CN109029474B - Electric automobile charging navigation energy consumption calculation method - Google Patents
Electric automobile charging navigation energy consumption calculation method Download PDFInfo
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- CN109029474B CN109029474B CN201810388771.0A CN201810388771A CN109029474B CN 109029474 B CN109029474 B CN 109029474B CN 201810388771 A CN201810388771 A CN 201810388771A CN 109029474 B CN109029474 B CN 109029474B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3469—Fuel consumption; Energy use; Emission aspects
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3476—Special cost functions, i.e. other than distance or default speed limit of road segments using point of interest [POI] information, e.g. a route passing visible POIs
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R22/00—Arrangements for measuring time integral of electric power or current, e.g. electricity meters
Abstract
The invention discloses a method for calculating charging navigation energy consumption of an electric automobile. It comprises the following steps: s1: finding out all nearby charging piles according to the map information, planning all paths of the electric vehicle to reach the charging piles, and dividing each path into a plurality of road sections according to the conditions of uphill slope, flatness and downhill slope of the road surface of each path; s2: calculating the energy consumption E of the electric automobile passing through each road section according to the conditions of uphill slope, flatness and downhill slope of the road surface of each road section, and then calculating the energy consumption E of the electric automobile passing through each path; s3: and determining a scaling factor A according to the current used electric equipment of the electric automobile, and multiplying the calculated energy consumption E of the electric automobile passing through each path by the scaling factor A to obtain the final energy consumption E' of the electric automobile passing through each path. According to the method, the final energy consumption of each path of the electric automobile reaching each charging pile can be predicted only by obtaining the gradient of the planned road section and the relevant parameters of the vehicle from the map system.
Description
Technical Field
The invention relates to the technical field of electric automobile energy consumption calculation, in particular to a method for calculating electric automobile charging navigation energy consumption.
Background
Because of the advantages of environmental protection, low carbon, high energy utilization rate and the like, the electric automobile is selected by more and more consumers, and the electric automobile industry is vigorously planted by governments of various countries for solving the energy and environmental problems. However, due to the limitation of battery capacity, the driving range of the electric vehicle is still relatively short, and the charging time is often relatively long. Therefore, one of the most concerned issues for the owner of the electric vehicle is how to find the charging pile that can be reached with the remaining power and navigate a reasonable path when the power is insufficient. Compared with the navigation process of finding a gas station by a traditional fuel vehicle, the navigation process has the greatest difference that the predicted arriving energy consumption is used as a prerequisite condition for navigation decision, so that the energy consumption of the electric vehicle arriving at a target charging pile along a planned path is accurately estimated, and the method is one of the most core technologies of an electric vehicle charging navigation system.
During the running process of the electric automobile, the battery provides electric energy for the engine and other electric equipment (such as a video and audio system and an air conditioner). The calculation of the energy consumption of the electric vehicle usually adopts a state of charge (SOC) estimation method of the battery, however, firstly, the method needs a large amount of measurement, which results in a high requirement on hardware of the electric vehicle, and on the other hand, errors cause a problem of low estimation accuracy due to a large amount of measurement. In fact, since most of the electric energy is converted into mechanical energy on the motor to drive the vehicle to move forward, and meanwhile, in order to avoid loss of generality, when the electric vehicle navigation system calculates the energy consumption, only the electromagnetic loss of the motor is generally considered, and other energy consumption is reflected in the final energy consumption according to a certain proportion of the energy consumption of the motor. Thus, the calculation of the energy consumption of the electric vehicle may actually be converted into a calculation of the electromagnetic power of the electric motor.
Disclosure of Invention
In order to solve the problems, the invention provides a method for calculating the charging navigation energy consumption of the electric automobile, which can predict the final energy consumption of each path of the electric automobile reaching each charging pile only by obtaining the gradient of a planned road section and relevant parameters of the vehicle from a map system, and does not need to measure each physical quantity of the electric automobile in real time.
