CN115824248B - Navigation method and device for pure electric heavy truck - Google Patents
Navigation method and device for pure electric heavy truck Download PDFInfo
- Publication number
- CN115824248B CN115824248B CN202310114329.XA CN202310114329A CN115824248B CN 115824248 B CN115824248 B CN 115824248B CN 202310114329 A CN202310114329 A CN 202310114329A CN 115824248 B CN115824248 B CN 115824248B
- Authority
- CN
- China
- Prior art keywords
- navigation path
- target vehicle
- charging
- charge
- navigation
- Prior art date
- Legal status (The legal status 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 status listed.)
- Active
Links
Images
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Abstract
The application provides a navigation method and device of a pure electric heavy truck, wherein the method comprises the following steps: determining whether the initial charge state of the target vehicle meets the electric quantity requirement of the first navigation path, and if the initial charge state of the target vehicle meets the electric quantity requirement of the first navigation path, not performing electric quantity supplementing operation; if the initial charge state of the target vehicle does not meet the electric quantity requirement of the first navigation path, determining a target area by taking the starting point as the center and a preset distance radius, selecting a charging and replacing station in the target area, taking the selected charging and replacing station as a new starting point, and meeting the electric quantity requirement from the running to the end point until the target vehicle is in a full charge state, so that a navigation line capable of carrying out at least one electric quantity supplement is provided for the target vehicle. The technical problem that the navigation circuit containing the charging and replacing station cannot be provided for the target vehicle in the prior art is solved, and the technical effect that the navigation circuit containing the charging and replacing station can be provided for the target vehicle is achieved.
Description
Technical Field
The application relates to the technical field of navigation, in particular to a navigation method and device of a pure electric heavy truck.
Background
At present, due to the technical bottleneck of batteries, the driving range of a pure electric heavy truck cannot meet the requirement of inter-city long-distance travel, and a charging station needs to be searched along the way to charge the batteries. Because the battery capacity of the pure electric heavy truck is larger, the charging time is longer, and the timeliness of medium-long distance cargo transportation is reduced. Therefore, freight logistics enterprises start to select more flexible exchangeable heavy trucks to transport the cargoes in medium and long distances, if the timeliness of the transported cargoes is strong, the battery can be replaced by searching for a battery replacement station along the way, and if the timeliness of the transported cargoes is not strong, the battery can be charged by searching for a charging station along the way.
At present, the layout of the inter-city highway network charging stations and the inter-city highway network power exchange stations is less, all service areas along the highway network are not covered, and a driver needs to reasonably plan a driving route through navigation, save travel time and find the charging stations or the inter-city highway network power exchange stations. However, most of the existing navigation systems are oriented towards traditional fuel vehicles, and no navigation information including the position of a charging station or a battery exchange station is provided for a pure electric heavy truck.
Disclosure of Invention
In view of this, the present application aims at providing at least a navigation method and a device for a pure electric heavy truck, which determine, through circulation, whether the current charging and replacing station meets the electric quantity requirement of the target vehicle for driving to a destination after the target vehicle is fully charged, thereby providing a navigation line capable of performing at least one charging and replacing for the target vehicle, solving the technical problem that the navigation line containing the charging and replacing station cannot be provided for the target vehicle in the prior art, and achieving the technical effect of providing the navigation line containing the charging and replacing station for the target vehicle.
The application mainly comprises the following aspects:
in a first aspect, an embodiment of the present application provides a navigation method for a pure electric heavy truck, where the method includes: determining whether the initial charge state of a target vehicle meets the electric quantity requirement of a first navigation path, wherein the target vehicle is a pure electric heavy truck, and the first navigation path refers to the shortest navigation path corresponding to a starting point to an end point input by a user; if the initial charge state of the target vehicle does not meet the electric quantity requirement of the first navigation path, a target area is obtained by taking the starting point as the center and a preset distance as the radius, and whether a charging and replacing station exists in the target area is determined; if at least one charging and replacing station exists in the target area, determining a second navigation path and a third navigation path corresponding to each charging and replacing station in the target area, and combining the second navigation path and the third navigation path corresponding to each charging and replacing station as a fourth navigation path corresponding to each charging and replacing station; determining at least one fifth navigation path according to the length of the fourth navigation path corresponding to each charging station; determining whether the target vehicle meets the electric quantity requirement of a third navigation path corresponding to any fifth navigation path in a battery full state; if the target vehicle does not meet the electric quantity requirement of a third navigation path corresponding to each fifth navigation path in a battery full state, respectively taking a charging and replacing station corresponding to each fifth navigation path as a new starting point, re-executing to obtain a target area by taking the starting point as a center and a preset distance as a radius, and determining whether the charging and replacing station exists in the target area; if the target vehicle meets the electric quantity requirement of a third navigation path corresponding to any fifth navigation path in the battery full state, calculating the total cost of the fifth navigation paths meeting the electric quantity requirement of the third navigation path, and taking the fifth navigation path with the minimum total cost as the target navigation path of the target vehicle.
Optionally, determining whether the initial state of charge of the target vehicle meets the power requirement of the first navigation path includes: determining a final state of charge of the target vehicle from traveling to the destination according to the length of the first navigation path, the initial state of charge of the target vehicle and the battery capacity of the target vehicle; and determining whether the final state of charge is greater than a preset minimum state of charge.
Optionally, the final state of charge is calculated by the following formula:
in the above-mentioned formula(s),
for the final state of charge +.>
Is saidInitial state of charge of the target vehicle, +.>
For the average power consumption factor of the target vehicle, +.>
For the length of the first navigation path, +.>
Battery capacity for the target vehicle; if the final charge state is greater than a preset minimum charge state, the initial charge state of the target vehicle meets the electric quantity requirement of the first navigation path; and if the final charge state is smaller than or equal to a preset minimum charge state, the initial charge state of the target vehicle does not meet the electric quantity requirement of the first navigation path.
