CN113642905A - Mobile parallel charging method with detachable shared electric vehicle charging requirements - Google Patents

Mobile parallel charging method with detachable shared electric vehicle charging requirements Download PDF

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CN113642905A
CN113642905A CN202110951667.XA CN202110951667A CN113642905A CN 113642905 A CN113642905 A CN 113642905A CN 202110951667 A CN202110951667 A CN 202110951667A CN 113642905 A CN113642905 A CN 113642905A
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于滨
崔少华
薛勇杰
张力
刘忠山
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Abstract

The invention discloses a mobile parallel charging method with detachable charging requirements of a shared electric vehicle, which allows the electric quantity requirement of one shared electric vehicle to be provided by a plurality of mobile charging vehicles, meets the limitation of hard service time windows of the shared electric vehicle, allows the shared electric vehicles positioned at the same gathering point to be simultaneously charged by the service of the same mobile charging vehicle, meets the limitation of battery capacity of the mobile charging vehicle, and solves the path of each mobile charging vehicle by using commercial solving software CPLEX; the solving method comprises the following steps: (1) defining a graph on which the model is based; (2) defining a model evaluation index; (3) defining a flow balance constraint; (4) defining the electric quantity constraint of the mobile charging vehicle; (5) a mobile charging vehicle time window constraint is defined. The invention improves the charging efficiency of the shared electric automobile and the service efficiency of the mobile charging vehicle.

Description

Mobile parallel charging method with detachable shared electric vehicle charging requirements
Technical Field
The invention relates to the technical field of shared charging, in particular to a mobile parallel charging method with detachable charging requirements of a shared electric vehicle.
Background
Due to the characteristics of no exhaust emission, low noise and the like of the shared electric automobile, the shared electric automobile is generally accepted by the public as a new travel mode. Among the many shared electric vehicle sharing modes, Free-flowing (Free-floating) shared electric vehicles are more selected by the general public due to their unrestricted parking positions. However, the user for traveling only selects the shared electric vehicle with sufficient electric quantity to travel, and stops the vehicle at the parking place at will. Popular parking places such as shopping centers and office buildings are often insufficient to charge the electric pile in an idle state so as to supplement electric quantity for the shared electric automobile with insufficient electric quantity. The mobile charging car can be flexibly moved to the parking point of the shared electric car with the charge to be compensated to supplement the electric quantity for the shared electric car, so that the problem of electric quantity supplement of the shared electric car with insufficient electric quantity can be effectively solved, and the advantage of gathering the shared electric car in popular places can be effectively utilized.
The problems and disadvantages exist:
1. the traditional method for dispatching the shared electric vehicle with insufficient electric quantity to charge the station for supplementing the electric quantity is low in efficiency;
2. the charging requirement of a traditional single shared electric automobile is met by only one mobile charging automobile;
3. the traditional method for forcing the user to return the shared electric vehicle with insufficient electric quantity to the short-distance charging station hinders the selection of the shared electric vehicle;
4. the traditional shared electric automobile with insufficient scheduling electric quantity cannot fully utilize the advantage of gathering of the shared electric automobile in popular places.
Disclosure of Invention
Based on the technical problems in the background art, the invention provides a mobile parallel charging method with detachable charging requirements of a shared electric vehicle.
The technical scheme adopted by the invention is as follows:
a mobile parallel charging method with detachable charging requirements of a shared electric vehicle is characterized in that the electric quantity requirement of one shared electric vehicle is allowed to be provided by a plurality of mobile charging vehicles, the hard service time window limit of the shared electric vehicle is met, the shared electric vehicles at the same gathering point are allowed to be simultaneously charged by the same mobile charging vehicle, the battery capacity limit of the mobile charging vehicles is met, and the path of each mobile charging vehicle is solved by using commercial solving software CPLEX; the solving method comprises the following steps:
(1) defining a graph on which the model is based;
(2) defining a model evaluation index;
(3) defining a flow balance constraint;
(4) defining the electric quantity constraint of the mobile charging vehicle;
(5) a mobile charging vehicle time window constraint is defined.
