodating the barrier blocks, and the four pressure sensors are respectively arranged at the four corners of the parking space, two pressure sensor that set up two angles of keeping away from charging pile on parking stall are anterior pressure sensor, two pressure sensor that set up two angles of being close to charging pile on parking stall are rear portion pressure sensor, the time-recorder is connected with one of them rear portion pressure sensor, wireless communication module can also insert the vehicle type information database of internet with the wireless communication module wireless communication connection in the electric automobile central control platform, pressure sensor, infrared scanner, the voice broadcast ware, wireless communication module, the elevating system of small-size motor and obstacle piece all is connected with control circuit, electric quantity detection device sets up on charging pile, electric quantity detection device is connected with the control circuit who fills electric pile, the control circuit who fills electric pile stores the positional information that should fill electric pile.
The electric automobile module comprises a driving range counting system, a vehicle-mounted navigator, a central console and a small-sized display, wherein the driving range counting system comprises an electric quantity display device connected with a storage battery of the electric automobile to be charged and a speed sensor of the electric automobile to be charged; the small-sized display comprises a display screen and a voice broadcast device, and the electric quantity display device, the speed sensor, the display screen and the voice broadcast device are all connected with a central control console of the electric automobile to be charged.
The invention also provides a route planning-based electric vehicle charging control method, which is characterized by comprising the following specific steps of:
inputting the whole vehicle parameters and battery pack parameters of the electric vehicle to be charged into a central console;
monitoring the states of the charging pile and the parking space by the charging pile monitoring module, and transmitting the position and state information of the charging pile and the parking space to the electric vehicle module;
step three, acquiring speed information of a running working condition of the electric automobile to be charged by a driving range statistical system; establishing a fuzzy model between characteristic parameters of typical standard working conditions and energy consumption; the central control console substitutes the speed information of the running working condition of the charging electric automobile into a fuzzy model between the characteristic parameters of the typical standard working condition and the energy consumption to calculate the number of the remaining driving mileage of the electric automobile to be charged;
step four, the central console screens the charging piles for three times according to the remaining driving mileage of the electric vehicle to be charged, the positions of the charging piles and the state information to obtain final candidate charging piles, and the vehicle-mounted navigator carries out path planning on the final candidate charging piles;
wherein ,
the specific process of the step (II) is as follows:
when the front pressure sensor detects that the pressure is gradually increased and the pressure direction is from the outside of the parking space to the inside of the parking space, namely the automobile starts to perform parking action, the infrared scanner is triggered, the infrared scanner scans the license plate of the automobile which is parked, and the scanned license plate is accessed into the automobile type information database of the internet through the wireless communication module so as to determine the type of the automobile which performs parking action:
a. if the type of the automobile which performs the parking action is determined to be the electric automobile, the voice broadcaster broadcasts that the automobile is parked as the electric automobile and charging is requested, the parking action is finished when the four pressure sensors detect that the pressure borne by the automobile is not increased any more, the pressure sensors trigger the timer to start timing when the automobile just finishes the parking action, and the timer detects the parking time t of the automobile1Additionally, a time threshold t is set0Get t010-30 s; if t1＞t0When the electric quantity detection device in the charging pile monitoring module does not detect that the charging pile has corresponding charging action, an alarm is triggered, and the voice broadcast device plays a voice warning to 'forbid occupying a charging parking space';
if the electric automobile is in the time t0The electric quantity detection device detects the electric quantity s of the electric automobile storage battery which is being charged in real time1When s is1When 100% or this owner moves and has stopped charging the work of charging of electric pile, voice broadcast ware broadcast voice prompt "the vehicle that has accomplished the charging in time leaves", the time-recorder starts timing, the time-recorder begins to detect and accomplishes the back vehicle parking time t that charges2If t is2＞t0When the automobile is still parked at the parking space, an alarm is triggered, and the voice broadcaster gives a voice warning to 'forbid occupying the charging parking space';
after the automobile finishes parking action, if the front pressure sensor and the rear pressure sensor do not detect pressure change, the parking space is in a used state, and a charging pile use state value a is 0; if the front pressure sensor and the rear pressure sensor detect that the pressure values return to zero, namely the automobile is driven out of the parking space, the charging pile use state value a is 1;
simultaneously, the charging pile monitoring module sends a and s through the wireless communication device1Sending the numerical value to the electric vehicle module;
b. if the automobile type of action of parkking is the traditional automobile for the affirmation, control circuit control automatic baffle is opened, the elevating system of control obstacle piece drives the obstacle piece and rises, and voice broadcast ware carries out voice warning simultaneously, prevents that traditional automobile from parking in the parking stall.
The specific process of the step (three) is as follows:
firstly, acquiring characteristic parameter information of each segment under typical standard working conditions: establishing a pure electric vehicle whole vehicle energy consumption model in MATLAB, wherein the input working condition is 10 typical standard working conditions, each typical standard working condition is 1200s, each typical standard working condition is equally divided into 12 groups of segments in sequence, each typical standard working condition is operated, and each typical standard working condition segment is provided with four characteristic parameters: average velocity120 groups of data can be obtained by the uniform speed proportion P, the deceleration proportion R and the total energy consumption E;
secondly, establishing a fuzzy model between characteristic parameters of typical standard working conditions and energy consumption:
constructing a vector x consisting of N groups of L dimensionsjComposed data set X, each L-dimensional vector XjComprises four characteristic parameters of each segment, wherein N is 120, L is 4, and X is (X)1,x2,…,xj)j＝1,2,…,N
And extracting the trust degree of the data set X by adopting a fuzzy C clustering algorithm added with the trust degree, namely a BFCM algorithm.