Alternatively, the total cost is calculated by the following formula:
in the above-mentioned formula(s), 
Refers to the total cost of the kth fifth navigation path, +.>
Refers to the number of power supplements during the driving of the target navigation path, +.>
Refers to the time value coefficient,/->
Refers to the travel time of the target vehicle between the r-th power-supplementing charging and replacing station and the r-1-th power-supplementing charging and replacing station or starting point in the kth fifth navigation path,
refers to the kth fifth guideCharging time of the r-th electric quantity supplement in the navigation path, < > and the like>
Refers to the power change time of the power supplement of the kth time in the kth fifth navigation path,/for the power supplement of the kth time in the kth fifth navigation path>
Refers to the driving expense between the charging and replacing station of the power supply of the nth time and the charging and replacing station or starting point of the power supply of the (r-1) th time in the kth fifth navigation path of the target vehicle, +/->
Refers to the charge of the (th) charge supplement in the kth fifth navigation path,/->
Refers to the electricity replacement cost of the (r) th electricity supplement in the kth fifth navigation path,/the (r)>
Refers to the travel time from the charging station of the mth electric quantity supplement to the terminal point in the kth fifth navigation path,/->
And the travel cost from the charging station to the terminal point of the mth electric quantity supplement in the kth fifth navigation path is referred.
Alternatively, the charging time is calculated by the following formula:
In the above formula, r is the power supplement of the r time,
the power before the power supplement for the nth time in the kth fifth navigation path of the target vehicle accounts for the percentage of the total power, and the power is +.>
An initial state of charge for the target vehicle; />
The electric quantity consumed by the target vehicle in the kth fifth navigation path from after the (r-1) th electric quantity supplement to before the (r) th electric quantity supplement; u is the battery voltage of the target vehicle; q is the battery capacity of the target vehicle; />
The length of the travel path between the (r-1) th power supplement and the (r) th power supplement in the kth fifth navigation path for the target vehicle.
Alternatively, the charge is calculated by the following formula:
in the above-mentioned formula(s),
for charging unit price, Q is the battery capacity of the target vehicle, < >>
Is the electric quantity of the target vehicle at the starting point.
Optionally, the determining at least one fifth navigation path according to the length of the fourth navigation path corresponding to each charging station includes: sequencing the fourth navigation paths according to the length of the fourth navigation path corresponding to each charging and replacing station; and selecting a preset number of fourth navigation paths from the sorted fourth navigation paths as at least one fifth navigation path.
In a second aspect, embodiments of the present application further provide a navigation device for a pure electric heavy truck, the device including: the first determining module is used for determining whether the initial charge state of a target vehicle meets the electric quantity requirement of a first navigation path, wherein the target vehicle is a pure electric heavy truck, and the first navigation path refers to the shortest navigation path corresponding to the starting point to the end point input by a user; the second determining module is used for obtaining a target area by taking the starting point as a center and a preset distance as a radius if the initial charge state of the target vehicle does not meet the electric quantity requirement of the first navigation path, and determining whether a charging and replacing station exists in the target area; the third determining module is used for determining a second navigation path and a third navigation path corresponding to each charging and exchanging station in the target area if at least one charging and exchanging station exists in the target area, and combining the second navigation path and the third navigation path corresponding to each charging and exchanging station to be used as a fourth navigation path corresponding to each charging and exchanging station; the fourth determining module is used for determining at least one fifth navigation path according to the length of the fourth navigation path corresponding to each charging and replacing station; a fifth determining module, configured to determine whether the target vehicle meets an electric quantity requirement of a third navigation path corresponding to any one of the fifth navigation paths in a battery full state; the circulation execution module is used for executing the charging and replacing station corresponding to each fifth navigation path again by taking the starting point as a new starting point and taking the preset distance as a radius to obtain a target area if the target vehicle does not meet the electric quantity requirement of the third navigation path corresponding to each fifth navigation path in the battery full state, and determining whether the charging and replacing station exists in the target area; and the navigation module is used for calculating the total cost of the fifth navigation path meeting the electric quantity requirement of the third navigation path if the target vehicle meets the electric quantity requirement of the third navigation path corresponding to any fifth navigation path in the battery full state, and taking the fifth navigation path with the minimum total cost as the target navigation path of the target vehicle.
In a third aspect, embodiments of the present application further provide an electronic device, including: a processor, a memory and a bus, the memory storing machine readable instructions executable by the processor, the processor and the memory communicating via the bus when the electronic device is running, the machine readable instructions when executed by the processor performing the steps of the method for navigating a heavy electric only truck as described in the first aspect or any of the possible embodiments of the first aspect.
In a fourth aspect, the embodiments of the present application further provide a computer readable storage medium, on which a computer program is stored, which when executed by a processor performs the steps of the navigation method of a pure electric heavy truck as described in the first aspect or any of the possible implementation manners of the first aspect.
The embodiment of the application provides a navigation method and device for a pure electric heavy truck, wherein the method comprises the following steps: determining whether the initial charge state of a target vehicle meets the electric quantity requirement of a first navigation path, wherein the target vehicle is a pure electric heavy truck, and the first navigation path refers to the shortest navigation path corresponding to a starting point to an end point input by a user; if the initial charge state of the target vehicle does not meet the electric quantity requirement of the first navigation path, a target area is obtained by taking the starting point as the center and a preset distance as the radius, and whether a charging and replacing station exists in the target area is determined; if at least one charging and replacing station exists in the target area, determining a second navigation path and a third navigation path corresponding to each charging and replacing station in the target area, and combining the second navigation path and the third navigation path corresponding to each charging and replacing station as a fourth navigation path corresponding to each charging and replacing station; determining at least one fifth navigation path according to the length of the fourth navigation path corresponding to each charging station; determining whether the target vehicle meets the electric quantity requirement of a third navigation path corresponding to any fifth navigation path in a battery full state; if the target vehicle does not meet the electric quantity requirement of a third navigation path corresponding to each fifth navigation path in a battery full state, respectively taking a charging and replacing station corresponding to each fifth navigation path as a new starting point, re-executing to obtain a target area by taking the starting point as a center and a preset distance as a radius, and determining whether the charging and replacing station exists in the target area; if the target vehicle meets the electric quantity requirement of a third navigation path corresponding to any fifth navigation path in the battery full state, calculating the total cost of the fifth navigation paths meeting the electric quantity requirement of the third navigation path, and taking the fifth navigation path with the minimum total cost as the target navigation path of the target vehicle. According to the method and the device, whether the current charging and replacing station fully charges the target vehicle or not meets the electric quantity requirement that the target vehicle runs to the terminal is determined through circulation, so that a navigation circuit capable of carrying out charging and replacing at least once is provided for the target vehicle, the technical problem that the navigation circuit containing the charging and replacing station cannot be provided for the target vehicle in the prior art is solved, and the technical effect that the navigation circuit containing the charging and replacing station can be provided for the target vehicle is achieved.
