CN110598985A - Vehicle path planning method - Google Patents

Vehicle path planning method Download PDF

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Publication number
CN110598985A
CN110598985A CN201910736430.2A CN201910736430A CN110598985A CN 110598985 A CN110598985 A CN 110598985A CN 201910736430 A CN201910736430 A CN 201910736430A CN 110598985 A CN110598985 A CN 110598985A
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CN
China
Prior art keywords
path
vehicle
order
initial
complete
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Pending
Application number
CN201910736430.2A
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Chinese (zh)
Inventor
黄翰
陈本雄
张宏辉
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Guangzhou Zhiwan Technology Co Ltd
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Guangzhou Zhiwan Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
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Priority to CN201910736430.2A priority Critical patent/CN110598985A/en
Publication of CN110598985A publication Critical patent/CN110598985A/en
Pending legal-status Critical Current

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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
    • G01C21/20—Instruments for performing navigational calculations
    • 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
    • G01C21/3407—Route searching; Route guidance specially adapted for specific applications
    • G01C21/343—Calculating itineraries, i.e. routes leading from a starting point to a series of categorical destinations using a global route restraint, round trips, touristic trips
    • 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
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3697—Output of additional, non-guidance related information, e.g. low fuel level
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
    • G06Q10/063—Operations research, analysis or management
    • G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
    • G06Q10/06315—Needs-based resource requirements planning or analysis
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q30/00—Commerce
    • G06Q30/06—Buying, selling or leasing transactions
    • G06Q30/0601—Electronic shopping [e-shopping]
    • G06Q30/0633—Lists, e.g. purchase orders, compilation or processing
    • G06Q30/0635—Processing of requisition or of purchase orders
    • G06Q50/40—

Abstract

The invention relates to the technical field of vehicle travel, in particular to a vehicle path planning method. A vehicle path planning method comprises the steps of receiving a vehicle power increasing prompt, planning an initial path, screening the initial path smaller than a cruising mileage, calculating a mileage difference, setting an order receiving area according to the mileage difference, planning a complete path according to orders in the order receiving area, reserving orders corresponding to the cruising mileage, pushing the orders to a vehicle terminal, matching a vehicle driving path according to the orders selected by a driver user, and pushing the orders to the vehicle terminal. The invention provides a vehicle planning method which can combine the demand of an order to reasonably distribute the empty vehicles under the condition of considering the increase of the power demand, and solves the problems that a network taxi booking driver cannot receive orders when going to a power station and the empty vehicle rate of the vehicle is high.