Let uijAs fuzzy degree of membership, i.e. xjDegree of belonging to class i, c is the number of cluster categories, beljFor the confidence degree of data in the clustering process, namely xjDegree of trust of viIs the i-th class center i is 1,2, …, c, dij＝d(vi,xj) As data xjAnd a clustering center viThe distance of (2) is m, which is a flexible coefficient and controls the sharing degree between categories, and m is 2.0, which is generally preferred.
And (3) initializing: the number of the characteristic parameters is four, so the category number is 4, the clustering category number c is set to be 4, the iteration termination value epsilon and the maximum iteration number bmaxCan be based onDetermining the specific precision requirement;
initializing fuzzy membership uijSo that it satisfies uij∈(0,1)
Updating confidence belj：
Order to
Updating the clustering center vi；
in the formula,representing the updated cluster center.
According to the updated cluster centerUpdating fuzzy membership uij：
(dij)2＝(xj-vi (b))TA(xj-vi (b))
in the formula,representing the updated fuzzy membership degree, A is a unit symmetric matrix, and d is the time when k is equal to ikj＝dij
If it is notThe iteration is terminated to obtain the confidence belj. Otherwise, it ordersb +1, updating the confidence bel againj。
Extracting fuzzy rules by using an iWM method, and establishing a fuzzy model between characteristic parameters and energy consumption according to a fuzzy rule base:
firstly, a sample T with N pairs of N input single output is constructed, wherein T { (x'(p)；y(p)) 1,2, …, N, the average speed of each typical standard operating condition segmentAnd the constant speed proportion P and the deceleration proportion R are used as a group of samples to be input, and the total energy consumption E of each typical standard working condition segment is used as the group of samples to be output.
Wherein n is 3, the total content of the compound,representing the p-th set of input data, y(p)E R represents the output of the pth group,respectively represent the average speeds of the p-th groupA constant speed proportion P, and a deceleration proportion R.
Dividing the interval of input variables into dqA fuzzy subset, wherein q is a fuzzy rule number, and the value range of the output variable is divided into d0A and B represent input variables x'(p)And an output variable y(p)Is performed.
And calculating the membership value by adopting a Gaussian function as a membership function:
wherein ,μA(x′(p)) and μB(y(p)) And b and sigma values can be determined according to requirements.
Calculating the weight w multiplied by the calculated membership degree of each group of sample data(p)：
Creating a complete fuzzy rule base, wherein the specific description form is as follows:
after the fuzzy rule is established, the lower fuzzy model y (x) can be obtained by product operation and weighted average defuzzification, and the sample credibility bel obtained by the BFCM algorithm is usedjThe confidence as a fuzzy rule is substituted into the fuzzy model:
wherein ,is the q rule in the fuzzy membership function muBAnd (y) is 1.
After a fuzzy model between the characteristic parameters and the energy consumption is established, a speed sensor in the driving range statistical system acquires speed information of a driving working condition in the driving process of the electric automobile to be charged, the driving working condition is averagely divided into a plurality of segments according to time, and the characteristic parameters of each segment are obtained: average velocityThe characteristic parameters are obtained by the central console according to the speed and acceleration information of the electric vehicle transmitted by the speed sensor, and the average speed is obtainedInputting the uniform speed proportion P 'and the deceleration proportion N' into the fuzzy model to obtain the energy consumption of each segment;
the central console further calculates the remaining driving range of the electric automobile through the following calculation process:
Ecost＝∑E′
Erest＝Etotal-Ecost
Srest＝lErest
in the formula, E' is the energy consumption of each segment of the running working condition of the electric automobile to be charged; ecostThe total energy consumption of the electric automobile to be charged; etotalObtaining the total energy of the electric automobile to be charged according to the parameters of the electric automobile to be charged; erestTo be chargedResidual energy of the electric vehicle; scostThe mileage of the electric automobile to be charged is obtained by an odometer of the electric automobile to be charged; l is the mileage driven by unit energy consumption; srestThe number of remaining driving miles is;
according to the obtained remaining driving mileage of the electric automobile, the central console enables the remaining driving mileage of the electric automobile to be SrestDistance S from remaining drivingneedComparing the sizes, if Srest-Sneed＞SyThen the small-sized display displays the remaining driving mileage of the electric automobile and prompts 'the target place can be successfully reached' by voice; if Srest-Sneed≤SyIf yes, starting a route planning system and prompting that the residual driving range is insufficient by voice;
wherein ,SyFor mileage threshold, take Sy＝1～2km。
The specific process of the step (IV) is as follows:
the wireless communication module in the electric automobile to be charged is connected with the wireless communication module of the charging pile to acquire the position information of each charging pile, and the remaining driving distance S of the electric automobile to be charged is reserved by taking the current position of the electric automobile to be charged as the center of a circlerestAll charging piles within the radius range are used as primary candidate charging piles, and position information of the primary candidate charging piles is reserved;