In order to make the above objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered limiting the scope, and that other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 shows a flowchart of a navigation method of a pure electric heavy truck according to an embodiment of the present application.
Fig. 2 shows one of schematic diagrams of a charging and exchanging station in a target area according to an embodiment of the present application.
Fig. 3 shows a second schematic diagram of a charging station in a target area according to an embodiment of the present application.
Fig. 4 shows a functional block diagram of a navigation device of a pure electric heavy truck according to an embodiment of the present application.
Fig. 5 shows a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it should be understood that the accompanying drawings in the present application are only for the purpose of illustration and description, and are not intended to limit the protection scope of the present application. In addition, it should be understood that the schematic drawings are not drawn to scale. A flowchart, as used in this application, illustrates operations implemented according to some embodiments of the present application. It should be appreciated that the operations of the flow diagrams may be implemented out of order and that steps without logical context may be performed in reverse order or concurrently. Moreover, one or more other operations may be added to the flow diagrams and one or more operations may be removed from the flow diagrams as directed by those skilled in the art.
In addition, the described embodiments are only some, but not all, of the embodiments of the present application. The components of the embodiments of the present application, which are generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, as provided in the accompanying drawings, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, are intended to be within the scope of the present application.
In the prior art, most of navigation is directed to fuel vehicles, and there is a disadvantage that navigation information including the position of a charging station or a battery exchange station is not provided for a heavy-duty truck.
Based on this, the embodiment of the application provides the navigation of the pure electric heavy truck, and the present application determines whether the current charging and replacing station fully charges the target vehicle and then meets the electric quantity requirement of the target vehicle for driving to the destination through circulation, so that a navigation line capable of carrying out at least one charging and replacing is provided for the target vehicle, the technical problem that the navigation line containing the charging and replacing station cannot be provided for the target vehicle in the prior art is solved, and the technical effect that the navigation line containing the charging and replacing station can be provided for the target vehicle is achieved. The method comprises the following steps:
referring to fig. 1, fig. 1 is a flowchart of a navigation method of a pure electric heavy truck according to an embodiment of the present application. As shown in fig. 1, the navigation method for the pure electric heavy truck provided by the embodiment of the application includes the following steps:
s101: it is determined whether the initial state of charge of the target vehicle meets the power demand of the first navigation path.
The target vehicle is a pure electric heavy truck, and the first navigation path refers to the shortest navigation path corresponding to the starting point to the end point input by a user.
The first navigation path may be obtained by matching GPS data (global positioning system ) of the start point and the end point with an electronic map. The initial state of charge of the target vehicle may be understood as the state of charge of the battery at the start of the target vehicle.
Determining whether the initial state of charge of the target vehicle meets the power demand of the first navigation path includes: determining a final state of charge of the target vehicle from traveling to the destination according to the length of the first navigation path, the initial state of charge of the target vehicle and the battery capacity of the target vehicle; and determining whether the final state of charge is greater than a preset minimum state of charge.
The final state of charge is calculated by the following formula:
in the formula (1),
for the final state of charge +.>
For the initial state of charge of the target vehicle, < > j->
For the average power consumption factor of the target vehicle, +.>
For the length of the first navigation path, +.>
Is the battery capacity of the target vehicle.
Since the target vehicle is a pure electric heavy truck, then
It is understood that the average power consumption factor of a pure electric heavy truck.
The preset minimum state of charge is set manually, and can be a psychological state of charge threshold value for a target vehicle corresponding to a user to charge or change the battery. That is, the user considers that the final charge state of the target vehicle is greater than the preset minimum charge state, and charging or power exchanging operation is not required; if the final state of charge of the target vehicle is less than or equal to the preset minimum state of charge, a charging or battery replacement operation is required. The charging or power changing operation is generally called as a power supplementing operation.
That is, if the final state of charge is greater than a preset minimum state of charge, the initial state of charge of the target vehicle meets the electrical quantity requirement of the first navigation path; if the final state of charge is less than or equal to a preset minimum state of charge, the initial state of charge of the target vehicle does not meet the electric quantity requirement of the first navigation path, and then electric quantity supplementing operation is needed to be performed on a battery of the target vehicle.
S102: and obtaining a target area by taking the starting point as a center and a preset distance as a radius, and determining whether a charging and replacing station exists in the target area.
And if the initial charge state of the target vehicle does not meet the electric quantity requirement of the first navigation path, obtaining a target area by taking the starting point as a center and a preset distance as a radius, and determining whether a charging and replacing station exists in the target area.
That is, it is determined whether a charging and discharging station exists in a circular area having a preset distance as a radius centered on the starting point. And if the charging and replacing station does not exist in the target area, reminding a user to search for the charging and replacing station and carrying out electric quantity supplementing operation before the power generation.
Illustratively, the existence of a charging station number z within the target area is determined by the following equation:
In the formula (2),
for a preset distance, & gt>
Longitude coordinate of charging station with number z, +.>
Longitude coordinates of the origin, < >>
Latitude coordinate of charging station with number z, +.>
Is the latitude coordinate of the origin. If it is
If the distance is smaller than or equal to the preset distance, the charging and replacing station with the number z is considered to be in the target area, if +.>
If the distance is larger than the preset distance, the charging and replacing station with the number z is not in the target area.
The preset distance may be a fixed value set manually; the preset distance may also be a current range when determining whether the charging and replacing station exists in the target area each time, so that the preset distance when determining whether the charging and replacing station exists in the target area each time is different.
S103: and determining a second navigation path and a third navigation path corresponding to each charging and replacing station in the target area, and combining the second navigation path and the third navigation path corresponding to each charging and replacing station as a fourth navigation path corresponding to each charging and replacing station.
If at least one charging and replacing station exists in the target area, determining a second navigation path and a third navigation path corresponding to each charging and replacing station in the target area, and combining the second navigation path and the third navigation path corresponding to each charging and replacing station as a fourth navigation path corresponding to each charging and replacing station.
And sequencing all target points according to the sequence from the starting point to the charging station in the determined target area, taking the shortest distance combination of adjacent target points after sequencing as a second navigation path corresponding to the charging station, and taking a third navigation path as the shortest navigation path of the charging station and the end point.