Description

Vehicle path planning method
Technical Field
The invention relates to the technical field of vehicle travel, in particular to a vehicle path planning method.
Background
With the continuous development of network technology, more and more people go out and like to reserve vehicles by using taxi taking software. When a passenger needs to take a car, the information of car taking time, a car type expected to be taken, a place and a destination of getting on the car and the like can be selected through car taking software and submitted to the software system platform, the software system platform can form an order and send the order to a driver user registered on the software system platform, and the driver user screens the order at the car terminal and receives the order, so that convenience is brought to people for going out to a certain extent.
The vehicle path planning is an important part of the network car booking platform, the performance of the vehicle path planning directly influences the efficiency of network car booking operation and the trip experience of travelers on the network car booking, and the vehicle path planning is effectively planned, so that the economic benefit of a network car booking driver can be improved. The vehicle path planning is how to obtain an optimal vehicle path planning scheme under the constraint conditions that the user requirements are met, the distance is shortest, the cost is minimum or the consumed time is shortest, and the quality of the vehicle path planning scheme directly influences the operation efficiency of the network car reservation. Therefore, the appropriate vehicle path planning method can provide a reasonable planning scheme for the user, so that the response speed to the user demand is accelerated, the service quality is improved, and the satisfaction degree of the user on the network car booking is increased.
The invention with the patent application publication number of CN107368904A discloses a method and a system for timely distributing an order of a travel network car appointment. A method for distributing orders of timely travel network car reservation comprises the steps of receiving vehicle reservation information of a user, screening network car reservations with a road car starting mode, calculating a car using distance difference value between a car using place and a vehicle location, calculating a destination distance difference value between a car using destination and a vehicle destination, selecting vehicles and distributing orders. A timely travel network car booking order distribution system comprises an order generation module, a forward vehicle setting module, a distance difference value calculation module, a first network car booking search module, a second network car booking search module and an order distribution module. The invention provides a method and a system for allocating timely travel network appointment orders, which are compatible with normal automatic order receiving and road vehicle advancing modes and can reasonably allocate empty vehicles, and solves the problems that timely travel orders cannot be received by a network appointment driver when the network appointment driver has a destination and the empty vehicle rate of vehicles is high.
The invention discloses a charging and dispatching system and method for electric automobiles in a passenger transport hub place, which are disclosed by the invention with the patent application publication number of CN 106781438A. According to the invention, the information interaction of the charging cloud platform and the network taxi appointment platform is utilized, so that the waiting time and the charging time are combined, resources are reasonably allocated, the operation waiting time is saved, the vehicle operation effect is improved, and the comprehensive operation efficiency is improved.
The first order distribution method and the first order distribution system can be adopted to receive orders during the work-on time or work-off process of a driver, and the second order dispatching system can be adopted to receive orders during the charging time when the taxi is an electric car. However, when the driver needs to increase the power of the vehicle, if the order is received beyond the driving range of the vehicle, the order cannot be completed or the vehicle cannot reach the power station after the order is completed, so that the vehicle needs to be rescued. In order to arrive at the power station as soon as possible, the driver can not receive the order, but does not receive the order on the way to the power station, thus wasting vehicle resources. Currently, there is no method or system in the prior art that can dispatch orders based on the power state of the vehicle.
Disclosure of Invention
The invention aims to overcome at least one defect (deficiency) in the prior art, and provides a vehicle path planning method which can plan and dispatch a path according to the power state of a network car booking and solves the problems that the network car booking cannot be ordered and the empty rate is high on the way of going to a power station.
The invention achieves its object by the following scheme.
The invention provides a vehicle path planning method, which comprises the following steps:
1) planning and screening initial paths to each power station from the starting place:
receiving a power increasing prompt of the vehicle, and searching a power station matched with the vehicle according to the power increasing prompt; initially planning an initial path from an initial place to the power station according to a road map to form an initial path network; calculating the length of the initial path, screening the initial path with the initial path length smaller than the endurance mileage, and updating an initial path network;
2) calculating mileage difference according to the mileage and the lengths of the road sections from the starting place to all the selected power stations;
3) setting a list receiving area on the corresponding path according to the mileage difference, wherein the list receiving area is in the largest closed circle in the updated initial path network;
4) planning a complete path according to an order in the order taking area, calculating the length of the complete path, and reserving an order which is smaller than the endurance mileage; and updating the complete path information corresponding to the reserved order to the initial path network to form a final path network.
5) And pushing the reserved order to a vehicle terminal, matching a vehicle driving path according to the order selected by the user and pushing the order to the vehicle terminal.