then, an optimal driving path from the current position of the electric automobile to be charged to each candidate charging pile is planned by using the vehicle-mounted navigator, and the optimal driving path history is kept to be smaller than the residual driving mileage S of the electric automobile to be chargedrestThe candidate charging piles are used as secondary candidate charging piles, and position information of the secondary candidate charging piles is reserved;
finally, reading the use state value a of the secondary candidate charging piles, removing the secondary candidate charging piles with a being 0, reserving the secondary candidate charging piles with a being 1 as final candidate charging piles, and finally planning the optimal driving path of each final candidate charging pile by the vehicle-mounted navigatorThe electric quantity s of the corresponding charging electric automobile storage battery is marked beside each final candidate charging pile1。
Compared with the prior art, the invention has the beneficial effects that:
1. the wireless communication device is provided with the charging pile monitoring module, so that the working state of the charging pile can be monitored in real time, the charging pile can be ensured to be always in an available state, the problem that a charging parking space is occupied is solved, and the position information of the charging pile and the available information are transmitted to the electric automobile module through the wireless communication device, so that a route planning system can plan a correct and feasible charging road conveniently;
2. according to the invention, the charging pile monitoring module is connected with the electric vehicle module through the wireless communication device, so that information intercommunication between the charging pile and the electric vehicle is realized, and the feasibility and the practicability of route planning are improved;
3. according to the invention, the infrared scanner is arranged in the charging pile monitoring module, the obstacle is fast, the type of the vehicle parked can be judged, the parking of the traditional vehicle is prevented when the vehicle is not parked in the parking space, the social phenomenon that the parking space of the charging pile is occupied can be effectively avoided, the effect which cannot be achieved by other control devices is achieved, the charging pile with insufficient quantity can be effectively utilized, and the resource waste is avoided;
4. the method adopts the fuzzy control algorithm combining the BFCM algorithm and the iWM algorithm to construct the fuzzy model, calculates the remaining driving range of the electric automobile, is more accurate and reliable than the existing calculating method, and carries out a preliminary judgment on the remaining driving range at the moment, namely judges whether the remaining driving range at the moment can ensure that the electric automobile can safely reach the destination or not, can help a driver to accurately judge the driving condition of the electric automobile at the moment, is convenient and worry-saving, and is an innovation point;
5. the invention provides a route planning and identifying system, which is used for carrying out corresponding route planning on a driver after the remaining driving range is not enough to reach a destination point, so as to obtain a convenient and quick route containing an electric automobile charging station or a charging pile, so that the electric automobile can be charged in the remaining driving range, and the problem of insufficient driving range of the electric automobile is solved;
6. the route planning system carries out three times of deletion selection on the charging piles, removes the charging piles which are unavailable and the charging piles which cannot be reached by the residual driving mileage, lays a good foundation for the final route planning, and improves the efficiency, the accuracy and the practicability of the route planning;
7. besides the path of the final candidate charging pile, the route planning system marks the charging electric quantity of the electric vehicle which is being charged on each final candidate charging pile, so that a driver can further screen according to the requirement of actual conditions, man-machine interaction is realized, route planning is more humanized and scientific, and the defects caused by machine processing are avoided.
Drawings
The invention is further described with reference to the accompanying drawings in which:
fig. 1 is a schematic structural diagram of an electric vehicle charging control device based on route planning according to the present invention;
fig. 2 is a schematic structural diagram of a charging pile monitoring module of the route planning-based electric vehicle charging control device according to the present invention;
FIG. 3 is a flowchart of a method for controlling charging of an electric vehicle based on route planning according to the present invention;
FIG. 4 is a schematic diagram of an initial candidate charging pile
FIG. 5 is a schematic diagram of a final candidate charging pile
In the figure: 1. fill electric pile, 2, integrated box, 3, rear portion pressure sensor, 4, parking stall, 5, obstacle piece, 6, anterior pressure sensor, 7, baffle, 8, time-recorder, 9, infrared scanner, 10, voice broadcast ware.
Detailed Description
The invention is described in detail below with reference to the attached drawing figures:
the electric vehicle charging control device based on route planning is characterized by comprising a charging pile monitoring module and an electric vehicle module, wherein the charging pile monitoring module is used for comprehensively judging the available state of a charging pile and carrying out corresponding warning; the electric automobile module is arranged on the electric automobile to be charged and used for calculating the remaining driving range of the electric automobile to be charged and carrying out corresponding route planning. The device is schematically shown in figure 1.