For example, referring to fig. 2, fig. 2 is a schematic diagram of a charging station in a target area according to an embodiment of the present application. Three charging stations are arranged in the target area of the starting point, namely a charging station 1, a charging station 2 and a charging station 3, L 0 Is a preset distance. If the charging station is the charging station 1, the sequence from the starting point to the determining charging station 1 is obtained by sequencing all target points: a start point, a charging station 1, and a shortest navigation path L from the start point to the charging station 1 12 And determining a second navigation path corresponding to the charging and replacing station 1.
As shown in FIG. 2, the shortest navigation path from the start point to the end point is the first navigation path, L 12 For the shortest navigation path L between the starting point and the charging station 1 12 Is a second navigation path corresponding to the charging and exchanging station 1, L 13 For the shortest navigation path L between the charging station 1 and the end point 13 Is a third navigation path corresponding to the charging and exchanging station 1, L 12 And L is equal to 13 Is combined into L 14 ，L 14 A fourth navigation path corresponding to the charging and exchanging station 1;L 22 for the shortest navigation path between the starting point and the charging station 2, L 22 Is a second navigation path corresponding to the charging and exchanging station 2, L 23 For the shortest navigation path between the charging station 2 and the end point, L 23 Is a third navigation path corresponding to the charging and exchanging station 2, L 22 And L is equal to 23 Is combined into L 24 ，L 24 A fourth navigation path corresponding to the charging and exchanging station 2; l (L) 32 For the shortest navigation path between the starting point and the charging station 3, L 32 Is a second navigation path corresponding to the charging and exchanging station 3, L 33 For the shortest navigation path, L, between the charging station 3 and the end point 33 Is a third navigation path corresponding to the charging and exchanging station 3, L 32 And L is equal to 33 Is combined into L 34 ，L 34 And a fourth navigation path corresponding to the charging and replacing station 3.
S104: and determining at least one fifth navigation path according to the length of the fourth navigation path corresponding to each charging and replacing station.
Determining at least one fifth navigation path according to the length of the fourth navigation path corresponding to each charging station, including: sequencing the fourth navigation paths according to the length of the fourth navigation path corresponding to each charging and replacing station; and selecting a preset number of fourth navigation paths from the sorted fourth navigation paths as at least one fifth navigation path.
That is, the fourth navigation paths of each charging and replacing station in the target area are arranged in an ascending order according to the length of the fourth navigation paths, and the fourth navigation paths after the ascending order are selected from the fourth navigation paths after the ascending order to serve as at least one fifth navigation path.
As in the embodiment shown in FIG. 2, L 12 And L is equal to 13 Is combined into L 14 ，L 14 For the fourth navigation path corresponding to the charging station 1, L 22 And L is equal to 23 Is combined into L 24 ，L 24 For the fourth navigation path corresponding to the charging station 2, L 32 And L is equal to 33 Is combined into L 34 ，L 34 For the fourth navigation path corresponding to the charging and exchanging station 3, according to L 14 、L 24 And L 34 The length of (c) is ordered from small to large,if it is ordered to be L 14 、L 34 、L 24 If the preset number is 2, L is calculated 14 、L 34 As a fifth navigation path.
S105: and determining whether the target vehicle meets the electric quantity requirement of a third navigation path corresponding to any fifth navigation path in the battery full state.
That is, the average power consumption factor of the electric-only heavy truck is calculated to multiply the length of the third navigation path corresponding to each fifth navigation path, the product is compared with the battery capacity of the target vehicle, the ratio is subtracted from 1, and the difference is taken as the final state of charge of the target vehicle from the state of full battery to the end point of the fifth navigation path. If the final charge state is greater than the preset minimum charge state, the target vehicle meets the electric quantity requirement of a third navigation path corresponding to the fifth navigation path in the battery full charge state; if the final state of charge is less than or equal to the preset minimum state of charge, the target vehicle does not meet the electric quantity requirement of the third navigation path corresponding to the fifth navigation path in the full battery state.
That is, since the initial state of charge of the target vehicle does not satisfy the electric power demand of the first navigation path, and thus an electric power replenishment operation is required, after each fifth navigation path in the target area is determined, the target vehicle is considered to perform the electric power replenishment operation at the charging station corresponding to any one of the fifth navigation paths, so that the battery of the target vehicle is in a full state, and it is required to determine whether the electric power demand of the third navigation path corresponding to any one of the fifth navigation paths is satisfied in the full state of the battery.
As in the embodiment shown in FIG. 2, if any of the fifth navigation paths is L 14 The target vehicle is considered to be in a full charge state of the battery at the charging and replacing station 1, and whether the target vehicle meets the third navigation path L in the full charge state of the battery is further determined 13 Is used for generating electricity; if any fifth navigation path is L 34 The target vehicle is considered to be in a full charge state of the battery at the charging and replacing station 3, and whether the target vehicle meets the third navigation path L in the full charge state of the battery is further determined 33 Is required by the electric quantity of (2)And (5) solving.
S106: and taking the charging and replacing station corresponding to each fifth navigation path as a new starting point respectively.
If the target vehicle does not meet the electric quantity requirement of the third navigation path corresponding to each fifth navigation path in the battery full state, taking the charging and replacing station corresponding to each fifth navigation path as a new starting point, and re-executing S102: and obtaining a target area by taking the starting point as a center and a preset distance as a radius, and determining whether a charging and replacing station exists in the target area.
That is, if the target vehicle does not meet the power demand of the third navigation path corresponding to any one of the fifth navigation paths in the battery full state, the charging and replacing station corresponding to each of the fifth navigation paths is used as a new starting point. Exemplary, as in the embodiment shown in FIG. 2, if L 14 、L 34 As the fifth navigation path, the target vehicle does not satisfy the third navigation path L in the battery full state 13 And the target vehicle does not satisfy the third navigation path L in the battery full state 33 The charging and exchanging station 1 and the charging and exchanging station 3 are respectively used as new starting points, and the charging and exchanging station 1 is used as the center to preset the distance L 0 Determining a target area corresponding to the charging and replacing station 1 for the radius, and taking the charging and replacing station 3 as a center and presetting a distance L 0 And (3) determining a target area corresponding to the charging and exchanging station 3 for the radius, and continuously searching a fourth navigation path corresponding to the target area corresponding to the charging and exchanging station 1 and the target area corresponding to the charging and exchanging station 3.