The method plans an initial path from a starting place to a power station for a driver user according to the power state of the vehicle, transmits an order within the range of the mileage difference to a vehicle terminal, enables the driver user to receive a trip order on the way to the power station, reasonably utilizes vehicle resources and reduces the empty rate.
Preferably, the initial path network is formed by forming a directed graph by the initial path through the topology of the road, and the length of each path segment is formed as the weight of the corresponding edge of the directed graph. The use of a topological structure to form a directed graph does not require the precise location of the vehicle, allows for efficient path planning and low spatial complexity.
Preferably, the order taking area is a range of a circle formed by taking the starting point of each section of path as a center of a circle and taking the mileage as a radius. This ensures, to a certain extent, that the additional distance on the path from the starting point to the power station does not exceed the range.
Preferably, the closed loop is formed by a power station and an initially formed initial path connection. The provision of a closed loop ensures that the order is not destined for a power station.
Preferably, the complete path includes an origin, an order destination and a power station.
Preferably, the power increasing prompt is a charging prompt, and the power station is a charging station.
Preferably, the information of the reserved order pushed to the vehicle terminal comprises an order starting place, an order destination, an order cost, a complete path of the order and time required by the complete path. When the driver selects the order, the user can clearly know the specific information of each order, so that the most suitable order is selected.
Preferably, the time required by the complete path is calculated according to the length of the complete path and by combining the vehicle state information and the road condition information.
Preferably, the vehicle state information includes a driving range and an average speed per hour of a vehicle driven by the owner.
Preferably, the traffic information includes a length of the complete path, a traffic flow of the complete path at the current time, and a maximum traffic flow of the complete path.
Compared with the prior art, the invention has the beneficial effects that:
(1) the invention can search the power station after receiving the prompt of increasing power of the driver user, reasonably plan the driving path of the vehicle, plan the initial path from the starting place to the power station according to the power state of the vehicle, screen out the initial path less than the endurance mileage, set the order receiving area, screen out the orders less than the endurance mileage, push the orders to the vehicle terminal, and automatically match the driving path of the vehicle to the driver after the driver user selects the orders. Because the pushed orders are all subjected to reasonable path planning, the paths of the vehicles can cover the starting places and the destinations of the orders and also can cover the power stations of the vehicles, so that the users can take the orders by the way in the process of refueling or charging, the vehicle resources are reasonably utilized, and the benefits of the driver users are improved.
(2) The order receiving area is arranged, all received orders are in the order receiving area, and the order receiving area is in the range of a circle formed by taking the starting point of each section of the path as the center of the circle and taking the mileage difference as the radius, so that the orders received and selected by a driver user are ensured not to exceed the cruising mileage of a vehicle, and the extra increased distance on the path from the starting point to the power station cannot exceed the cruising mileage.
(3) The order information pushed to the vehicle terminal comprises the starting place of the order, the destination of the order, the order cost, the complete path of the order and the time for the complete path to pass, so that a driver user can clearly know the specific situation of the order and select the most suitable order.
Drawings
Fig. 1 is a flowchart of a vehicle path planning method according to the present invention.
Detailed Description
The drawings are only for purposes of illustration and are not to be construed as limiting the invention. For a better understanding of the following embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The present invention will be described in further detail with reference to the accompanying drawings.
Example 1
As shown in fig. 1, the present embodiment provides a vehicle path planning method, including the following steps:
1) planning and screening initial paths to each power station from the starting place:
receiving a power increasing prompt of the vehicle, and searching a power station matched with the vehicle according to the prompt; forming an initial path network according to an initial path from a road initial planning starting place to the power station; calculating the length of the initial path, screening the initial path less than the endurance mileage, and updating an initial path network;
2) calculating mileage difference according to the mileage and the lengths of the road sections from the starting place to all the selected power stations;
3) setting a list receiving area on the corresponding path according to the mileage difference, wherein the list receiving area is in the largest closed circle in the updated initial path network;
4) planning a complete path according to an order in the order taking area, calculating the length of the complete path, and reserving an order which is smaller than the endurance mileage; and updating the complete road strength information corresponding to the reserved order to the initial path network to form a final path network.
5) And pushing the reserved order to a vehicle terminal, matching a vehicle driving path according to the order selected by the user and pushing the order to the vehicle terminal.