In order to solve the problems, the invention adopts the following technical scheme:
the invention discloses a method for calculating the charging navigation energy consumption of an electric automobile, which comprises the following steps:
s1: finding out all nearby charging piles according to the map information, planning all paths of the electric vehicle to reach the charging piles, and dividing each path into a plurality of road sections according to the conditions of uphill slope, flatness and downhill slope of the road surface of each path, wherein the road surface of each road section is one of uphill slope, flatness and downhill slope;
s2: calculating the energy consumption E of the electric automobile passing through each road section according to the conditions of uphill slope, flatness and downhill slope of the road surface of each road section, and then calculating the energy consumption E of the electric automobile passing through each path;
the method for calculating the energy consumption of the electric automobile reaching the kth road section of the jth path passed by the nth charging pile comprises the following steps: recording the speed, the energy consumption and the time of the electric automobile passing through the kth road section of the jth path of the nth charging pile as follows: v. ofn,j,k,En,j,k，tn,j,kPredicting the speed v of the electric automobile passing through the kth road section of the jth path of the nth charging pilen,j,kTime tn,j,k，
When the kth road section is an uphill road section, the energy consumption calculation formula is as follows:
when the kth road section is a flat road section, the energy consumption calculation formula is as follows:
when the kth road section is a downhill road section, the energy consumption calculation formula is as follows:
wherein, cxIs an air resistance factor, S is the frontal area of the automobile, rho is the air density, R is the wheel radius, g' is the gear ratio of the gearbox, M is the vehicle mass, f is the friction coefficient of the tire, thetan,j,kThe gradient of the kth road section of the jth path leading to the nth charging pile is shown, t is time, and delta t is a time interval;
the energy consumption of the electric vehicle through the kth road section is as follows:
establishing a vehicle speed prediction system model, wherein the formula of the vehicle speed prediction system model is as follows:
wherein the state quantity XkIndicating the speed of the vehicle at time k, the observed quantity ZkRepresenting the number of vehicles observed on the road section at time K, L representing the length of the road section, K*A congestion coefficient indicating a maximum traffic flow; v*Representing the maximum speed limit, w, of the vehicle on that routek-1And vkRepresenting process noise and observation noise;
s3: and determining a scaling factor A according to the current used electric equipment of the electric automobile, and dividing the calculated energy consumption E of the electric automobile passing through each path by the scaling factor A to obtain the final energy consumption E' of the electric automobile passing through each path.
S3: and determining a scaling factor A according to the current used electric equipment of the electric automobile, and dividing the calculated energy consumption E of the electric automobile passing through each path by the scaling factor A to obtain the final energy consumption E' of the electric automobile passing through each path.
In the technical scheme, when the electric automobile needs to be charged, all nearby charging piles capable of being charged are inquired firstly, all paths leading to each charging pile from the current position of the electric automobile are planned, and finally, each path is divided. Each path is divided into a number of road sections, each road section comprising only one of an uphill, a flat, a downhill road surface.
And calculating the energy consumption of the electric automobile passing through each road section according to the gradient of each road section, thereby calculating the energy consumption of the electric automobile passing through each path. The calculated energy consumption of the electric automobile passing through each path is divided by the scaling factor to obtain the final energy consumption of the electric automobile passing through each path, for example, when electric equipment such as a vehicle-mounted air conditioner and a seat heater is used at high temperature in summer, the corresponding scaling factor needs to be determined by taking the electric power consumption into consideration, so that the energy consumption prediction result is more accurate.
Preferably, the method for calculating the energy consumption of the electric vehicle reaching the jth path through which the nth charging pile passes comprises the following steps: summing all road sections on the jth path leading to the nth charging pile to obtain the energy consumption of the jth path leading to the nth charging pile of the electric automobile as follows:
n is the number of segments included in the jth path to the nth charging pile.
Preferably, the time t of the electric automobile passing through the kth road section of the jth path of the nth charging pile is predictedn,j,kThe method comprises the following steps:
time t is calculated according to the following formulan,j,k：
Where Δ t is a time interval, t0Is the initial time, Ln,j,kThe length of the road section of the kth road section of the jth path through which the nth charging pile passes is obtained by the electric automobile.