Further, the mobile parallel charging method with the detachable charging requirement of the shared electric vehicle is characterized in that: the step (1) comprises the following steps:
(1-1) defining a graph based model, the form is as follows:
c ═ 1, 2., N } is a set of shared electric vehicle aggregation nodes, where N is the number of total shared electric vehicle aggregation nodes, each aggregation node may stop multiple shared electric vehicles, in order to determine whether a shared electric vehicle located in the same shared electric vehicle aggregation node has been serviced and by which mobile charging vehicle, a set C 'is defined, and only one shared electric vehicle is stopped on a node within the set C'; 0 and N +1 are stations located at the same position; all mobile charging vehicles K belong to K and provide charging service for the shared electric automobile from the station 0, and finally return to the station N +1 after the scheduled service is finished; defining a link set a { (i, j) | i, j ∈ C { [ 0, N +1} }; therefore, a parallel service path planning method for a mobile charging vehicle with detachable charging requirement considering sharing of electric vehicles is defined in a graph G ═ (C {0, N +1}, a).
Further, the mobile parallel charging method with the detachable charging requirement of the shared electric vehicle is characterized in that: the step (2) comprises the following steps:
(2-1) defining a model evaluation index in the form of:
minα1∑k∈K∑(i，j)∈Adijxijk+α2∑k∈K∑j∈C′∪(N+1)x0jk
the model evaluation index is the lowest total cost, wherein the first item is the total vehicle running cost, and the second item is the total vehicle cost; alpha is alpha1And alpha2The unit vehicle running cost and the single mobile charging vehicle use cost are respectively; dijIs a parameter representing the euclidean distance between nodes i and j; x is the number ofijkE {0, 1} is a knapsack variable; x if vehicle k visits road segment (i, j)ijk1 is ═ 1; otherwise, xijk＝0。
Further, the mobile parallel charging method with the detachable charging requirement of the shared electric vehicle is characterized in that: the step (3) comprises the following steps:
(3-1) defining a flow balance constraint of the form:
Figure BDA0003218270470000031
Figure BDA0003218270470000032
Figure BDA0003218270470000033
a first flow balance constraint ensures that the number of mobile charging vehicles dispatched equals the number of mobile charging vehicles returning to the yard; a second flow balance constraint ensures that the number of vehicles entering the intermediate node other than the yard is equal to the number of vehicles exiting the node; the third flow balance constraint ensures that a mobile charging vehicle can only serve one shared electric vehicle once.
Further, the mobile parallel charging method with the detachable charging requirement of the shared electric vehicle is characterized in that: the step (4) comprises the following steps:
(4-1) defining the electric quantity constraint of the mobile charging vehicle, wherein the form is as follows:
Figure BDA0003218270470000041
Figure BDA0003218270470000042
k∈K
Figure BDA0003218270470000043
the first constraint is to ensure that the power demand of each shared electric vehicle is met; w is aikThe variable is used for representing the electric quantity provided by the mobile charging car k for the shared electric car located at the virtual node i belonging to C'; qi is a parameter and represents the electric quantity demand of the shared electric automobile positioned at the virtual node i belonging to C'; the second constraint is used to ensure that the quantity of electricity at the time when the mobile charging vehicle k reaches the node j ∈ C' [ N +1 ] > is not less than 0 and less than the quantity of electricity at the time when it reaches the previous node minus the quantity of electricity it has served at the previous node and the quantity of electricity hd consumed during operation between two pointsijxijk(ii) a h is the electricity consumption rate per unit travel distance; the third constraint ensures that the electric quantity when the mobile charging vehicle leaves the station is equal to the battery capacity, and the station does not have a shared electric vehicle, so the electric quantity requirement of the station shared electric vehicle is 0, i.e. q0＝0。
Further, the mobile parallel charging method with the detachable charging requirement of the shared electric vehicle is characterized in that: the step (5) comprises the following steps:
(5-1) defining a mobile charging vehicle time window constraint of the form:
Figure BDA0003218270470000044
Figure BDA0003218270470000045
Figure BDA0003218270470000046
Figure BDA0003218270470000051
the first and second constraints ensure the time feasibility of the mobile charging vehicle for the road segment leaving station 0 and the virtual aggregation node, respectively; tau isikThe variable represents the time when the mobile charging vehicle k starts to provide charging service for the shared electric vehicle located at the virtual node i belonging to C'; sijkE {0, 1} is a knapsack variable representing whether a shared electric vehicle located at a virtual node i e C 'and a shared electric vehicle located at a virtual node j e C' can be serviced simultaneously; constraint three ensures that the time that the mobile charging vehicle provides charging services for the shared electric vehicle located at virtual node i e C' is in its time window (i.e, [ ei, li)]) Internal; constraint four is used to ensure variable sijkAnd variable xijkThe relationship between them.