For example, referring to fig. 3, fig. 3 is a schematic diagram of a second charging station in the target area according to the embodiment of the present application. With the charging station 1 as the center, a preset distance L 0 For the radius it is determined that there are a charging station 4 and a charging station 5 in the corresponding target area of the charging station 1. Taking the charging and exchanging station 4 as an example, taking the charging and exchanging station 4, the charging and exchanging station 1 before the charging and exchanging station 4 and the starting point as target points, and sequencing all the target points according to the sequence from the starting point to the determining charging and exchanging station 4 to obtain the following steps: starting point, charging station 1, charging station 4, determining shortest navigation path L between starting point and charging station 1 a Charging station 1Shortest navigation path L between charging station 4 and battery b Shortest navigation path L a And L b Combining the first navigation paths as the second navigation paths corresponding to the charging and replacing station 4, and taking the shortest navigation path L from the charging and replacing station 4 to the terminal c Determines a third navigation path corresponding to the charging station 4 and determines whether L is satisfied in the full battery state c If the electric quantity requirement of (1) is satisfied in the full battery state c To the electricity demand of L a 、L b And L c The combination is used as a fifth navigation path corresponding to the charging station 4.
S107: and calculating the total cost of the fifth navigation path meeting the electric quantity requirement of the third navigation path, and taking the fifth navigation path with the minimum total cost as the target navigation path of the target vehicle.
If the target vehicle meets the electric quantity requirement of a third navigation path corresponding to any fifth navigation path in the battery full state, calculating the total cost of the fifth navigation paths meeting the electric quantity requirement of the third navigation path, and taking the fifth navigation path with the minimum total cost as the target navigation path of the target vehicle.
The total cost is calculated by the following formula:
in the formula (3),
refers to the total cost of the kth fifth navigation path, +.>
Refers to the number of power supplements during the driving of the target navigation path, +. >
Refers to a time value coefficient, which may be set to 1.6,/for>
Refers to a target vehicleTravel time between the charging and exchanging station of the r-1 th electric quantity supplement and the charging and exchanging station or starting point of the r-1 th electric quantity supplement in the kth fifth navigation path, +.>
Refers to the charging time of the r-th power supplement in the kth fifth navigation path,
refers to the power change time of the power supplement of the kth time in the kth fifth navigation path,/for the power supplement of the kth time in the kth fifth navigation path>
Refers to the driving expense between the charging and replacing station of the power supply of the nth time and the charging and replacing station or starting point of the power supply of the (r-1) th time in the kth fifth navigation path of the target vehicle, +/->
Refers to the charge of the (th) charge supplement in the kth fifth navigation path,/->
Refers to the electricity replacement cost of the (r) th electricity supplement in the kth fifth navigation path,/the (r)>
Refers to the travel time from the charging station of the mth electric quantity supplement to the terminal point in the kth fifth navigation path,/->
And the travel cost from the charging station to the terminal point of the mth electric quantity supplement in the kth fifth navigation path is referred.
As in the embodiment shown in fig. 3, if the target vehicle satisfies L in the battery full state c Calculates L a 、L b And L c The combination is used as a fifth guide corresponding to the charging and exchanging station 4The total cost of the airlines. Further, the charging station 1 performs the first power replenishment operation for the fifth navigation path, and the charging station 4 performs the second power replenishment operation for the fifth navigation path, thereby obtaining 2.
The charging time is calculated by the following formula:
in the formulas (4) to (6), r is the power supplement of the r time,
the percentage of the electric quantity before the power quantity is supplemented for the target vehicle in the kth fifth navigation path for the nth power quantity to the total power quantity, or +.>
Charge state before the (r) th electric quantity supplement of the target vehicle in the kth fifth navigation path, < >>
An initial state of charge for the target vehicle; />
The electric quantity consumed by the target vehicle in the kth fifth navigation path from after the (r-1) th electric quantity supplement to before the (r) th electric quantity supplement; u is the battery voltage of the target vehicle; q is the battery capacity of the target vehicle; />
The length of the travel path between the (r-1) th power supplement and the (r) th power supplement in the kth fifth navigation path for the target vehicle.
That is to say that the first and second,
the power consumption of the target vehicle from the r-1 power supplement to the power supplement before the r power supplement in the kth fifth navigation path is a percentage of the total power. After the first charge is completed, the battery of the target vehicle is considered to be in a full state, and the +_of the second charge is calculated >
And calculating the charge supplement after the second charge supplement +.>
When 1 and +.>
And (5) subtracting.
The charge is calculated by the following formula:
in the formula (7) of the present invention,
for charging unit price, Q is the battery capacity of the target vehicle, < >>
Is the electric quantity of the target vehicle at the starting point.
The electric quantity of the target vehicle at the starting point corresponds to the initial electric quantity of the target vehicle. Because the electric quantity of the target vehicle at the starting point is not necessarily full electric quantity, in order to fully charge the battery when the first electric quantity is replenished, the difference value between the battery capacity of the target vehicle and the electric quantity of the target vehicle at the starting point needs to be calculated, then the difference value is summed with the electric quantity consumed from the starting point to the electric quantity consumed before the first electric quantity replenishment, and the sum value is used as the electric quantity which needs to be replenished when the first electric quantity replenishment is performed.
Based on the same application conception, the embodiment of the application also provides a navigation device of the pure electric heavy truck, which corresponds to the navigation method of the pure electric heavy truck provided by the embodiment, and because the principle of solving the problem by the device in the embodiment of the application is similar to that of the navigation method of the pure electric heavy truck provided by the embodiment of the application, the implementation of the device can refer to the implementation of the method, and the repetition is omitted.
Fig. 4 is a functional block diagram of a navigation device of a pure electric heavy truck according to an embodiment of the present application, as shown in fig. 4. The navigation device 10 of a pure electric heavy truck includes: the first determination module 101, the second determination module 102, the third determination module 103, the fourth determination module 104, the fifth determination module 105, the loop execution module 106, and the navigation module 107.