When a driver user thinks that the power of the vehicle is insufficient, a prompt for increasing the power can be sent to the platform, after the platform receives the prompt for increasing the power, the power station matched with the vehicle is searched according to the current specific position of the driver user, and all paths from the current position to all power stations are planned according to a road map to form an initial path network; and calculating the length of each initial path, comparing the length of each initial path with the endurance mileage, screening out the initial paths smaller than the endurance mileage, and updating the initial paths to the initial path network. After the initial path network is updated, calculating the mileage difference between the mileage and the lengths of all paths of the initial path network, and setting a list receiving area according to the mileage difference, wherein the list receiving area is in the largest closed circle in the updated initial path network. And then planning a finished path according to the orders in the order taking area, calculating the length of the complete path, reserving the orders corresponding to the mileage, and updating the complete path information corresponding to the orders to the initial path network to form a final path network. And finally, pushing the reserved order to a vehicle terminal, and after the driver user selects the order, matching a driving path according to the order selected by the driver user by the platform and pushing the order to the vehicle terminal. Through the implementation mode, a driver user only needs to send a prompt for increasing power to the platform, the platform plans a proper path according to the power state of the vehicle, and pushes a proper order to the vehicle terminal for the driver user to select. Because the pushed orders are all subjected to reasonable path planning, the paths of the vehicles can cover the starting places and the destinations of the orders and also can cover the power stations of the vehicles, so that the users can take the orders by the way in the process of refueling or charging, the vehicle resources are reasonably utilized, and the benefits of the driver users are improved.
In this embodiment, the initial path network forms a directed graph from the initial path through the topological structure of the road, and the length of each segment of the path is formed from the directed graph as the weight of the corresponding edge of the directed graph. The use of a topological structure to form a directed graph does not require the precise location of the vehicle, allows for efficient path planning and low spatial complexity.
In this embodiment, the order receiving area is a range of a circle formed by taking the starting point of the path as a center of a circle and taking the mileage as a radius. The order receiving area takes the starting point of each section of path as the center of a circle and takes the mileage difference as the radius to define the range of the circle, thereby ensuring that the extra increased distance on the path from the starting place to the power station does not exceed the endurance mileage to a certain extent.
In this embodiment, the closure loop is formed by the power station and the initial path connection initially formed. One of the closure loops is a maximum closure loop, which is set to ensure that the order is not destined for a power station.
In this embodiment, the full path includes an origin, an order destination and a power station, and the information of the reserved order pushed to the vehicle terminal includes the order origin, the order destination, the order cost, the full path of the order and the time required for the full path.
The order information comprises an order starting place, an order destination, order cost, a complete path of the order and time required by the complete path, so that a driver user can more intuitively know the information corresponding to the order when selecting the order, and the most appropriate order is selected.
In this embodiment, the time required for the complete path is calculated according to the length of the complete path and by combining the vehicle state information and the road condition information.
The traffic information includes: the length S of the complete path, the traffic flow L of the complete path at the current moment and the maximum traffic flow 1 of the complete path; t denotes the time through the full path, V denotes the average speed through the full path, and V denotes V1/((1+ L)/1).
The vehicle state information comprises the endurance mileage and the average speed per hour of the vehicle driven by the owner.
In the present embodiment, the vehicle travel path is an optimal vehicle travel path. After the driver user selects the order, the platform automatically matches the optimal vehicle driving path according to the order selected by the driver user and pushes the optimal vehicle driving path to the vehicle terminal.
In the specific implementation process of the embodiment, the power increasing prompt is a charging prompt, and the power station is a charging station. When the electric automobile needs to be charged, a driver user sends a charging prompt to the platform, the platform searches for charging stations according to the current specific position of the driver user after receiving the charging prompt, and plans all paths from the current position to all the searched charging stations according to a road map to form an initial path network; and calculating the length of each initial path, comparing the length of each initial path with the endurance mileage of the electric vehicle to the maximum, screening out the initial paths smaller than the endurance mileage, and updating the initial paths to an initial path network. After the initial path network is updated, calculating mileage difference between the driving mileage of the electric vehicle and the lengths of all paths of the initial path network respectively, and setting a list receiving area according to the mileage difference, wherein the list receiving area is in the largest closed circle in the updated initial path network. And then planning a finished path according to the orders in the order taking area, calculating the length of the complete path, reserving the orders corresponding to the mileage, and updating the complete path information corresponding to the orders to the initial path network to form a final path network. And finally, pushing the reserved order to a vehicle terminal, and after the driver user selects the order, automatically matching the optimal vehicle driving path by the platform according to the order selected by the driver user and pushing the optimal vehicle driving path to the vehicle terminal. Through the implementation mode, the demand of the order is combined under the condition that the charging demand is considered by the online appointment vehicle of the electric automobile, and the pushed order is reasonably planned, so that the path of the vehicle can cover the order starting place and the order destination and can also cover the charging station of the vehicle, a driver user can take the order on the way to charge, the vehicle resources are reasonably utilized, the income of the driver user is improved, and the condition that the online appointment vehicle runs empty in the path to the charging station is avoided.

