CN113642905B - Mobile parallel charging method capable of splitting charging requirements of shared electric automobile - Google Patents
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Abstract
The invention discloses a mobile parallel charging method with detachable charging requirements of a shared electric automobile, which allows the electric quantity requirement of the shared electric automobile to be provided by a plurality of mobile charging vehicles, the hard service time window limit of the shared electric automobile to be met, the shared electric automobile positioned at the same gathering point to be simultaneously charged by the same mobile charging vehicle, the battery capacity limit of the mobile charging vehicle to be met, and the path of each mobile charging vehicle to be 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) defining a mobile charging vehicle time window constraint. The invention improves the charging efficiency of the shared electric automobile and the service efficiency of the mobile charging automobile.
Description
Technical Field
The invention relates to the technical field of shared charging, in particular to a mobile parallel charging method with detachable shared electric automobile charging requirements.
Background
Because of the characteristics of no exhaust emission, low noise and the like of the shared electric automobile, the shared electric automobile is widely accepted by the public as an emerging travel mode. Among the many sharing modes of the shared electric vehicle, free-flowing (Free-flowing) shared electric vehicles are more selected by the general public due to their unrestricted parking positions. However, a user who aims at traveling selects only a shared electric vehicle with sufficient electric power for traveling and arbitrarily stops the vehicle at a parking place. Popular parking places, such as shopping centers, office buildings, etc., often have insufficient free charging piles to supplement the electric power for the underpowered shared electric vehicles. The mobile charging vehicle is used as a mode that the mobile charging vehicle can flexibly move to a parking point of the shared electric vehicle to be supplemented with electric quantity to supplement the electric quantity, so that the problem of electric quantity supplement of the shared electric vehicle due to insufficient electric quantity can be effectively solved, and the advantage that the shared electric vehicle gathers in a popular place can be effectively utilized.
The problems and the disadvantages are that:
1. the traditional method for dispatching the shared electric vehicle with insufficient electric quantity to charge the station to supplement electric quantity is low in efficiency;
2. the charging requirement of the traditional single shared electric automobile is only met by one mobile charging vehicle;
3. traditional methods for forcing users to return electric quantity insufficient to the short-distance charging station of the shared electric automobile prevent the shared electric automobile from being selected;
4. The shared electric automobile with insufficient electric quantity in traditional dispatching cannot fully utilize the advantage of gathering 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 for a shared electric automobile.
The technical scheme adopted by the invention is as follows:
The mobile parallel charging method capable of splitting the charging requirements of the shared electric vehicles is characterized by allowing the electric quantity requirements of one shared electric vehicle to be provided by a plurality of mobile charging vehicles, enabling the shared electric vehicles at the same aggregation point to be simultaneously charged by the same mobile charging vehicle, meeting the battery capacity limit of the mobile charging vehicles, and solving 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.
Further, the mobile parallel charging method with the detachable charging requirement of the shared electric automobile is characterized in that: the step (1) comprises the following steps:
(1-1) defining a model based on the graph in the form of:
C= {1, 2.,. N } is a set of aggregation nodes of shared electric vehicles, where N is the number of aggregation nodes of the total shared electric vehicles, each aggregation node may stay with multiple shared electric vehicles, to determine whether a shared electric vehicle located at the same aggregation node of shared electric vehicles has been serviced and which mobile charging vehicle has been serviced, set C 'is defined, and only one shared electric vehicle stays on a node within set C'; 0 and n+1 are the stations located at the same position; all mobile charging vehicles K epsilon K start from the station 0 to provide charging service for the shared electric automobile, and finally return to the station N+1 after the scheduled service is completed; defining a road section set A= { (i, j) |i, j ε C'. U {0, N+1 }; therefore, the parallel service path planning method for mobile charging vehicles considering the split charging requirements of the shared electric vehicle is defined in the graph g= (C'. U.0, n+1, a).
Further, the mobile parallel charging method with the detachable charging requirement of the shared electric automobile is characterized in that: the step (2) comprises the following steps:
(2-1) defining model evaluation indexes in the form as follows:
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 term is the total vehicle running cost, and the second term is the total vehicle cost; alpha 1 and alpha 2 are respectively the running cost of a unit vehicle and the use cost of a single mobile charging vehicle; d ij is a parameter representing the Euclidean distance between nodes i and j; x ijk ε {0,1} is a knapsack variable; x ijk =1 if vehicle k visits road section (i, j); otherwise, x ijk =0.
Further, the mobile parallel charging method with the detachable charging requirement of the shared electric automobile is characterized in that: the step (3) comprises the following steps:
(3-1) defining a flow balance constraint in the form:
The first one of the leveling constraints ensures that the number of mobile charging vehicles dispatched equals the number of mobile charging vehicles returned to the terminal; the second level of leveling constraints ensures that the number of vehicles entering an intermediate node other than the station is equal to the number of vehicles exiting the node; the third level of leveling constraints ensures that one mobile charging car can only serve one shared electric car once.