The invention has the beneficial effects that: compared with a battery state of charge estimation method, the method has no physical quantity required to be measured in real time, only the gradient of a planned road section and relevant parameters of the vehicle are required to be obtained from a map system, the requirement on hardware of the vehicle is low, and meanwhile, the estimation precision is high.
Drawings
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a stress analysis diagram of an electric vehicle on an uphill road section;
FIG. 3 is a stress analysis diagram of an electric vehicle on a flat road section;
FIG. 4 is a stress analysis diagram of the electric automobile on a downhill section.
In the figure: t is the traction force of the motor of the automobile, Mg is the gravity borne by the automobile, fWind resistanceIs the wind resistance during the running of the automobile, fFriction ofFor vehicle tyresAnd the ground.
Detailed Description
The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings.
Example (b): the method for calculating the charging navigation energy consumption of the electric vehicle in the embodiment, as shown in fig. 1, includes the following steps:
s1: finding out all nearby charging piles according to the map information, planning all paths of the electric vehicle to reach the charging piles, and dividing each path into a plurality of road sections according to the conditions of uphill slope, flatness and downhill slope of the road surface of each path, wherein the road surface of each road section is one of uphill slope, flatness and downhill slope;
s2: calculating the energy consumption E of the electric automobile passing through each road section according to the conditions of uphill slope, flatness and downhill slope of the road surface of each road section, and then calculating the energy consumption E of the electric automobile passing through each path;
s3: and determining a scaling factor A according to the current used electric equipment of the electric automobile, and dividing the calculated energy consumption E of the electric automobile passing through each path by the scaling factor A to obtain the final energy consumption E' of the electric automobile passing through each path.
The method for calculating the energy consumption of the electric automobile reaching the kth road section of the jth path passed by the nth charging pile comprises the following steps:
recording the speed, the energy consumption and the time of the electric automobile passing through the kth road section of the jth path of the nth charging pile as follows: v. ofn,j,k,En,j,k，tn,j,kPredicting the speed v of the electric automobile passing through the kth road section of the jth path of the nth charging pilen,j,kTime tn,j,k，
When the kth road section is an uphill road section, the energy consumption calculation formula is as follows:
when the kth road section is a flat road section, the energy consumption calculation formula is as follows:
when the kth road section is a downhill road section, the energy consumption calculation formula is as follows:
wherein, cxIs an air resistance factor, S is the frontal area of the automobile, rho is the air density, R is the wheel radius, g' is the gear ratio of the gearbox, M is the vehicle mass, f is the friction coefficient of the tire, thetan,j,kThe gradient of the kth road section of the jth path leading to the nth charging pile is shown, t is time, and delta t is a time interval;
the energy consumption of the electric vehicle through the kth road section is as follows:
the method for calculating the energy consumption of the electric automobile reaching the jth path passed by the nth charging pile comprises the following steps: summing all road sections on the jth path leading to the nth charging pile to obtain the energy consumption of the jth path leading to the nth charging pile of the electric automobile as follows:
n is the number of segments included in the jth path to the nth charging pile.
When the electric automobile needs to be charged, all nearby charging piles capable of being charged are inquired, all paths leading to each charging pile from the current position of the electric automobile are planned, and finally, each path is divided. Each path is divided into a number of road sections, each road section comprising only one of an uphill, a flat, a downhill road surface.
And calculating the energy consumption of the electric automobile passing through each road section according to the gradient of each road section, thereby calculating the energy consumption of the electric automobile passing through each path. And dividing the calculated energy consumption E of the electric vehicle passing through each path by the scaling factor A to obtain the final energy consumption E' of the electric vehicle passing through each path. The scaling factor a may vary for different temperatures in different seasons. For example: during the driving without air conditioning in daytime, the scaling factor a may be set to 0.95, E' ═ E/0.95; if air conditioning and ventilation are on, the scale factor A is set to 0.8, and E' is E/0.8.