The invention has the advantages that:
(1) the parallel mobile charging service path planning method provided by the invention effectively improves the efficiency of the traditional method for dispatching the shared electric vehicle with insufficient electric quantity to charge the station for supplementing the electric quantity;
(2) when the electric quantity demand of the shared electric automobile is large, the electric quantity demand can be provided by two or even more shared electric automobiles;
(3) the parallel mobile charging service path planning method can flexibly schedule the shared electric vehicle to move to the periphery of the shared electric vehicle so as to reduce the assisted scheduling of users, thereby improving the order of the shared electric vehicle;
(4) the parallel mobile charging service path planning method provided by the invention allows a plurality of shared electric vehicles positioned at the same node to be simultaneously served, and improves the service efficiency of the mobile charging vehicles.
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments.
Example 1.
A mobile parallel charging method with detachable charging requirements of a shared electric vehicle allows the electric quantity requirement of one shared electric vehicle to be provided by a plurality of mobile charging vehicles, the hard service time window limit of the shared electric vehicle is met, the shared electric vehicles at the same gathering point are allowed to be charged by the same mobile charging vehicle at the same time, the battery capacity limit of the mobile charging vehicles is met, and the path of each mobile charging vehicle is solved by using commercial solving software CPLEX; the solving method comprises the following steps:
(1) defining a graph on which the model is based;
(2) defining a model evaluation index;
(3) defining a flow balance constraint;
(4) defining the electric quantity constraint of the mobile charging vehicle;
(5) a mobile charging vehicle time window constraint is defined.
The step (1) comprises the following steps:
(1-1) defining a graph based model, the form is as follows:
c ═ 1, 2., N } is a set of shared electric vehicle aggregation nodes, where N is the number of total shared electric vehicle aggregation nodes, each aggregation node may stop multiple shared electric vehicles, in order to determine whether a shared electric vehicle located in the same shared electric vehicle aggregation node has been serviced and by which mobile charging vehicle, a set C 'is defined, and only one shared electric vehicle is stopped on a node within the set C'; 0 and N +1 are stations located at the same position; all mobile charging vehicles K belong to K and provide charging service for the shared electric automobile from the station 0, and finally return to the station N +1 after the scheduled service is finished; defining a link set a { (i, j) | i, j ∈ C { [ 0, N +1} }; therefore, a parallel service path planning method for a mobile charging vehicle with detachable charging requirement considering sharing of electric vehicles is defined in a graph G ═ (C {0, N +1}, a).
The step (2) comprises the following steps:
(2-1) defining a model evaluation index in the form of:
min α1∑k∈K∑(i，j)∈Adijxijk+α2∑k∈K∑j∈C′∪(N+1)x0jk
the model evaluation index is the lowest total cost, wherein the first item is the total vehicle running cost, and the second item is the total vehicle cost; alpha is alpha1And alpha2The unit vehicle running cost and the single mobile charging vehicle use cost are respectively; dijIs a parameter representing the euclidean distance between nodes i and j; x is the number ofijkE {0, 1} is a knapsack variable; x if vehicle k visits road segment (i, j)ijk1 is ═ 1; otherwise, xijk＝0。
The step (3) comprises the following steps:
(3-1) defining a flow balance constraint of the form:
Figure BDA0003218270470000071
Figure BDA0003218270470000072
Figure BDA0003218270470000073
a first flow balance constraint ensures that the number of mobile charging vehicles dispatched equals the number of mobile charging vehicles returning to the yard; a second flow balance constraint ensures that the number of vehicles entering the intermediate node other than the yard is equal to the number of vehicles exiting the node; the third flow balance constraint ensures that a mobile charging vehicle can only serve one shared electric vehicle once.