Fill electric pile monitoring module and include parking stall detection device and electric quantity detection device, and parking stall detection device, electric quantity detection device all links to each other through radio communication with the central control platform and carries out information transfer, wherein, parking stall detection device includes infrared scanner 9, voice broadcast ware 10, four pressure sensor, two obstacle blocks 5 that have elevating gear, time-recorder 8 and baffle 7, infrared scanner 9, voice broadcast ware 10 are integrated in an integrated box 2 and install on filling electric pile 1 towards parking stall 4 on the surface, infrared scanner 9 is used for judging the car type of parking, voice broadcast ware 10 is used for the suggestion electric automobile that has accomplished the charging, the traditional car that occupies the parking stall leaves in time, pressure sensor is used for detecting whether there is the car to park in the parking stall department that charges, an obstacle block 5 and elevating gear establish in the middle part of the left side of parking stall 4 a hole that is located underground, Another barrier block 5 is arranged in a hole which is arranged in the middle of the right boundary line of the parking space 4 and is positioned underground, two barrier blocks 5 are symmetrically arranged, automatic partition plates 7 are arranged above the holes, the automatic partition plates 7 are driven by a small motor to horizontally move so as to open or close the holes for accommodating the barrier blocks 5, four pressure sensors are respectively arranged at four corners of the parking space 4, two pressure sensors which are arranged at two corners of the parking space 4 far away from the charging pile 1 are front pressure sensors 6, two pressure sensors which are arranged at two corners of the parking space 4 close to the charging pile 1 are rear pressure sensors 3, a timer 8 is connected with one rear pressure sensor 3, a wireless communication module can be in wireless communication connection with a wireless communication module in a central console of the electric automobile and can also be accessed into a vehicle type information database of the internet, and the pressure sensors, an infrared scanner 9, the, Voice broadcast ware 10, wireless communication module, small motor and obstacle 5's elevating system all are connected with control circuit, and electric quantity detection device sets up on filling electric pile for detect the charged state of car this moment. The electric quantity detection device is connected with the control circuit of the charging pile, and the control circuit of the charging pile stores the position information of the charging pile.
The structure of the charging pile monitoring module is shown in fig. 2.
The electric automobile module comprises a driving range counting system, a vehicle-mounted navigator, a central console and a small-sized display, wherein the driving range counting system comprises an electric quantity display device connected with a storage battery of the electric automobile to be charged and a speed sensor of the electric automobile to be charged; the small-sized display comprises a display screen and a voice broadcast device, and the electric quantity display device, the speed sensor, the display screen and the voice broadcast device are all connected with a central control console of the electric automobile to be charged.
The electric vehicle charging control method based on route planning is characterized by comprising the following specific steps:
the device flow is shown in fig. 3.
Inputting the whole vehicle parameters and battery pack parameters of the electric vehicle to be charged into a central console;
monitoring the states of the charging pile and the parking space by the charging pile monitoring module, and transmitting the position and state information of the charging pile and the parking space to the electric vehicle module;
step three, acquiring speed information of a running working condition of the electric automobile to be charged by a driving range statistical system; establishing a fuzzy model between characteristic parameters of typical standard working conditions and energy consumption; the central control console substitutes the speed information of the running working condition of the charging electric automobile into a fuzzy model between the characteristic parameters of the typical standard working condition and the energy consumption to calculate the number of the remaining driving mileage of the electric automobile to be charged;
step four, the central console screens the charging piles for three times according to the remaining driving mileage of the electric vehicle to be charged, the positions of the charging piles and the state information to obtain final candidate charging piles, and the vehicle-mounted navigator carries out path planning on the final candidate charging piles;
wherein ,
the specific process of the step (II) is as follows:
when the front pressure sensor 6 detects that the pressure gradually increases and the pressure direction is from the outside of the parking space to the inside of the parking space, for the car starts to park, the infrared scanner 9 is triggered, the infrared scanner 9 scans the number plate of the car that is parking, and the scanned number plate is accessed into the vehicle type information database of the internet through the wireless communication module to determine the type of the car that parks:
if the type of the automobile performing the parking action is determined to be the electric automobile, the voice broadcaster 10 broadcasts that the automobile is parked as the electric automobile and charging is required, when the four pressure sensors detect that the pressure is not increased any more, the parking action is finished, when the automobile just finishes the parking action, the pressure sensors trigger the timer 8 to start timing, and the timer 8 detects the parking time t of the automobile1Additionally, a time threshold t is set0General term t010-30 s; if t1＞t0When the electric quantity detection device in the charging pile monitoring module does not detect that the charging pile has a corresponding charging action, an alarm is triggered, and the voice broadcast device 10 plays a voice warning to 'forbid occupying a charging parking space';
if the electric automobile is in the time t0The electric quantity detection device detects the electric quantity s of the electric automobile storage battery which is being charged in real time1When s is1When 100% or the owner actively stops chargingDuring the charging operation of electric pile, voice broadcast 10 plays voice prompt "the vehicle that has accomplished the charging in time leaves", and time-recorder 8 starts the timing, and time-recorder 8 begins to detect and accomplishes vehicle parking time t after charging2If t is2＞t0When the automobile is still parked at the parking space, an alarm is triggered, and the voice broadcaster 10 gives a voice warning to 'forbid occupying the charging parking space';
after the automobile finishes the parking action, if the front pressure sensor 6 and the rear pressure sensor 3 do not detect pressure changes, the parking space is in a used state, and the charging pile use state value a is 0; if the front pressure sensor 6 and the rear pressure sensor 3 detect that the pressure values are zero, that is, the automobile has already exited from the parking space, the charging pile use state value a is 1;
simultaneously, the charging pile monitoring module sends a and s through the wireless communication device1Sending the numerical value to the electric vehicle module;
b. if the automobile type of action of parkking is the traditional automobile for the affirmation, control circuit control automatic partition 7 is opened, the elevating system of control obstacle piece 5 drives obstacle piece 5 and rises, and voice broadcast ware 10 carries out the pronunciation warning simultaneously, prevents that traditional automobile from parking in the parking stall.