A first determining module 101, configured to determine whether an initial state of charge of a target vehicle meets an electric quantity requirement of a first navigation path, where the target vehicle is a pure electric heavy truck, and the first navigation path is a shortest navigation path corresponding to a start point to an end point input by a user; a second determining module 102, configured to obtain a target area with the starting point as a center and a preset distance as a radius if the initial state of charge of the target vehicle does not meet the electric quantity requirement of the first navigation path, and determine whether a charging and replacing station exists in the target area; a third determining module 103, configured to determine, if at least one charging and replacing station exists in the target area, a second navigation path and a third navigation path corresponding to each charging and replacing station in the target area, and combine the second navigation path and the third navigation path corresponding to each charging and replacing station as a fourth navigation path corresponding to each charging and replacing station; a fourth determining module 104, configured to determine at least one fifth navigation path according to a length of a fourth navigation path corresponding to each charging station; a fifth determining module 105, configured to determine whether the target vehicle meets an electric quantity requirement of a third navigation path corresponding to any one of the fifth navigation paths in a battery full state; the circulation execution module 106 is configured to, if the target vehicle does not meet the electric quantity requirement of the third navigation path corresponding to each fifth navigation path in the battery full state, re-execute the charging and replacing station corresponding to each fifth navigation path as a new starting point, obtain a target area with the starting point as a center and a preset distance as a radius, and determine whether the charging and replacing station exists in the target area; the navigation module 107 is configured to calculate a total cost of a fifth navigation path that meets an electrical quantity requirement of a third navigation path corresponding to any one of the fifth navigation paths if the target vehicle meets the electrical quantity requirement of the third navigation path in a battery full state, and take the fifth navigation path with the minimum total cost as a target navigation path of the target vehicle.
Based on the same application concept, referring to fig. 5, which is a schematic structural diagram of an electronic device provided in an embodiment of the present application, the electronic device 20 includes: a processor 201, a memory 202 and a bus 203, said memory 202 storing machine readable instructions executable by said processor 201, said processor 201 and said memory 202 communicating via said bus 203 when the electronic device 20 is running, said machine readable instructions being executed by said processor 201 to perform the steps of the method of navigating an electric only heavy truck as described in any of the above embodiments.
In particular, the machine readable instructions, when executed by the processor 201, may perform the following: determining whether the initial charge state of a target vehicle meets the electric quantity requirement of a first navigation path, wherein the target vehicle is a pure electric heavy truck, and the first navigation path refers to the shortest navigation path corresponding to a starting point to an end point input by a user; if the initial charge state of the target vehicle does not meet the electric quantity requirement of the first navigation path, a target area is obtained by taking the starting point as the center and a preset distance as the radius, and whether a charging and replacing station exists in the target area is determined; if at least one charging and replacing station exists in the target area, determining a second navigation path and a third navigation path corresponding to each charging and replacing station in the target area, and combining the second navigation path and the third navigation path corresponding to each charging and replacing station as a fourth navigation path corresponding to each charging and replacing station; determining at least one fifth navigation path according to the length of the fourth navigation path corresponding to each charging station; determining whether the target vehicle meets the electric quantity requirement of a third navigation path corresponding to any fifth navigation path in a battery full state; if the target vehicle does not meet the electric quantity requirement of a third navigation path corresponding to each fifth navigation path in a battery full state, respectively taking a charging and replacing station corresponding to each fifth navigation path as a new starting point, re-executing to obtain a target area by taking the starting point as a center and a preset distance as a radius, and determining whether the charging and replacing station exists in the target area; if the target vehicle meets the electric quantity requirement of a third navigation path corresponding to any fifth navigation path in the battery full state, calculating the total cost of the fifth navigation paths meeting the electric quantity requirement of the third navigation path, and taking the fifth navigation path with the minimum total cost as the target navigation path of the target vehicle.
Based on the same application concept, the embodiment of the application also provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program is executed by a processor to execute the steps of the navigation method of the pure electric heavy truck provided by the embodiment.
Specifically, the storage medium can be a general storage medium, such as a mobile magnetic disk, a hard disk and the like, when the computer program on the storage medium is run, the navigation method of the pure electric heavy truck can be executed, and whether the electric quantity requirement of the target vehicle to the destination is met after the target vehicle is fully charged by the current charging and replacing station is circularly determined, so that a navigation circuit capable of carrying out at least one charging and replacing is provided for the target vehicle, the technical problem that the navigation circuit containing the charging and replacing station cannot be provided for the target vehicle in the prior art is solved, and the technical effect that the navigation circuit containing the charging and replacing station can be provided for the target vehicle is achieved.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described system and apparatus may refer to corresponding procedures in the foregoing method embodiments, which are not described herein again. In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. The above-described apparatus embodiments are merely illustrative, for example, the division of the units is merely a logical function division, and there may be other manners of division in actual implementation, and for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer readable storage medium executable by a processor. Based on such understanding, the technical solutions of the present application may be embodied in essence or a part contributing to the prior art or a part of the technical solutions, or in the form of a software product, which is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-only memory (ROM), a random access memory (RandomAccess Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely a specific embodiment of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes or substitutions are covered in the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (8)
1. A method of navigating a purely electric heavy truck, the method comprising:
determining whether the initial charge state of a target vehicle meets the electric quantity requirement of a first navigation path, wherein the target vehicle is a pure electric heavy truck, and the first navigation path refers to the shortest navigation path corresponding to a starting point to an end point input by a user;
if the initial charge state of the target vehicle does not meet the electric quantity requirement of the first navigation path, a target area is obtained by taking the starting point as the center and a preset distance as the radius, and whether a charging and replacing station exists in the target area is determined;
if at least one charging and replacing station exists in the target area, determining a second navigation path and a third navigation path corresponding to each charging and replacing station in the target area, and combining the second navigation path and the third navigation path corresponding to each charging and replacing station as a fourth navigation path corresponding to each charging and replacing station;
Determining at least one fifth navigation path according to the length of the fourth navigation path corresponding to each charging station;
determining whether the target vehicle meets the electric quantity requirement of a third navigation path corresponding to any fifth navigation path in a battery full state;
if the target vehicle does not meet the electric quantity requirement of a third navigation path corresponding to each fifth navigation path in a battery full state, respectively taking a charging and replacing station corresponding to each fifth navigation path as a new starting point, re-executing to obtain a target area by taking the starting point as a center and a preset distance as a radius, and determining whether the charging and replacing station exists in the target area;
if the target vehicle meets the electric quantity requirement of a third navigation path corresponding to any fifth navigation path in the battery full state, calculating the total cost of the fifth navigation path meeting the electric quantity requirement of the third navigation path, and taking the fifth navigation path with the minimum total cost as the target navigation path of the target vehicle;
the determining whether the initial state of charge of the target vehicle meets the power requirement of the first navigation path includes:
determining a final state of charge of the target vehicle from traveling to the destination according to the length of the first navigation path, the initial state of charge of the target vehicle and the battery capacity of the target vehicle;
Determining whether the final state of charge is greater than a preset minimum state of charge;
the final state of charge is calculated by the following formula:
in the above-mentioned formula(s),
for the final state of charge +.>
For the initial state of charge of the target vehicle, < > j->
For the average power consumption factor of the target vehicle, +.>
For the length of the first navigation path, +.>
Battery capacity for the target vehicle;
if the final charge state is greater than a preset minimum charge state, the initial charge state of the target vehicle meets the electric quantity requirement of the first navigation path;
and if the final charge state is smaller than or equal to a preset minimum charge state, the initial charge state of the target vehicle does not meet the electric quantity requirement of the first navigation path.