The step (4) comprises the following steps:
(4-1) defining the electric quantity constraint of the mobile charging vehicle, wherein the form is as follows:
Figure BDA0003218270470000074
Figure BDA0003218270470000075
k∈K
Figure BDA0003218270470000081
the first constraint is to ensure that the power demand of each shared electric vehicle is met; w is aikThe variable is used for representing the electric quantity provided by the mobile charging car k for the shared electric car located at the virtual node i belonging to C'; q. q.siRepresenting the electric quantity demand of the shared electric vehicle positioned at the virtual node i belonging to C' as a parameter; the second constraint is used to ensure that the quantity of electricity at the time when the mobile charging vehicle k reaches the node j ∈ C' [ N +1 ] > is not less than 0 and less than the quantity of electricity at the time when it reaches the previous node minus the quantity of electricity it has served at the previous node and the quantity of electricity hd consumed during operation between two pointsijxijk(ii) a h is the electricity consumption rate per unit travel distance; the third constraint ensures that the electric quantity when the mobile charging vehicle leaves the station is equal to the battery capacity, and the station does not share the electric vehicle, so the electric quantity requirement of the station sharing electric vehicle is 0, i.e., q.0＝0。
The step (5) comprises the following steps:
(5-1) defining a mobile charging vehicle time window constraint of the form:
Figure BDA0003218270470000082
Figure BDA0003218270470000083
Figure BDA0003218270470000084
Figure BDA0003218270470000085
the first and second constraints ensure the time feasibility of the mobile charging vehicle for the road segment leaving station 0 and the virtual aggregation node, respectively; tau isikThe variable represents the time when the mobile charging vehicle k starts to provide charging service for the shared electric vehicle located at the virtual node i belonging to C'; sijkE {0, 1} is a knapsack variable representing whether a shared electric vehicle located at a virtual node i e C 'and a shared electric vehicle located at a virtual node j e C' can be serviced simultaneously; constraint three ensures that the time at which the mobile charging vehicle provides charging services for the shared electric vehicle located at virtual node i e C' is within its time window (i.e., [ e ])i，li]) Internal; constraint four is used to ensure variable sijkAnd variable xijkThe relationship between them.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims (6)

1. The mobile parallel charging method with the detachable charging requirement of the shared electric vehicle is characterized in that the electric quantity requirement of one shared electric vehicle is allowed to be provided by a plurality of mobile charging vehicles, the hard service time window limit of the shared electric vehicle is met, the shared electric vehicles at the same gathering point are allowed to be charged by the same mobile charging vehicle at the same time, the battery capacity limit of the mobile charging vehicles is met, and the path of each mobile charging vehicle is solved by using commercial solving software CPLEX; the solving method comprises the following steps:
(1) defining a graph on which the model is based;
(2) defining a model evaluation index;
(3) defining a flow balance constraint;
(4) defining the electric quantity constraint of the mobile charging vehicle;
(5) a mobile charging vehicle time window constraint is defined.
2. The mobile parallel charging method with detachable charging requirement for the shared electric vehicle as claimed in claim 1, wherein: the step (1) comprises the following steps:
(1-1) defining a graph based model, the form is as follows:
c ═ 1, 2., N } is a set of shared electric vehicle aggregation nodes, where N is the number of total shared electric vehicle aggregation nodes, each aggregation node may stop multiple shared electric vehicles, in order to determine whether a shared electric vehicle located in the same shared electric vehicle aggregation node has been serviced and by which mobile charging vehicle, a set C 'is defined, and only one shared electric vehicle is stopped on a node within the set C'; 0 and N +1 are stations located at the same position; all mobile charging vehicles K belong to K and provide charging service for the shared electric automobile from the station 0, and finally return to the station N +1 after the scheduled service is finished; defining a link set a { (i, j) | i, j ∈ C { [ 0, N +1} }; therefore, a parallel service path planning method for a mobile charging vehicle with detachable charging requirement considering sharing of electric vehicles is defined in a graph G ═ (C {0, N +1}, a).