The specific process of the step (three) is as follows:
firstly, acquiring characteristic parameter information of each segment under typical standard working conditions: establishing a pure electric vehicle whole vehicle energy consumption model in MATLAB, wherein the input working condition is 10 typical standard working conditions, each typical standard working condition is 1200s, each typical standard working condition is equally divided into 12 groups of segments in sequence, each typical standard working condition is operated, and each typical standard working condition segment is provided with four characteristic parameters: 120 groups of data can be obtained by the average speed v, the uniform speed proportion P, the deceleration proportion R and the total energy consumption E;
secondly, establishing a fuzzy model between characteristic parameters of typical standard working conditions and energy consumption:
constructing a vector x consisting of N groups of L dimensionsjComposed data set XEach L-dimensional vector xjComprises four characteristic parameters of each segment, wherein N is 120, L is 4, and X is (X)1,x2,…,xj)j＝1,2,…,N
And the confidence of the data set X is extracted by adopting a confidence-added fuzzy C clustering algorithm, namely a BFCM algorithm, the collected standard working condition data is processed by the BFCM algorithm, the confidence of the sample data is extracted in the clustering process, and the guarantee can be provided for obtaining a good fuzzy rule base.
Let uijAs fuzzy degree of membership, i.e. xjDegree of belonging to class i, c is the number of cluster categories, beljFor the confidence degree of data in the clustering process, namely xjDegree of trust of viIs the i-th class center i is 1,2, …, c, dij＝d(vi,xj) As data xjAnd a clustering center viThe distance of (2) is m, which is a flexible coefficient and controls the sharing degree between categories, and m is 2.0, which is generally preferred.
And (3) initializing: the number of the characteristic parameters is four, so the category number is 4, the clustering category number c is set to be 4, the iteration termination value epsilon and the maximum iteration number bmaxCan be determined according to specific precision requirements;
initializing fuzzy membership uijSo that it satisfies uij∈(0,1)
Updating confidence belj：
Order to
Updating the clustering center vi；
in the formula,representing the updated cluster center.
According to the updated cluster centerUpdating fuzzy membership uij：
(dij)2＝(xj-vi (b))TA(xj-vi (b))
in the formula,representing the updated fuzzy membership degree, A is a unit symmetric matrix, and d is the time when k is equal to ikj＝dij
If it is notThe iteration is terminated to obtain the confidence belj. Otherwise, it ordersb +1, updating the confidence bel againj。
Extracting fuzzy rules by using an iWM method, and establishing a fuzzy model between characteristic parameters and energy consumption according to a fuzzy rule base:
firstly, a sample T with N pairs of N input single output is constructed, wherein T { (x'(p)；y(p)) 1,2, …, N, the average speed of each typical standard operating condition segmentAnd the constant speed proportion P and the deceleration proportion R are used as a group of samples to be input, and the total energy consumption E of each typical standard working condition segment is used as the group of samples to be output.
Wherein n is 3, the total content of the compound,representing the p-th set of input data, y(p)E R represents the output of the pth group,respectively represent the average speeds of the p-th groupA constant speed proportion P, and a deceleration proportion R.
Dividing the interval of input variables into dqA fuzzy subset, wherein q is a fuzzy rule number, and the value range of the output variable is divided into d0A and B represent input variables x'(p)And an output variable y(p)Is performed.
And calculating the membership value by adopting a Gaussian function as a membership function:
wherein ,μA(x′(p)) and μB(y(p)) And b and sigma values can be determined according to requirements.
Calculating the weight w multiplied by the calculated membership degree of each group of sample data(p)：
Creating a complete fuzzy rule base, wherein the specific description form is as follows:
after the fuzzy rule is established, the lower fuzzy model y (x) can be obtained by product operation and weighted average defuzzification, and the sample credibility bel obtained by the BFCM algorithm is usedjThe confidence as a fuzzy rule is substituted into the fuzzy model:
wherein ,is the q rule in the fuzzy membership function muBAnd (y) is 1.