Claims (10)

1. A vehicle path planning method, comprising the steps of:
1) planning and screening initial paths to each power station from the starting place:
receiving a power increasing prompt of the vehicle, and searching a power station matched with the vehicle according to the power increasing prompt; initially planning an initial path from an initial place to the power station according to a road map to form an initial path network; calculating the length of the initial path, screening the initial path with the initial path length smaller than the vehicle endurance mileage, and updating an initial path network;
2) calculating mileage difference according to the mileage and the lengths of the road sections from the starting place to all the selected power stations;
3) setting a list receiving area on the corresponding path according to the mileage difference, wherein the list receiving area is in the largest closed circle in the updated initial path network;
4) planning a complete path according to an order in the order taking area, calculating the length of the complete path, and reserving an order which is smaller than the endurance mileage; and updating the complete path information corresponding to the reserved order to the initial path network to form a final path network.
5) And pushing the reserved order to a vehicle terminal, matching a vehicle driving path according to the order selected by the user and pushing the order to the vehicle terminal.
2. The vehicle path planning method according to claim 1, wherein the initial path network is formed by forming a directed graph by the topology of the initial path through the road, and the length of each path segment is used as the weight of the corresponding edge of the directed graph.
3. The vehicle path planning method according to claim 2, wherein the order taking region is a range of a circle formed by taking the starting point of each path segment as a center and taking a mileage difference as a radius.
4. A vehicle path planning method according to claim 1 in which the closed loop is formed by an initial path connection formed by a power station and an origin.
5. A vehicle path planning method according to claim 1 in which the complete path comprises an origin, an order destination and a power station.
6. A vehicle routing method according to any of claims 1 to 5 wherein the power increase cue is a charging cue and the power station is a charging station.
7. The vehicle path planning method according to claim 1, wherein the information of the reserved order pushed to the vehicle terminal includes an order starting place, an order destination, an order cost, a complete path of the order, and a time required for the complete path.
8. The vehicle path planning method according to claim 7, wherein the time required for the complete path is calculated according to the length of the complete path in combination with the vehicle status information and the road condition information.
9. The vehicle routing method of claim 7, wherein the vehicle status information includes range and average speed per hour of the vehicle driven by the owner.
10. The vehicle path planning method according to claim 7, wherein the traffic information includes a length of the complete path, a traffic flow of the complete path at a current time, and a maximum traffic flow of the complete path.
CN201910736430.2A 2019-08-09 2019-08-09 Vehicle path planning method Pending CN110598985A (en)

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WO2021134476A1 (en) * 2019-12-31 2021-07-08 华为技术有限公司 Order management method and device applied to electric vehicle
CN113183810A (en) * 2021-05-27 2021-07-30 宝能(广州)汽车研究院有限公司 Charging method, device, equipment and storage medium

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021134476A1 (en) * 2019-12-31 2021-07-08 华为技术有限公司 Order management method and device applied to electric vehicle
CN113183810A (en) * 2021-05-27 2021-07-30 宝能(广州)汽车研究院有限公司 Charging method, device, equipment and storage medium

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