The derivation method of the energy consumption calculation formula of the automobile under the three different gradient road sections is as follows:
suppose that the electric automobile is on the kth road section of the jth path leading to the nth charging pile, and the gradient of the road section is thetan,j,k。
As shown in fig. 2, if the kth road section of the jth path leading to the nth charging pile is an uphill road section, four forces are applied to the automobile in the driving direction, namely the component of gravity Mg applied to the automobile, the traction force T applied to an automobile motor and the wind resistance f applied to the automobile in the driving processWind resistanceFriction force f between vehicle tyre and groundFriction ofWherein f isWind resistanceAnd fFriction ofCan be expressed as follows:
thus, the traction provided by the motor of the vehicle is:
as shown in FIG. 3, if the kth road section of the jth path leading to the nth charging pile is a flat road section, three forces are applied to the driving direction of the automobile, namely the traction force T of the motor of the automobile and the wind resistance f of the automobile in the driving processWind resistanceFriction force f between vehicle tyre and groundFriction ofThe traction force provided by the automobile motor can also be obtained as follows:
as shown in fig. 4, if the kth road section of the jth route leading to the nth charging pile is a downhill road section, four forces are applied to the automobile in the driving direction, namely the component of gravity Mg applied to the automobile, the traction force T applied to the motor of the automobile and the wind resistance f applied to the automobile in the driving processWind resistanceFriction force f between vehicle tyre and groundFriction ofThe traction force provided by the automobile motor can also be obtained as follows:
after the tractive effort (i.e., torque) of the vehicle motor is obtained for the different grade sections, the next step is to calculate the time and energy consumption of the vehicle along the route. If we neglect the copper loss of the stator, the electromagnetic power and energy consumption of the electric automobile can be written as follows:
the relation between the rotating speed of the electric automobile motor and the displacement speed thereof is as follows:
therefore, the energy consumption calculation formula of the automobile under the conditions of three different gradient road sections can be obtained:
when the kth road section is an uphill road section, the energy consumption calculation formula is as follows:
when the kth road section is a flat road section, the energy consumption calculation formula is as follows:
when the kth road section is a downhill road section, the energy consumption calculation formula is as follows:
two factors that affect the electromagnetic power of a motor, one is speed and one is torque. By utilizing the speed prediction technology of the electric automobile navigation system, the speed of the electric automobile in the process of running along the planned path can be predicted according to the current congestion coefficient of the road. The magnitude of the torque is affected by the speed, acceleration, gradient of the road, frontal area of the electric vehicle, and other factors. Where the magnitude of speed and acceleration has been determined by predictive techniques, the largest contributor is therefore the gradient of the road.
Therefore, the method considers the gradient of the road, and simultaneously combines the speed predicted by the electric vehicle charging navigation speed prediction technology to calculate the torque of the electric vehicle according to the situation, so as to calculate the predicted energy consumption of the electric vehicle running along the navigation path, and has important significance in the electric vehicle charging navigation system.
Predicting the time t of the electric automobile passing through the kth road section of the jth path of the nth charging pilen,j,kThe method comprises the following steps:
time t is calculated according to the following formulan,j,k：
Where Δ t is a time interval, t0Is the initial time, Ln,j,kThe length of the road section of the kth road section of the jth path through which the nth charging pile passes is obtained by the electric automobile.
The method for predicting the speed of the electric automobile on a certain road section comprises the following steps:
s1: establishing a vehicle speed prediction system model, wherein the formula of the vehicle speed prediction system model is as follows:
wherein the state quantity XkIndicating the speed of the vehicle at time k, the observed quantity ZkRepresenting the number of vehicles observed on the road section at time K, L representing the length of the road section, K*A congestion coefficient indicating a maximum traffic flow; v*Representing the maximum speed limit, w, of the vehicle on that routek-1And vkRepresenting process noise and observation noise;
s2: obtaining the congestion condition of the current time target road section from a traffic information center so as to determine the initial value of the state quantity of the vehicle speed prediction system model
And its covariance initial value
Simultaneous setting of expected initial values of process noise for a vehicle speed prediction system model
Variance initial value
And observing a desired initial value of noise
Variance initial value
S3: using a volumetric Kalman filter, a one-step prediction of a state is calculated
And its error covariance Pk|k-1And calculating the non-linear observation partyUpdated state volume points for range propagation
Pre-measurement volumetric point
S4: calculating an expectation of observed noise
Sum variance
S5: calculating the state estimation value of the vehicle speed prediction system model at the moment
And its error covariance Pm k|kM is initially 1;
s6: judging whether m is less than N0If so, m is m +1, jumping to step S4, otherwise, executing step S7;
s7: taking the final result as a state estimation value
And its error covariance Pk|kAs a result of (1), i.e.