After a fuzzy model between the characteristic parameters and the energy consumption is established, a speed sensor in the driving range statistical system acquires speed information of a driving working condition in the driving process of the electric automobile to be charged, the driving working condition is averagely divided into a plurality of segments according to time, and the characteristic parameters of each segment are obtained: average velocityThe constant speed proportion P 'and the deceleration proportion N' are adopted, and the characteristic parameters are transmitted by the central console according to the speed and the acceleration information of the electric automobile transmitted by the speed sensorIs obtained, average speedInputting the uniform speed proportion P ' and the deceleration proportion N ' into the fuzzy model to obtain the energy consumption E ' of each segment;
the central console further calculates the remaining driving range of the electric automobile through the following calculation process:
Ecost＝∑E′
Erest＝Etotal-Ecost
Srest＝lErest
in the formula, E' is the energy consumption of each segment of the running working condition of the electric automobile to be charged; ecostThe total energy consumption of the electric automobile to be charged; etotalObtaining the total energy of the electric automobile to be charged according to the parameters of the electric automobile to be charged; erestThe residual energy of the electric automobile to be charged is obtained; scostThe mileage of the electric automobile to be charged is obtained by an odometer of the electric automobile to be charged; l is the mileage driven by unit energy consumption; srestThe remaining driving range is obtained;
according to the obtained remaining driving mileage of the electric automobile, the central console enables the remaining driving mileage of the electric automobile to be SrestDistance S from remaining drivingneedComparing the sizes, if Srest-Sneed＞SyThen the small-sized display displays the remaining driving mileage of the electric automobile and prompts 'the target place can be successfully reached' by voice; if Srest-Sneed≤SyIf yes, starting a route planning system and prompting that the residual driving range is insufficient by voice;
wherein ,SyFor mileage threshold, S is generally takeny＝1～2km。
The specific process of the step (IV) is as follows:
the wireless communication module in the electric automobile to be charged is connected with the wireless communication module of the charging pile to acquire the position information of each charging pile, and the remaining driving range S of the electric automobile to be charged is reserved by taking the current position of the electric automobile to be charged as the center of a circlerestAll charging piles within the radius range are used as primary candidate charging piles, as shown in fig. 4, and position information of the primary candidate charging piles is reserved;
then planning an optimal driving path from the current position of the electric automobile to be charged to each candidate charging pile by using the vehicle-mounted navigator, and reserving that the optimal driving path history is less than the residual driving range S of the electric automobile to be chargedrestThe candidate charging piles are used as secondary candidate charging piles, and position information of the secondary candidate charging piles is reserved;
finally, reading the use state value a of the secondary candidate charging pile, removing the secondary candidate charging pile with a being 0, reserving the secondary candidate charging pile with a being 1 as a final candidate charging pile, finally, displaying the optimal driving path of each final candidate charging pile planned by the vehicle-mounted navigator on a display screen of a small-sized display, and marking the corresponding electric quantity s of the electric vehicle storage battery which is being charged beside each final candidate charging pile1As shown in fig. 5. Marked s1The driver can further screen according to the needs of actual conditions, for example, there are two final candidate charging piles of a, b: charging pile a is 2km and s away from the current position of the electric automobile to be charged1a100%, fill electric pile b and wait to charge electric automobile present position 1km and s1b45%, the driver can roughly determine the waiting time required by the driver according to the time required by reaching each charging pile, and the selection of the selected charging pile is determined by combining the actual situation of the driver.

Claims (2)

1. The electric automobile charging control device based on route planning is characterized by comprising a charging pile monitoring module and an electric automobile module, wherein the electric automobile module is arranged on an electric automobile to be charged;
the charging pile monitoring module comprises a parking pile detection device and an electric quantity detection device, wherein the parking pile detection device comprises a wireless communication module, an infrared scanner (9), a voice broadcaster (10), four pressure sensors, two obstacle blocks (5) with lifting devices, a timer (8) and a control circuit, the infrared scanner (9) and the voice broadcaster (10) are integrated in an integrated box (2) and are installed on the surface of the charging pile (1) facing to the parking pile (4), one obstacle block (5) and the lifting devices thereof are arranged in a hole in the middle of the left boundary line of the parking pile (4) and in the ground, the other obstacle block (5) is arranged in a hole in the middle of the right boundary line of the parking pile (4) and in the ground, the two obstacle blocks (5) are symmetrically arranged, and automatic partition plates (7) are arranged above the holes, the automatic partition plate (7) is driven by a small motor to move horizontally so as to open or close a hole for accommodating the barrier block (5), four pressure sensors are respectively arranged at four corners of the parking space (4), two pressure sensors arranged at two corners of the parking space (4) far away from the charging pile (1) are front pressure sensors (6), two pressure sensors arranged at two corners of the parking space (4) near the charging pile (1) are rear pressure sensors (3), a timer (8) is connected with one rear pressure sensor (3), a wireless communication module can be in wireless communication connection with a wireless communication module in a central console of the electric automobile and can also be accessed into an internet vehicle type information database, and lifting mechanisms of the pressure sensors, an infrared scanner (9), a voice broadcaster (10), the wireless communication module, the small motor and the barrier block (5) are all connected with a control circuit, the electric quantity detection device is arranged on the charging pile, the electric quantity detection device is connected with a control circuit of the charging pile, and the control circuit of the charging pile stores position information of the charging pile.
The electric automobile module comprises a driving range counting system, a vehicle-mounted navigator, a central console and a small-sized display, wherein the driving range counting system comprises an electric quantity display device connected with a storage battery of the electric automobile to be charged and a speed sensor of the electric automobile to be charged; the small-sized display comprises a display screen and a voice broadcast device, and the electric quantity display device, the speed sensor, the display screen and the voice broadcast device are all connected with a central control console of the electric automobile to be charged.