Further, the mobile parallel charging method with the detachable charging requirement of the shared electric automobile 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:
k∈K
The first constraint is used to ensure that the power requirements of each shared electric vehicle are met; w ik is a variable, and is used for representing the electric quantity provided by the mobile charging vehicle k for the shared electric vehicle positioned at the virtual node i epsilon C'; qi is a parameter representing the electric quantity demand of the shared electric automobile at the virtual node i epsilon C'; the second constraint is used for ensuring that the electric quantity of the mobile charging car k reaching the node j epsilon C' U { N+1} is not less than 0 and is less than the electric quantity of the mobile charging car k reaching the previous node minus the electric quantity of the mobile charging car k providing service for the previous node and the electric quantity hd ijxijk consumed during running between the two points; h is the electricity consumption rate per unit driving distance; the third constraint ensures that the charge of the mobile charging vehicle when leaving the station is equal to the battery capacity, the station has no shared electric vehicle, so the station shared electric vehicle charge requirement is 0, i.e, q 0 =0.
Further, the mobile parallel charging method with the detachable charging requirement of the shared electric automobile is characterized in that: the step (5) comprises the following steps:
(5-1) defining a mobile charging vehicle time window constraint in the form of:
The first and second constraints ensure that the time feasibility of moving the charging vehicle is for the road segments leaving station 0 and the virtual aggregation node, respectively; τ ik is a variable representing the time when mobile charging car k starts to provide charging service for the shared electric car located at virtual node i e C'; s ijk epsilon {0,1} is a knapsack variable representing whether the shared electric automobile located in the virtual node i epsilon C 'and the shared electric automobile located in the virtual node j epsilon C' can be simultaneously serviced; constraint three ensures that the time of providing charging service for the shared electric automobile positioned at the virtual node i epsilon C' by the mobile charging vehicle is within a time window (i.e, [ ei, li ]); constraint four is used to ensure the relationship between variable s ijk and variable x ijk.
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 charging station charging supplement method for the shared electric vehicle with insufficient dispatching electric quantity;
(2) When the electric quantity demand of the shared electric automobile is larger, the electric quantity demand can be provided by two or even more shared electric automobiles;
(3) The parallel mobile charging service path planning method provided by the invention can flexibly schedule the shared electric automobile to move around the shared electric automobile so as to reduce the auxiliary scheduling of users, thereby improving the order form of the shared electric automobile;
(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 serviced, and improves the service efficiency of the mobile charging vehicles.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely, and it is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments.
Example 1.
A mobile parallel charging method capable of splitting the charging requirement of a shared electric automobile allows the electric quantity requirement of one shared electric automobile to be provided by a plurality of mobile charging automobiles, the hard service time window limit of the shared electric automobile is met, the shared electric automobile positioned at the same gathering point is allowed to be simultaneously charged by the same mobile charging automobile, the battery capacity limit of the mobile charging automobile is met, and the path of each mobile charging automobile 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 model based on the graph in the form of:
C= {1, 2.,. N } is a set of aggregation nodes of shared electric vehicles, where N is the number of aggregation nodes of the total shared electric vehicles, each aggregation node may stay with multiple shared electric vehicles, to determine whether a shared electric vehicle located at the same aggregation node of shared electric vehicles has been serviced and which mobile charging vehicle has been serviced, set C 'is defined, and only one shared electric vehicle stays on a node within set C'; 0 and n+1 are the stations located at the same position; all mobile charging vehicles K epsilon K start from the station 0 to provide charging service for the shared electric automobile, and finally return to the station N+1 after the scheduled service is completed; defining a road section set A= { (i, j) |i, j ε C'. U {0, N+1 }; therefore, the parallel service path planning method for mobile charging vehicles considering the split charging requirements of the shared electric vehicle is defined in the graph g= (C'. U.0, n+1, a).
The step (2) comprises the following steps:
(2-1) defining model evaluation indexes in the form as follows:
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 term is the total vehicle running cost, and the second term is the total vehicle cost; alpha 1 and alpha 2 are respectively the running cost of a unit vehicle and the use cost of a single mobile charging vehicle; d ij is a parameter representing the Euclidean distance between nodes i and j; x ijk ε {0,1} is a knapsack variable; x ijk =1 if vehicle k visits road section (i, j); otherwise, x ijk =0.
The step (3) comprises the following steps:
(3-1) defining a flow balance constraint in the form:
The first one of the leveling constraints ensures that the number of mobile charging vehicles dispatched equals the number of mobile charging vehicles returned to the terminal; the second level of leveling constraints ensures that the number of vehicles entering an intermediate node other than the station is equal to the number of vehicles exiting the node; the third level of leveling constraints ensures that one mobile charging car can only serve one shared electric car 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:
k∈K
the first constraint is used to ensure that the power requirements of each shared electric vehicle are met; w ik is a variable, and is used for representing the electric quantity provided by the mobile charging vehicle k for the shared electric vehicle positioned at the virtual node i epsilon C'; q i is a parameter representing the electric quantity requirement of the shared electric vehicle at the virtual node i epsilon C'; the second constraint is used for ensuring that the electric quantity of the mobile charging car k reaching the node j epsilon C' U { N+1} is not less than 0 and is less than the electric quantity of the mobile charging car k reaching the previous node minus the electric quantity of the mobile charging car k providing service for the previous node and the electric quantity hd ijxijk consumed during running between the two points; h is the electricity consumption rate per unit driving distance; the third constraint ensures that the power of the mobile charging vehicle when leaving the station is equal to the battery capacity, the station has no shared electric vehicle, so the station shared electric vehicle power requirement is 0, i.e., q 0 =0.