The speed predicted value at the final k moment is obtained;
s8: estimating process noise expectation at time k using Sage-Husa method
Sum variance
Calculating the congestion coefficient K of the road section at the current moment according to the length of the road section and the number of vehicles at the current moment*。
Step S4 includes the following steps:
s41: calculating an expectation of observing noise using the Sage-Husa method
The variance of the observed noise is calculated by using the Sage-Husa method and is recorded as
S42: calculating the variance of the observed noise by using a variational Bayes method, and recording the variance as
S43: will be provided with
And
the result is summed as the final estimate of the observed noise variance at that time
Claims (3)
1. The method for calculating the charging navigation energy consumption of the electric automobile is characterized by comprising the following steps of:
s1: finding out all nearby charging piles according to the map information, planning all paths of the electric vehicle to reach the charging piles, and dividing each path into a plurality of road sections according to the conditions of uphill slope, flatness and downhill slope of the road surface of each path, wherein the road surface of each road section is one of uphill slope, flatness and downhill slope;
s2: calculating the energy consumption E of the electric automobile passing through each road section according to the conditions of uphill slope, flatness and downhill slope of the road surface of each road section, and then calculating the energy consumption E of the electric automobile passing through each path;
the method for calculating the energy consumption of the electric automobile reaching the kth road section of the jth path passed by the nth charging pile comprises the following steps:
recording the speed, the energy consumption and the time of the electric automobile passing through the kth road section of the jth path of the nth charging pile as follows: v. ofn,j,k,En,j,k，tn,j,kPredicting the speed v of the electric automobile passing through the kth road section of the jth path of the nth charging pilen,j,kTime tn,j,k，
When the kth road section is an uphill road section, the energy consumption calculation formula is as follows:
when the kth road section is a flat road section, the energy consumption calculation formula is as follows:
when the kth road section is a downhill road section, the energy consumption calculation formula is as follows:
wherein, cxIs an air resistance factor, S is the frontal area of the automobile, rho is the air density, R is the wheel radius, M is the vehicle mass, f is the coefficient of friction of the tire, thetan,j,kThe gradient of the kth road section of the jth path leading to the nth charging pile is shown, t is time, and delta t is a time interval;
the energy consumption of the electric vehicle through the kth road section is as follows:
establishing a vehicle speed prediction system model, vehicle speed predictionThe formula of the system model is as follows:
wherein the state quantity XkIndicating the speed of the vehicle at time k, the observed quantity ZkRepresenting the number of vehicles observed on the road section at time K, L representing the length of the road section, K*A congestion coefficient indicating a maximum traffic flow; v*Representing the maximum speed limit, w, of the vehicle on that routek-1And vkRepresenting process noise and observation noise;
s3: and determining a scaling factor A according to the current used electric equipment of the electric automobile, and dividing the calculated energy consumption E of the electric automobile passing through each path by the scaling factor A to obtain the final energy consumption E' of the electric automobile passing through each path.
2. The method for calculating the energy consumption for the electric vehicle charging navigation according to claim 1, wherein the method for calculating the energy consumption of the electric vehicle reaching the jth path through which the nth charging pile passes comprises the following steps: summing all road sections on the jth path leading to the nth charging pile to obtain the energy consumption of the jth path leading to the nth charging pile of the electric automobile as follows:
n is the number of segments included in the jth path to the nth charging pile.
3. The method for calculating the energy consumption for electric vehicle charging navigation according to claim 1, wherein the time t of the k-th road section of the j-th path of the electric vehicle passing through the n-th charging pile is predictedn,j,kThe method comprises the following steps:
time t is calculated according to the following formulan,j,k：
Where Δ t is a time interval, t0Is the initial time, Ln,j,kThe length of the road section of the kth road section of the jth path through which the nth charging pile passes is obtained by the electric automobile.
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