2. The electric vehicle charging control method based on route planning is characterized by comprising the following specific steps:
inputting the whole vehicle parameters and battery pack parameters of the electric vehicle to be charged into a central console;
monitoring the states of the charging pile and the parking space by the charging pile monitoring module, and transmitting the position and state information of the charging pile and the parking space to the electric vehicle module;
step three, acquiring speed information of a running working condition of the electric automobile to be charged by a driving range statistical system; establishing a fuzzy model between characteristic parameters of typical standard working conditions and energy consumption; the central control console substitutes the speed information of the running working condition of the charging electric automobile into a fuzzy model between the characteristic parameters of the typical standard working condition and the energy consumption to calculate the number of the remaining driving mileage of the electric automobile to be charged;
step four, the central console screens the charging piles for three times according to the remaining driving mileage of the electric vehicle to be charged, the positions of the charging piles and the state information to obtain final candidate charging piles, and the vehicle-mounted navigator carries out path planning on the final candidate charging piles;
wherein ,
the specific process of the step (II) is as follows:
when the front pressure sensor (6) detects that the pressure is gradually increased and the pressure direction is from the outside of the parking space to the inside of the parking space, namely the automobile starts to perform parking action, the infrared scanner (9) is triggered, the infrared scanner (9) scans the license plate of the automobile which is parked, and the scanned license plate is accessed into the automobile type information database of the internet through the wireless communication module to determine the type of the automobile which performs parking action:
a. if the type of the automobile performing the parking action is determined to be the electric automobile, the voice broadcaster (10) broadcasts that the automobile is parked as the electric automobile and charging is required, when the four pressure sensors detect that the pressure borne by the automobile is not increased any more, the parking action is finished, when the automobile just finishes the parking action, the pressure sensors trigger the timer (8) to start timing, and the timer (8) detects the parking time t of the automobile1Additionally, a time threshold t is set0Get t010-30 s; if t1＞t0When the electric quantity detection device in the charging pile monitoring module does not detect that the charging pile has corresponding charging action, an alarm is triggered, and the voice broadcast device (10) plays a voice warning to 'forbid occupying a charging parking space';
if the electric automobile is in the time t0The electric quantity detection device detects the electric quantity s of the electric automobile storage battery which is being charged in real time1When s is1When 100% or this owner moves and has stopped charging the work of charging of electric pile, voice broadcast ware (10) broadcast voice prompt "the vehicle that has accomplished the charging in time leaves", and time-recorder (8) start timing, and time-recorder (8) begin to detect and accomplish the back vehicle parking time t that charges2If t is2＞t0When the automobile is still parked at the parking space, an alarm is triggered, and the voice broadcaster (10) gives a voice warning to 'forbid occupying the charging parking space';
after the automobile finishes the parking action, if the front pressure sensor (6) and the rear pressure sensor (3) do not detect pressure changes, the parking space is in a used state, and the charging pile use state value a is 0; if the front pressure sensor (6) and the rear pressure sensor (3) detect that the pressure values are zero, namely the automobile is driven out of the parking space, the charging pile use state value a is 1;
simultaneously, the charging pile monitoring module sends a and s through the wireless communication device1Sending the numerical value to the electric vehicle module;
b. if the type of the automobile for parking is determined to be a traditional automobile, the control circuit controls the automatic partition plate (7) to be opened, controls the lifting mechanism of the barrier block (5) to drive the barrier block (5) to ascend, and meanwhile, the voice broadcast device (10) carries out voice warning to prevent the traditional automobile from parking into a parking space.
The specific process of the step (three) is as follows:
firstly, acquiring characteristic parameter information of each segment under typical standard working conditions: establishing a pure electric vehicle whole vehicle energy consumption model in MATLAB, wherein the input working condition is 10 typical standard working conditions, each typical standard working condition is 1200s, each typical standard working condition is equally divided into 12 groups of segments in sequence, each typical standard working condition is operated, and each typical standard working condition segment is provided with four characteristic parameters: average velocityThe uniform speed proportion P, the deceleration proportion R and the total energy consumption E can obtain 120 groups of data;
secondly, establishing a fuzzy model between characteristic parameters of typical standard working conditions and energy consumption:
constructing a vector x consisting of N groups of L dimensionsjComposed data set X, each L-dimensional vector XjComprises four characteristic parameters of each segment, wherein N is 120, L is 4, and X is (X)1,x2,…,xj)j＝1,2,…,N
And extracting the trust degree of the data set X by adopting a fuzzy C clustering algorithm added with the trust degree, namely a BFCM algorithm.
Let uijAs fuzzy degree of membership, i.e. xjDegree of belonging to class i, c is the number of cluster categories, beljFor the confidence degree of data in the clustering process, namely xjDegree of trust of viIs the i-th class center i is 1,2, …, c, dij＝d(vi,xj) As data xjAnd a clustering center viThe distance of (2) is m, which is a flexible coefficient and controls the sharing degree between categories, and m is 2.0, which is generally preferred.