3. The mobile parallel charging method with detachable charging requirement for the shared electric vehicle as claimed in claim 1, wherein: the step (2) comprises the following steps:
(2-1) defining a model evaluation index in the form of:
minα1∑k∈K∑(i，j)∈Adijxijk+α2∑k∈K∑j∈C′∪(N+1)x0jk
model (model)The evaluation index is the lowest total cost, wherein the first item is the total vehicle running cost, and the second item is the total vehicle cost; alpha is alpha1And alpha2The unit vehicle running cost and the single mobile charging vehicle use cost are respectively; dijIs a parameter representing the euclidean distance between nodes i and j; x is the number ofijkE {0, 1} is a knapsack variable; x if vehicle k visits road segment (i, j)ijk1 is ═ 1; otherwise, xijk＝0。
4. The mobile parallel charging method with detachable charging requirement for the shared electric vehicle as claimed in claim 1, wherein: the step (3) comprises the following steps:
(3-1) defining a flow balance constraint of the form:
Figure FDA0003218270460000021
Figure FDA0003218270460000022
Figure FDA0003218270460000023
a first flow balance constraint ensures that the number of mobile charging vehicles dispatched equals the number of mobile charging vehicles returning to the yard; a second flow balance constraint ensures that the number of vehicles entering the intermediate node other than the yard is equal to the number of vehicles exiting the node; the third flow balance constraint ensures that a mobile charging vehicle can only serve one shared electric vehicle once.
5. The mobile parallel charging method with detachable charging requirement for the shared electric vehicle as claimed in claim 1, wherein: the step (4) comprises the following steps:
(4-1) defining the electric quantity constraint of the mobile charging vehicle, wherein the form is as follows:
Figure FDA0003218270460000024
Figure FDA0003218270460000031
k∈K
Figure FDA0003218270460000032
the first constraint is to ensure that the power demand of each shared electric vehicle is met; w is aikThe variable is used for representing the electric quantity provided by the mobile charging car k for the shared electric car located at the virtual node i belonging to C'; q. q.siRepresenting the electric quantity demand of the shared electric vehicle positioned at the virtual node i belonging to C' as a parameter; the second constraint is used to ensure that the quantity of electricity at the time when the mobile charging vehicle k reaches the node j ∈ C' [ N +1 ] > is not less than 0 and less than the quantity of electricity at the time when it reaches the previous node minus the quantity of electricity it has served at the previous node and the quantity of electricity hd consumed during operation between two pointsijxijk(ii) a h is the electricity consumption rate per unit travel distance; the third constraint ensures that the electric quantity when the mobile charging vehicle leaves the station is equal to the battery capacity, and the station does not share the electric vehicle, so the electric quantity requirement of the station sharing electric vehicle is 0, i.e., q.0＝0。
6. The mobile parallel charging method with detachable charging requirement for the shared electric vehicle as claimed in claim 1, wherein: the step (5) comprises the following steps:
(5-1) defining a mobile charging vehicle time window constraint of the form:
Figure FDA0003218270460000033
Figure FDA0003218270460000034
Figure FDA0003218270460000035
Figure FDA0003218270460000036
the first and second constraints ensure the time feasibility of the mobile charging vehicle for the road segment leaving station 0 and the virtual aggregation node, respectively; tau isikThe variable represents the time when the mobile charging vehicle k starts to provide charging service for the shared electric vehicle located at the virtual node i belonging to C'; sijkE {0, 1} is a knapsack variable representing whether a shared electric vehicle located at a virtual node i e C 'and a shared electric vehicle located at a virtual node j e C' can be serviced simultaneously; constraint three ensures that the time at which the mobile charging vehicle provides charging services for the shared electric vehicle located at virtual node i e C' is in its time window (i.e, [ e ] ei，li]) Internal; constraint four is used to ensure variable sijkAnd variable xijkThe relationship between them.
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