2. The method of claim 1, wherein the total cost is calculated by the formula:
in the above-mentioned formula(s),
refers to the total cost of the kth fifth navigation path, +.>
Refers to the number of power supplements during the driving of the target navigation path, +.>
Refers to the time value coefficient,/->
Refers to the driving time between the charging and changing station of the power supply of the target vehicle for the r time and the charging and changing station or starting point of the power supply of the r-1 time in the kth fifth navigation path, +. >
Refers to the charging time of the (th) power supplement in the kth fifth navigation path,/->
Refers to the power change time of the power supplement of the kth time in the kth fifth navigation path,/for the power supplement of the kth time in the kth fifth navigation path>
Refers to the driving expense between the charging and replacing station of the power supply of the nth time and the charging and replacing station or starting point of the power supply of the (r-1) th time in the kth fifth navigation path of the target vehicle, +/->
Refers to the charge of the (th) charge supplement in the kth fifth navigation path,/->
Refers to the electricity replacement cost of the (r) th electricity supplement in the kth fifth navigation path,/the (r)>
Refers to the travel time from the charging station of the mth electric quantity supplement to the terminal point in the kth fifth navigation path,/->
And the travel cost from the charging station to the terminal point of the mth electric quantity supplement in the kth fifth navigation path is referred.
3. The method of claim 2, wherein the charge time is calculated by the following formula:
in the above formula, r is the power supplement of the r time,
the power before the power supplement for the nth time in the kth fifth navigation path of the target vehicle accounts for the percentage of the total power, and the power is +.>
An initial state of charge for the target vehicle; />
The electric quantity consumed by the target vehicle in the kth fifth navigation path from after the (r-1) th electric quantity supplement to before the (r) th electric quantity supplement; u is the battery voltage of the target vehicle; q is the battery capacity of the target vehicle; / >
The length of the travel path between the (r-1) th power supplement and the (r) th power supplement in the kth fifth navigation path for the target vehicle.
4. A method according to claim 3, wherein the charge is calculated by the formula:
in the above-mentioned formula(s),
for charging unit price, Q is the battery capacity of the target vehicle, < >>
Is the electric quantity of the target vehicle at the starting point.
5. The method of claim 1, wherein determining at least one fifth navigation path based on the length of the fourth navigation path corresponding to each charging station comprises:
sequencing the fourth navigation paths according to the length of the fourth navigation path corresponding to each charging and replacing station;
and selecting a preset number of fourth navigation paths from the sorted fourth navigation paths as at least one fifth navigation path.
6. A navigation device for a purely electric heavy truck, the device comprising:
the first determining module is used for determining whether the initial charge state of a target vehicle meets the electric quantity requirement of a first navigation path, wherein the target vehicle is a pure electric heavy truck, and the first navigation path refers to the shortest navigation path corresponding to the starting point to the end point input by a user;
The second determining module is used for obtaining a target area by taking the starting point as a center and a preset distance as a radius if the initial charge state of the target vehicle does not meet the electric quantity requirement of the first navigation path, and determining whether a charging and replacing station exists in the target area;
the third determining module is used for determining a second navigation path and a third navigation path corresponding to each charging and exchanging station in the target area if at least one charging and exchanging station exists in the target area, and combining the second navigation path and the third navigation path corresponding to each charging and exchanging station to be used as a fourth navigation path corresponding to each charging and exchanging station;
the fourth determining module is used for determining at least one fifth navigation path according to the length of the fourth navigation path corresponding to each charging and replacing station;
a fifth determining module, configured to determine whether the target vehicle meets an electric quantity requirement of a third navigation path corresponding to any one of the fifth navigation paths in a battery full state;
the circulation execution module is used for executing the charging and replacing station corresponding to each fifth navigation path again by taking the starting point as a new starting point and taking the preset distance as a radius to obtain a target area if the target vehicle does not meet the electric quantity requirement of the third navigation path corresponding to each fifth navigation path in the battery full state, and determining whether the charging and replacing station exists in the target area;
The navigation module is used for calculating the total cost of the fifth navigation path meeting the electric quantity requirement of any fifth navigation path if the target vehicle meets the electric quantity requirement of the third navigation path corresponding to any fifth navigation path in the battery full state, and taking the fifth navigation path with the minimum total cost as the target navigation path of the target vehicle;
the first determining module is further configured to determine a final state of charge of the target vehicle when the target vehicle travels to the destination according to a length of the first navigation path, an initial state of charge of the target vehicle, and a battery capacity of the target vehicle; determining whether the final state of charge is greater than a preset minimum state of charge;
the first determination module is further configured to calculate the final state of charge by:
in the above-mentioned formula(s),
for the final state of charge +.>
For the initial state of charge of the target vehicle, < > j->
For the average power consumption factor of the target vehicle, +.>
For the length of the first navigation path, +.>
Battery capacity for the target vehicle;
the first determining module is further configured to, if the final state of charge is greater than a preset minimum state of charge, enable an initial state of charge of the target vehicle to meet an electrical quantity requirement of the first navigation path; and if the final charge state is smaller than or equal to a preset minimum charge state, the initial charge state of the target vehicle does not meet the electric quantity requirement of the first navigation path.
7. An electronic device, comprising: a processor, a memory and a bus, said memory storing machine readable instructions executable by said processor, said processor and said memory communicating via said bus when the electronic device is running, said machine readable instructions when executed by said processor performing the steps of the navigation method of an electric only heavy truck according to any one of claims 1 to 5.