And (3) initializing: the number of the characteristic parameters is four, so the category number is 4, the clustering category number c is set to be 4, the iteration termination value epsilon and the maximum iteration number bmaxCan be determined according to specific precision requirements;
initializing fuzzy membership uijSo that it satisfies uij∈(0,1)
Updating confidence belj：
Order to
Updating the clustering center vi；
in the formula,representing the updated cluster center.
According to the updated cluster centerUpdating fuzzy membership uij：
(dij)2＝(xj-vi (b))TA(xj-vi (b))
in the formula,representing the updated fuzzy membership degree, A is a unit symmetric matrix, and d is the time when k is equal to ikj＝dij
If it is notThe iteration is terminated to obtain the confidence belj. Otherwise, it ordersReplacing confidence belj。
Extracting fuzzy rules by using an iWM method, and establishing a fuzzy model between characteristic parameters and energy consumption according to a fuzzy rule base:
firstly, a sample T with N pairs of N input single output is constructed, wherein T { (x'(p)；y(p)) 1,2, …, N, the average speed of each typical standard operating condition segmentAnd the constant speed proportion P and the deceleration proportion R are used as a group of samples to be input, and the total energy consumption E of each typical standard working condition segment is used as the group of samples to be output.
Wherein n is 3, the total content of the compound,representing the p-th set of input data, y(p)E R represents the output of the pth group,respectively represent the average speeds of the p-th groupA constant speed proportion P, and a deceleration proportion R.
Dividing the interval of input variables into dqA fuzzy subset, wherein q is a fuzzy rule number, and the value range of the output variable is divided into d0A and B represent input variables x'(p)And an output variable y(p)Is performed.
And calculating the membership value by adopting a Gaussian function as a membership function:
wherein ,μA(x′(p)) and μB(y(p)) And b and sigma values can be determined according to requirements.
Calculating the weight w multiplied by the calculated membership degree of each group of sample data(p)：
Creating a complete fuzzy rule base, wherein the specific description form is as follows:
after the fuzzy rule is established, the lower fuzzy model y (x) can be obtained by product operation and weighted average defuzzification, and the sample credibility bel obtained by the BFCM algorithm is usedjThe confidence as a fuzzy rule is substituted into the fuzzy model:
wherein ,is the q rule in the fuzzy membership function muBAnd (y) is 1.
After a fuzzy model between the characteristic parameters and the energy consumption is established, a speed sensor in the driving range statistical system acquires speed information of a driving working condition in the driving process of the electric automobile to be charged, the driving working condition is averagely divided into a plurality of segments according to time, and the characteristic parameters of each segment are obtained: average velocityThe characteristic parameters are obtained by the central console according to the speed and acceleration information of the electric vehicle transmitted by the speed sensor, and the average speed is obtainedInputting the uniform speed proportion P 'and the deceleration proportion N' into the fuzzy model to obtain the energy consumption of each segment;
the central console further calculates the remaining driving range of the electric automobile through the following calculation process:
Ecost＝∑E′
Erest＝Etotal-Ecost
Srest＝lErest
in the formula, E' is the energy consumption of each segment of the running working condition of the electric automobile to be charged; ecostThe total energy consumption of the electric automobile to be charged; etotalObtaining the total energy of the electric automobile to be charged according to the parameters of the electric automobile to be charged; erestThe residual energy of the electric automobile to be charged is obtained; scostThe mileage of the electric automobile to be charged is obtained by an odometer of the electric automobile to be charged; l is the mileage driven by unit energy consumption; srestThe number of remaining driving miles is;
according to the obtained remaining driving mileage of the electric automobile, the central console enables the remaining driving mileage of the electric automobile to be SrestDistance S from remaining drivingneedComparing the sizes, if Srest-Sneed＞SyThen the small-sized display displays the remaining driving mileage of the electric automobile and prompts 'the target place can be successfully reached' by voice; if Srest-Sneed≤SyIf yes, starting a route planning system and prompting that the residual driving range is insufficient by voice;
wherein ,SyFor mileage threshold, take Sy＝1～2km。
The specific process of the step (IV) is as follows:
the wireless communication module in the electric automobile to be charged is connected with the wireless communication module of the charging pile to acquire the position information of each charging pile, and the remaining driving distance S of the electric automobile to be charged is reserved by taking the current position of the electric automobile to be charged as the center of a circlerestAll charging piles within the radius range are used as primary candidate charging piles, and position information of the primary candidate charging piles is reserved;
then, an optimal driving path from the current position of the electric automobile to be charged to each candidate charging pile is planned by using the vehicle-mounted navigator, and the optimal driving path is reserved, wherein the process is smaller than that of the optimal driving path to be chargedRemaining driving mileage S of electric automobilerestThe candidate charging piles are used as secondary candidate charging piles, and position information of the secondary candidate charging piles is reserved;
finally, reading the use state value a of the secondary candidate charging pile, removing the secondary candidate charging pile with a being 0, reserving the secondary candidate charging pile with a being 1 as a final candidate charging pile, finally, displaying the optimal driving path of each final candidate charging pile planned by the vehicle-mounted navigator on a display screen of a small-sized display, and marking the corresponding electric quantity s of the electric vehicle storage battery which is being charged beside each final candidate charging pile1。
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