Step (5) comprises the following steps:
(5-1) defining a mobile charging vehicle time window constraint in the form of:
The first and second constraints ensure that the time feasibility of moving the charging vehicle is for the road segments leaving station 0 and the virtual aggregation node, respectively; τ ik is a variable representing the time when mobile charging car k starts to provide charging service for the shared electric car located at virtual node i e C'; s ijk epsilon {0,1} is a knapsack variable representing whether the shared electric automobile located in the virtual node i epsilon C 'and the shared electric automobile located in the virtual node j epsilon C' can be simultaneously serviced; constraint three ensures that the time of providing charging service for the shared electric vehicle located at virtual node i e C' by the mobile charging vehicle is within its time window (i.e., [ e i,li ]); constraint four is used to ensure the relationship between variable s ijk and variable x ijk.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (1)
1. The mobile parallel charging method capable of splitting the charging requirements of the shared electric vehicles is characterized by allowing the electric quantity requirements of one shared electric vehicle to be provided by a plurality of mobile charging vehicles, enabling the shared electric vehicles at the same aggregation point to be simultaneously charged by the same mobile charging vehicle service, enabling the battery capacity limits of the mobile charging vehicles to be met, and solving 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) Defining a mobile charging vehicle time window constraint;
The step (1) comprises the following steps:
(1-1) defining a model based on the graph in the form of:
C= {1, 2.,. N } is a set of aggregation nodes of shared electric vehicles, where N is the number of aggregation nodes of the total shared electric vehicles, each aggregation node may stay with multiple shared electric vehicles, to determine whether a shared electric vehicle located at the same aggregation node of shared electric vehicles has been serviced and which mobile charging vehicle has been serviced, set C 'is defined, and only one shared electric vehicle stays on a node within set C'; 0 and n+1 are the stations located at the same position; all mobile charging vehicles K epsilon K start from the station 0 to provide charging service for the shared electric automobile, and finally return to the station N+1 after the scheduled service is completed; defining a road section set A= { (i, j) |i, j ε C'. U {0, N+1 }; therefore, the parallel service path planning method of the mobile charging vehicle considering the split charging requirement of the shared electric vehicle is defined in the graph g= (C'. U.0, n+1, a);
the step (2) comprises the following steps:
(2-1) defining model evaluation indexes in the form as follows:
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 term is the total vehicle running cost, and the second term is the total vehicle cost; alpha 1 and alpha 2 are respectively the running cost of a unit vehicle and the use cost of a single mobile charging vehicle; d ij is a parameter representing the Euclidean distance between nodes i and j; x ijk ε {0,1} is a knapsack variable; x ijk =1 if vehicle k visits road section (i, j); otherwise, x ijk = 0;
The step (3) comprises the following steps:
(3-1) defining a flow balance constraint in the form:
The first one of the leveling constraints ensures that the number of mobile charging vehicles dispatched equals the number of mobile charging vehicles returned to the terminal; the second level of leveling constraints ensures that the number of vehicles entering an intermediate node other than the station is equal to the number of vehicles exiting the node; the third balance constraint ensures that one 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:
k∈K
The first constraint is used to ensure that the power requirements of each shared electric vehicle are met; w ik is a variable, and is used for representing the electric quantity provided by the mobile charging vehicle k for the shared electric vehicle positioned at the virtual node i epsilon C'; q i is a parameter representing the electric quantity requirement of the shared electric vehicle at the virtual node i epsilon C'; the second constraint is used for ensuring that the electric quantity of the mobile charging car k reaching the node j epsilon C' U { N+1} is not less than 0 and is less than the electric quantity of the mobile charging car k reaching the previous node minus the electric quantity of the mobile charging car k providing service for the previous node and the electric quantity hd ijxijk consumed during running between the two points; h is the electricity consumption rate per unit driving distance; the third constraint ensures that the power of the mobile charging vehicle when leaving the station is equal to the battery capacity, and the station has no shared electric vehicle, so the power requirement of the station shared 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 in the form of:
The first and second constraints ensure that the time feasibility of moving the charging vehicle is for the road segments leaving station 0 and the virtual aggregation node, respectively; τ ik is a variable representing the time when mobile charging car k starts to provide charging service for the shared electric car located at virtual node i e C'; s ijk epsilon {0,1} is a knapsack variable representing whether the shared electric automobile located in the virtual node i epsilon C 'and the shared electric automobile located in the virtual node j epsilon C' can be simultaneously serviced; constraint three ensures that the time of providing charging service for the shared electric automobile positioned at the virtual node i epsilon C' by the mobile charging vehicle is within the time window i.e., [ e i,li ]; constraint four is used to ensure the relationship between variable s ijk and variable x ijk.
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