8. A computer-readable storage medium, characterized in that it has stored thereon a computer program which, when being executed by a processor, performs the steps of the navigation method of an electric-only heavy truck as claimed in any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310114329.XA CN115824248B (en) | 2023-02-15 | 2023-02-15 | Navigation method and device for pure electric heavy truck |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310114329.XA CN115824248B (en) | 2023-02-15 | 2023-02-15 | Navigation method and device for pure electric heavy truck |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115824248A CN115824248A (en) | 2023-03-21 |
| CN115824248B true CN115824248B (en) | 2023-04-21 |
Family
ID=85521424
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310114329.XA Active CN115824248B (en) | 2023-02-15 | 2023-02-15 | Navigation method and device for pure electric heavy truck |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115824248B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117689272A (en) * | 2024-02-02 | 2024-03-12 | 杭州宇谷科技股份有限公司 | Method for measuring value of ESG (electronic service provider) power exchange system, electronic equipment and storage medium |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105491241A (en) * | 2016-01-13 | 2016-04-13 | 广东欧珀移动通信有限公司 | Navigation method, navigation device and mobile terminal integrated with navigation device |
| CN105539185A (en) * | 2015-12-29 | 2016-05-04 | 戴姆勒股份公司 | Charging route planning and charging reserving method and system of electric automobile |
| CN114413919A (en) * | 2021-12-30 | 2022-04-29 | 联想(北京)有限公司 | Navigation method, device, equipment and computer storage medium |
Family Cites Families (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10170293A (en) * | 1996-12-05 | 1998-06-26 | Nissan Motor Co Ltd | Route searching device for electric automobile |
| CN103512580B (en) * | 2012-06-21 | 2016-07-13 | 日电（中国）有限公司 | A kind of electric automobile paths planning method and device |
| CN103136600B (en) * | 2013-03-13 | 2016-12-28 | 北京交通大学 | A kind of electric automobile alternative electrically-charging equipment system of selection |
| TW201642208A (en) * | 2015-05-22 | 2016-12-01 | Quan Hong Logistics Co Ltd | Cloud management method and system of integrated electric vehicle charging power supply |
| CN106197459B (en) * | 2016-08-15 | 2019-05-21 | 浙江爱充网络科技有限公司 | Consider the electric car path optimization method of voyage and the station location that charges |
| CN106708049B (en) * | 2016-12-30 | 2018-02-06 | 北京理工大学 | A kind of paths planning method of the lower movable body of multistation relay navigation |
| CN106871918B (en) * | 2017-01-23 | 2020-07-24 | 深圳充电网科技有限公司 | Electric vehicle route planning method and device |
| CN106979788A (en) * | 2017-03-24 | 2017-07-25 | 深圳市凯立德欣软件技术有限公司 | The paths planning method and navigation equipment of a kind of electric energy vehicle |
| CN107392336B (en) * | 2017-07-17 | 2021-04-02 | 哈尔滨工程大学 | Reservation-based distributed electric vehicle charging scheduling method in intelligent transportation |
| CN111055716B (en) * | 2019-12-11 | 2021-06-22 | 国网北京市电力公司 | Method and device for determining charging strategy, storage medium and processor |
| CN111609867B (en) * | 2020-06-19 | 2022-02-22 | 北京交通大学 | Electric vehicle path planning method |
| CN112477635A (en) * | 2020-11-30 | 2021-03-12 | 浙江吉利控股集团有限公司 | Method, device and equipment for supplementing electric quantity of battery and storage medium |
| CN112665600B (en) * | 2020-12-03 | 2022-11-04 | 国网北京市电力公司 | Path planning method and device, computer readable storage medium and processor |
| CN113607179A (en) * | 2021-07-30 | 2021-11-05 | 车主邦（北京）科技有限公司 | Navigation end point determining method and device, electronic equipment and storage medium |
| CN114509082A (en) * | 2021-12-27 | 2022-05-17 | 车主邦（北京）科技有限公司 | Navigation data processing method, device, program product, medium and electronic equipment |
| CN114719879A (en) * | 2022-04-25 | 2022-07-08 | 北京新能源汽车股份有限公司 | Charging navigation method, device and terminal |
-
2023
- 2023-02-15 CN CN202310114329.XA patent/CN115824248B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105539185A (en) * | 2015-12-29 | 2016-05-04 | 戴姆勒股份公司 | Charging route planning and charging reserving method and system of electric automobile |
| CN105491241A (en) * | 2016-01-13 | 2016-04-13 | 广东欧珀移动通信有限公司 | Navigation method, navigation device and mobile terminal integrated with navigation device |
| CN114413919A (en) * | 2021-12-30 | 2022-04-29 | 联想(北京)有限公司 | Navigation method, device, equipment and computer storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115824248A (en) | 2023-03-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109213141B (en) | Autonomous traveling vehicle, traveling control device and method, and recording medium containing program | |
| EP2664484B1 (en) | Traveling range calculation apparatus, method and program | |
| US9880015B2 (en) | Power transfer system and power transfer method | |
| US20180066958A1 (en) | System and method for estimating available driving distance of electic vehicle | |
| CN112550027B (en) | Vehicle rapid power change system for long-distance trunk transportation and power change operation method | |
| CN102542833B (en) | Method, device and system for managing energy of motor vehicle | |
| CN105486318A (en) | Vehicle and electric bicycle charge monitoring interface | |
| US10157242B2 (en) | Charger arrangement planning supporting apparatus, charger arrangement planning supporting method, and program | |
| CN105539185A (en) | Charging route planning and charging reserving method and system of electric automobile | |
| US20140188382A1 (en) | Vehicle route planning method and apparatus | |
| CN115824248B (en) | Navigation method and device for pure electric heavy truck | |
| JP2007182310A (en) | Battery distribution managing system | |
| CN106871918B (en) | Electric vehicle route planning method and device | |
| CN109606286A (en) | Vehicle oil consumption prediction technique, automobile navigation method and electronic equipment | |
| CN104821624A (en) | Search and navigation method and search and navigation system based on electric vehicle fast charging stations | |
| CN110296712A (en) | Travel route planing method, device, equipment and storage medium | |
| CN105026893A (en) | Time-efficient traffic routing system | |
| US20210302184A1 (en) | Delivery plan generating method and delivery plan generating system | |
| US20210078438A1 (en) | Information processing system | |
| JP5538252B2 (en) | Navigation system, center server, in-vehicle device | |
| US20200049523A1 (en) | Display device, display method and control device | |
| CN112638702B (en) | Vehicle charging method and device | |
| JP2014155351A (en) | Information provision system | |
| US20230204375A1 (en) | Guidance system of electric mobility vehicle | |
| JP5749184B2 (en) | Navigation device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |