KR102165989B1 - Method and apparatus of determining driving parameter of electric vehicle - Google Patents

Abstract

A method of determining a driving parameter of an electric vehicle is disclosed. A method of determining a driving parameter of an electric vehicle according to an embodiment includes: acquiring location information of the electric vehicle; Obtaining route information determined based on location information; Obtaining first time limit information on a time required to reach the destination of the route information; Obtaining altitude information according to route information; And a driving parameter including a driving speed for a road corresponding to a flat land and an equivalent acceleration speed for a sloped road based on the energy model of the electric vehicle, the first time limit information, and the altitude information.

Description

Method and apparatus for determining driving parameters of an electric vehicle {METHOD AND APPARATUS OF DETERMINING DRIVING PARAMETER OF ELECTRIC VEHICLE}

The following embodiments relate to a method and apparatus for determining a driving parameter of an electric vehicle.

Electric vehicles, like transmission-equipped internal combustion engine (ICE) vehicles, have the minimum energy travel speed to match the slope of the road. However, the reason for determining the minimum energy travel speed in the electric vehicle is significantly different from the reason for determining the minimum energy travel speed in the internal combustion engine vehicle. This is because the characteristics of a power train that transmits power in an electric motor and an electric vehicle having a fixed reduction ratio are very different from the characteristics of an internal combustion engine vehicle composed of an engine and a transmission. For this reason, there is a need for a method of reducing energy consumption of an electric vehicle in consideration of characteristics of an electric vehicle different from that of an internal combustion engine vehicle.
The technology behind the present invention is described in the following two patent documents.
(1) Japanese republished patent publication WO2013/073297 (2015.04.02.)
(2) Japanese Unexamined Patent Application Publication No. 2014-107927 (2014.06.09.)

A method of determining a driving parameter of an electric vehicle according to one side may include obtaining location information of the electric vehicle; Obtaining route information determined based on the location information; Obtaining first time limit information on a driving time required to reach the destination of the route information; Obtaining altitude information according to the route information; And determining, based on the energy model of the electric vehicle, the first time limit information, and the altitude information, a driving parameter including a driving speed for a road corresponding to a flat land and an equivalent acceleration speed for a sloped road. Include.

The step of determining the driving parameter may include a driving time required to reach the destination and a driving energy required to reach the destination, while satisfying the condition regarding the first time limit information, n-the n is greater than 1. It may include the step of determining the driving speed and the equivalent acceleration speed so as to minimize the result of multiplying it by a real number.

The determining of the driving speed and the equivalent acceleration speed may include determining the driving speed and the equivalent acceleration speed in consideration of limit information caused by an external factor in addition to the condition related to the first time limit information.

The limit information due to the external factor may include at least one of a minimum speed and a maximum speed for each section of a corresponding road according to real-time traffic information.

The step of determining the driving speed and the equivalent acceleration speed by considering the limitation information due to the external factor together is a driving of minimizing the result of multiplying the driving time and the driving energy by the power of n by the limitation information caused by the external factor. Determining whether the speed is changed; And determining a new driving speed and a new equivalent acceleration speed corresponding to the remaining route by further considering the limit information due to the external factor according to the determination that the driving speed is changed.

The method for determining a driving parameter of the electric vehicle further includes calculating second time limit information on a time deadline that can be driven according to the remaining amount of energy of the electric vehicle when driving with the determined driving parameter, the driving parameter The determining of may include determining the driving parameter by further considering the energy model of the electric vehicle, the first time limit information, and the second time limit information in the altitude information.

The obtaining of altitude information according to the route information may include obtaining altitude information for each section of a road on which the electric vehicle is to travel according to the route information.

The equivalent acceleration speed is a first equivalent acceleration speed for a road with an uphill slope; And a second equivalent acceleration speed for a road with a downhill slope.

The first equivalent acceleration speed and the second equivalent acceleration speed may be the same as or different from each other.

The energy model may be determined based on a first power consumption model defined as a product of a resistance component of the electric vehicle and a driving speed of the electric vehicle.

The energy model may be determined based on a second power consumption model defined by further considering motor efficiency of the electric vehicle in the first power consumption model.

The energy model may be determined based on a third power consumption model defined by further considering energy consumption in a drive system of the electric vehicle in the second power consumption model.

The altitude information may include slope information indicating a change in altitude according to the route information.

According to one side, the apparatus for determining a driving parameter of an electric vehicle includes location information of the electric vehicle, route information determined based on the location information, and first time limit information on a driving time required to reach the destination of the route information. And a communication interface for obtaining at least one of altitude information according to the route information; A memory for storing the energy model of the electric vehicle; And a processor configured to determine a driving parameter including a driving speed for a road corresponding to a flat ground and an equivalent acceleration speed for a sloped road based on the energy model, the first time limit information, and the altitude information.

The processor satisfies the condition regarding the first time limit information, and minimizes a result of multiplying the driving time and the driving energy required to reach the destination by n-the n is a real number greater than 1. The driving speed and the equivalent acceleration speed may be determined.

The processor may determine the driving speed and the equivalent acceleration speed by considering limit information due to an external factor in addition to the condition related to the first time limit information.

The processor determines whether a driving speed that minimizes the result of multiplying the driving time and the driving energy by the power of n is changed according to the limit information due to the external factor, and according to the determination that the driving speed is changed, the A new driving speed and a new equivalent acceleration speed corresponding to the remaining route can be determined by further considering the limit information caused by external factors.

The processor calculates second time limit information on a time deadline that can be driven according to the remaining amount of energy of the electric vehicle when driving with the determined driving parameter, the energy model of the electric vehicle, the first time limit information, And in consideration of the second time limit information in the altitude information, the driving parameter may be determined.

The equivalent acceleration speed is a first equivalent acceleration speed for a road with an uphill slope; And a second equivalent acceleration speed for a road having a downhill slope, and the first equivalent acceleration speed and the second equivalent acceleration speed may be the same as or different from each other.

1 is a diagram for describing a method of determining a driving parameter of an electric vehicle according to an exemplary embodiment.
2 is a diagram for describing a method of obtaining altitude information according to route information according to an exemplary embodiment.
3 is a view for explaining a method of determining a driving speed (V _c1 ) and an equivalent acceleration speed (α) according to an embodiment.
4 is a diagram for describing a driving parameter determined according to an exemplary embodiment.
FIG. 5 is a diagram for explaining a method of determining a new driving speed V _c1 ′ and a new equivalent acceleration rate α ′ when the driving speed V _c1 determined according to an exemplary embodiment is changed by an external factor.
6 is a block diagram of an apparatus for determining a driving parameter of an electric vehicle according to an exemplary embodiment.

Specific structural or functional descriptions disclosed in this specification are exemplified only for the purpose of describing embodiments according to a technical concept, and the embodiments may be implemented in various other forms and are limited to the embodiments described herein. It doesn't work.

Terms such as first or second may be used to describe various components, but these terms should be understood only for the purpose of distinguishing one component from other components. For example, a first component may be referred to as a second component, and similarly, a second component may be referred to as a first component.

When a component is referred to as being "connected" or "connected" to another component, it is understood that it may be directly connected or connected to the other component, but other components may exist in the middle. Should be. On the other hand, when a component is referred to as being "directly connected" or "directly connected" to another component, it should be understood that there is no other component in the middle. Expressions describing the relationship between components, for example, "between" and "directly," or "neighboring to" and "directly neighboring to" should be interpreted as well.

Singular expressions include plural expressions unless the context clearly indicates otherwise. In the present specification, terms such as "comprise" or "have" are intended to designate that the specified features, numbers, steps, actions, components, parts, or combinations thereof exist, but one or more other features or numbers, It is to be understood that the presence or addition of steps, actions, components, parts, or combinations thereof, does not preclude the possibility of preliminary exclusion.

Unless otherwise defined, all terms, including technical or scientific terms, used herein have the same meaning as commonly understood by one of ordinary skill in the relevant technical field. Terms as defined in a commonly used dictionary should be interpreted as having a meaning consistent with the meaning in the context of the related technology, and should not be interpreted as an ideal or excessively formal meaning unless explicitly defined in this specification. Does not.

The same reference numerals in each drawing indicate the same members.

1 is a diagram illustrating a method of determining a driving parameter of an electric vehicle according to an exemplary embodiment. Referring to FIG. 1, a driving parameter determination device (hereinafter,'determining device') 100 according to an embodiment is a device that performs a driving parameter determination method described below, and includes one or more software modules, one or more It may be implemented with more hardware modules, or various combinations thereof.

The determination device 100 may obtain location information 101, route information 103, time limit information 105, and altitude information 107. Based on the energy (E) model 130 of the electric vehicle, the determination device 100 provides at least one of location information 101, route information 103, time limit information 105, and altitude information 107. By analyzing the driving parameters 150 can be determined. The driving parameter 150 may include, for example, a speed, acceleration, or a combination thereof for driving the electric vehicle. Here, the energy (E) model 130 of the electric vehicle may also be referred to as a “power consumption model”.

The determination device 100 may predict and/or determine, for example, an amount of power consumption of a vehicle according to a road environment and a driving situation based on the energy model 130 of the vehicle. The determination device 100 may determine the driving parameter 150 so that the predicted power consumption is optimized.

The'location information 101' may correspond to information specifying the current location of the electric vehicle. The determination device 100 may obtain location information 101 of an electric vehicle from, for example, a Global Positioning System (GPS) device.

The'path information 103' corresponds to a moving path from the current location of the electric vehicle to the destination location, and may include, for example, a shortest distance path, a shortest time path, and an optimal path. The path information 103 may be determined based on the location information 101. The determining device 100 may obtain the path information 103 determined based on the location information 101. The route information 103 may be generated, for example, by a navigation device or the like based on the current location and destination location of the electric vehicle. The determination device 100 may receive route information 103 from a navigation device or the like.

For convenience of explanation, an embodiment in which a GPS device or a navigation device is configured separately from the determination device 100 has been described, but the determination device 100 may be implemented including a GPS device or a navigation device. Alternatively, the determination device 100 may be included in the electric vehicle itself, or may be a separate device that is distinct from the electric vehicle.

The'time limit information 105' may include first time limit information on a time required to reach the destination of the route information from the current location of the electric vehicle. Here, the destination of the route information 103 may include all destinations for each section or intermediate stops according to the route information 103 in addition to the final destination according to the route information 103. Alternatively, the time limit information 105 may correspond to a time deadline in which the electric vehicle must reach its final destination. According to an embodiment, the time limit information 105 may include second time limit information on a time deadline that can be driven according to the remaining amount of energy of the electric vehicle when driving with the current driving parameter.

The'altitude information 107' is information on the altitude of a road corresponding to a driving route according to the route information 103. Here,'road' corresponds to a space where vehicles can pass according to the road traffic law, such as, for example, roadways, sideways, tunnels, bridges, etc., and expressways, highways, highways, general national highways, and farm roads. It can be understood in an inclusive sense. The altitude information 107 may include information on a change in altitude (eg, slope, etc.).

The determination device 100 may obtain altitude information 107 according to the route information 103. The determination device 100 is, for example, built by itself and stored in advance in a storage device (for example, the memory 630 shown in FIG. 6) through an offline map or a wired or wireless network. Altitude information 107 according to the route information 103 may be obtained from an accessible online map (On-Line Map). The altitude information 107 may include, for example, a slope of a hill on a driving path, a slope of a mountain road, or a slope of a general road.

The determining device 100 may determine the driving parameter 150 based on the energy model 130 of the electric vehicle, the time limit information 105 and the altitude information 107. According to an embodiment, the driving parameter 150 may include a driving speed for a road corresponding to a flat land and an equivalent acceleration speed for a sloped road. The running speed may be a constant speed. Here, the'flat land' may correspond to a land or land having a height similar to the topography of an arterial road or surroundings, or having a slope lower than a preset reference value. Hereinafter, for convenience of explanation, a road corresponding to a flat land is referred to as a'flat road', and a road with a slope is referred to as a'slope.

For example, if the current driving position of the electric vehicle is a flat road, the determination device 100 may induce the electric vehicle to travel at a constant speed V _c . More specifically, the determination device 100 satisfies the condition for the time limit information 105 of the electric vehicle, and the product of the driving time (T) and the driving energy (E) to the power of n (n>1) (T x E ⁿ ) can be induced to drive at a constant speed V _c that minimizes. In this case, since the electric vehicle travels at a constant speed, the driving time T may be expressed as a value obtained by dividing the driving distance D by the constant speed V _c . The driving energy E may be expressed based on the energy model 130 of the electric vehicle. Although it will be described in detail below, the driving energy E may be expressed as f(P, V _c ). Here, P is the parameter(s) of the electric vehicle, and may be a predetermined constant(s) according to the energy model 130 of the electric vehicle. In this case, travel time (T) x travel energy (E) ⁿ = D/V _c xf(P, V _c ) ⁿ = g(P, V _c , D). Here, P is a constant (s), and the driving distance D can be determined from the route information 103, so the determination device 100 is a constant speed V _c that minimizes the driving time (T) x driving energy (E) ⁿ Can be determined.

For example, if the current driving position of the electric vehicle is a slope, the determination device 100 may determine an equivalent acceleration speed α so as to have a driving speed of minimum energy at an intermediate point of the slope. As an example, the determination device 100 calculates the minimum energy travel speed V2 according to the slope expected at the intermediate point of the slope, from which the driving speed V1 at the start point of the slope and the travel speed V3 at the end point of the slope Can be determined. At this time, it may have a relationship of V1 + V3 = 2xV2. In addition, |V1-V3| may be proportional to the value obtained by dividing the hill height by the slope.

As described above, the determination device 100 may induce the electric vehicle to travel at a constant speed on a flat road and travel at a constant acceleration on a slope. In general, a flat road and a ramp may be included on the path. In this case, a method of determining the driving parameter 150 by the determination device 100 will be described later with reference to FIG. 3 below.

When the driving parameter 150 is determined, the determining device 100 may provide information on the driving parameter 150 to the user. The determination device 100 may, for example, instruct the electric vehicle to travel at an optimum driving speed, or may explicitly inform the user of the optimum driving speed of the electric vehicle through a display or a speaker. Information about the driving parameter 150 provided to the user may be displayed, for example, on a dashboard of an electric vehicle, a navigation system, and/or a head-up display (HUD). For example, when the electric vehicle is an autonomous driving electric vehicle, it may be controlled to travel at an optimum driving speed according to the driving parameter 150 determined by the determination device 100.

According to the above-described embodiment, when driving the same driving distance as long as traffic conditions allow, less battery energy may be consumed compared to the conventional driving technique. A method of changing the driving parameter 150 in real time according to traffic conditions will be described later with reference to FIG. 5 below.

The energy model 130 according to an embodiment may be any one of a first power consumption model, a second power consumption model, and a third power consumption model described below.

According to an embodiment, the energy model 130 may be determined based on a first power consumption model defined as a product of a resistance component of the electric vehicle and a driving speed of the electric vehicle. For example, the first power consumption model may be described by the following vehicle dynamics model.

Vehicle Dynamics Model

Equation 1 is for explaining a vehicle dynamics model. Referring to Equation 1, power consumed to move the vehicle (P _dynamics ) can be expressed as a product of the force (F) applied to the vehicle and the speed (v). The force exerted on the vehicle is, for example, rolling resistance (F _R ) received by the tire pressing on the ground, air resistance affected by the wind while driving (F _A ), and gravity resistance due to gravity when driving on a slope (F _G ), inertial resistance that requires force during acceleration (F _I ), and braking resistance for deceleration (F _B ). For example, when the electric vehicle runs at a low speed, air resistance may be negligible, and braking resistance may be assumed to be zero during acceleration and constant speed driving.

As a result, the amount of power consumption according to the first power consumption model includes coefficients (α, β, γ) determined according to vehicle characteristics, road slope (θ), speed (v), which are variables determined according to the road environment and driving conditions. It can be expressed as a function of acceleration (a) and weight (m).

According to an embodiment, the energy model 130 may be determined based on a second power consumption model defined by further considering the motor efficiency of the electric vehicle in the first power consumption model. For example, the second power consumption model can be described by the following advanced dynamics model.

Advanced Dynamics Model

In the case of the Advanced Dynamics Model, the motor efficiency (η), which was not considered in the vehicle dynamics model mentioned above, is further considered. Motor efficiency can vary depending on the rotational speed of the motor and the torque applied to the motor. Motor efficiency considers the motor characteristics and the efficiency characteristics according to the motor characteristics, and since it reflects the current rotational speed and torque of the motor, more accurate power consumption can be obtained.

Referring to Equation 2, the motor efficiency (η) is obtained by dividing the power (P) delivered to the vehicle by the total power including losses generated by the motor. At this time, the total power consumed by the motor is not only the power delivered to the vehicle, but also the friction loss of the motor (F _i ), the loss due to air flowing into the motor (F _w ), the loss flowing through the wire (F _c ), and other motor movements. It can be composed of loss (C) that occurs regardless of. In Equation 2, P may be P _dynamics of Equation 1.

Here, the loss flowing through the wire is proportional to the square of the torque applied to the motor, and the motor torque T may be expressed as a force required to move the vehicle described in the vehicle dynamics model described above. At this time, since the loss due to air flowing into the motor is negligibly small, the coefficients that determine the characteristics of the vehicle are the coefficients α, β, and γ that consider the torque applied to the motor in the vehicle dynamics model described above, and the motor efficiency. It can be composed of coefficients C ₀ , C ₁ , and C ₂ .

According to an embodiment, the energy model 130 may be determined based on a third power consumption model defined by further considering energy consumption in a drive system of the electric vehicle in the second power consumption model. For example, the third power consumption model may be described by the following hybrid power model.

Hybrid Power Model

The hybrid power model can reflect energy consumption in the drivetrain. To this end, a hybrid power model may be based on actual experimental data. According to the data obtained by measuring the power consumption according to the speed, as a result of comparing the power consumption according to the speed in a low-speed driving in which air resistance hardly affects, power consumption may increase according to the square of the driving speed.

Referring to Equation 3, the power consumption may be determined by further considering the power loss (C ₂ v ² ) generated by the drive system. As a result, the coefficients that determine the characteristics of the vehicle in the hybrid power model are the coefficients α, β, and γ that consider the torque applied to the motor and the coefficients C ₀ , C ₁ , C ₂ , which consider the motor efficiency. It can be composed of C ₃ .

2 is a diagram for describing a method of obtaining altitude information according to route information according to an exemplary embodiment. Referring to FIG. 2, a route 215 according to route information determined based on location information of an electric vehicle is shown on a map 210. The graph 220 is a graph showing a change in altitude according to the progress of the path 215.

As described above, the determining device may obtain altitude information according to the path 215. The determining device may obtain altitude information for each section of a road on which the electric vehicle is to travel according to the route information.

The determination device may obtain, for example, altitude information for each section of a road on which the electric vehicle intends to travel according to route information from an offline map built by itself or an online map accessible through a wired or wireless network. The offline map and/or the online map may be, for example, a three-dimensional map.

The determining device acquires information about changes in altitude (eg, slope) for each section of the road corresponding to the route 215, and graphs the altitude information of the route 215 according to the information on the change in altitude. ) Can be obtained. Referring to the graph 220, the path 215 may proceed in the order of flatland -> uphill slope -> flatland -> downhill slope -> flatland.

3 is a view for explaining a method of determining a driving speed V _c1 and an equivalent acceleration speed α according to an exemplary embodiment. Referring to FIG. 3, a graph 310 corresponding to the graph 220 representing altitude information of FIG. 2 and a determination device 320 according to an embodiment are illustrated. The determination device 320 may correspond to the determination device 100 of FIG. 1.

Hereinafter, the driving speed of the electric vehicle in the first section 311 corresponding to the first flat road on the driving route in the graph 310 will be referred to as V _c1 . V _c1 may correspond to the'initial driving speed' of the electric vehicle in the corresponding driving route. The distance of the first section 311 may be d ₀ .

For example, on an uphill slope, driving may be induced at a negative constant acceleration. Therefore, in the graph 310, the driving speed of the third section 313 corresponding to the second flat road can be expressed as V _c2 = (1-αd ₁ ) x V _c1 . The distance of the third section 313 may be d ₂ .

Further, on a downhill slope, driving may be induced at a positive constant acceleration. Therefore, in the graph 310, the driving speed of the fifth section 315 corresponding to the third flat road V _c3 = (1 + αd ₃ ) x V _c2 = (1 + αd ₃ ) x (1-α d ₁ ) It can be expressed as x V _c1 . The distance of the fifth section 315 may be d ₄ .

If the current driving position of the electric vehicle is a slope, the determination device 320 may determine an equivalent acceleration speed α so as to have a driving speed of minimum energy at an intermediate point of the slope. For example, let the driving speed at the start point of the slope be V1, and the driving speed V3 at the end point of the slope. In this case, the minimum energy travel speed V2 according to the slope expected at the intermediate point of the slope can be obtained as (V1+V3)/2.

Similarly, in the graph 310, the average driving speed of the second section 312 corresponding to the uphill slope may be expressed as V _a1 = (V _c1 + V _c2 )/2. The distance of the second section 312 may be d ₁ . In addition, in the graph 310, the average driving speed of the fourth section 314 corresponding to the downhill slope may be expressed as V _a2 = (V _c2 + V _c3 )/2. The distance of the fourth section 314 may be d ₃ .

The determination apparatus 320 according to an embodiment may determine the driving speed in subsequent sections based on the driving speed V _c1 in the first section 311 on the traveling route. Accordingly, as the driving speed V _c1 is accurately determined, the driving speed of the minimum energy in subsequent sections may also be accurately determined.

A method of determining the traveling speed V _c1 by the determination device 320 is as follows.

The determination device 320 may search for a plurality of driving speed (V _c1 ) candidates (candidate 1, candidate 2, .., candidate l) (hereinafter, “plural candidates”). In this case, the plurality of candidates may be selected within a prescribed speed of a road on which the electric vehicle is running, for example. Alternatively, a plurality of candidates for the driving speed V _c1 may be determined based on a maximum speed and a minimum speed for each section of a corresponding road according to real-time traffic information.

The determination device 320 may determine the equivalent acceleration α for minimizing the value of the driving time T x the driving energy E ⁿ corresponding to each of the plurality of candidates, using the above-described energy model(s). .

At this time, driving time (T) x driving energy (E) ⁿ = (d ₀ /V _c1 + d ₁ /V _a1 + d ₂ /V _c2 + d ₃ /V _a2 + d ₄ /V _c3 ) xf(P, It can be expressed as V _c ) ⁿ = g(P, V _c , α, D). Here, P is a constant(s) included in the energy model and corresponds to a value known as the driving distance D = {d ₀ , d ₁ , d ₂ , d ₃ , d ₄ }. Therefore, in response to an arbitrary driving speed (V _c ), driving time (T) x driving energy (E) ⁿ An equivalent acceleration speed α that minimizes can be determined.

The determination device 320 is, among a plurality of candidates, while the driving time (T) satisfies the condition for time limit information, and the driving time (T) x driving energy (E) ⁿ By selecting any one candidate that minimizes the value of, (running speed (V _c1 ), equivalent acceleration speed (α)) can be finally determined. In this case, the condition regarding the time limit information may be a condition that satisfies the driving time required to reach the destination of the route information, or may be a condition that satisfies a time deadline that can be driven according to the remaining amount of energy of the electric vehicle.

As described above, the determination device 320 minimizes the result of multiplying the time required to reach the destination of the route information and the energy required to reach the destination by n power (n>1) while satisfying the condition regarding the time limit information. So, it is possible to determine the driving speed and the equivalent acceleration speed.

Although not shown in the drawing, according to an embodiment, the determination device 320 determines the initial time (T ₀ ) and/or the initial energy (E ₀ ) required to reach the driving speed (V _c1 ) compared to the current driving speed. Driving parameters may be determined by additional consideration. For example, an electric vehicle can drive at an equivalent acceleration (α) from the current driving speed to reaching the driving speed (V _c1 ), and in this case, the initial time (T ₀ ) and the initial energy (E ₀ ) are Can be calculated. The determination device 320 may determine (running speed (V _c1 ), equivalent acceleration speed (α)) such that T ₀ x E ₀ ⁿ + T x E ⁿ is minimized.

In one embodiment, the equivalent acceleration speed may include a first equivalent acceleration speed for a road having an uphill slope and a second equivalent acceleration speed for a road having a downhill slope. In this case, the first equivalent acceleration speed may be indicated by α, and the second equivalent acceleration speed may be indicated by β. The first equivalent acceleration speed and the second equivalent acceleration speed may have the same value or different values. The determination device 320 is the driving time (T) x driving energy (E) ⁿ (Α, β) can be determined to minimize

Depending on the embodiment, the determining device 320 may induce an electric vehicle to increase the entry speed before entering the uphill slope. In this case, the rate of increasing the entry speed may be proportional to a value obtained by dividing the difference between the altitude of the starting point of the uphill slope and the altitude of the ending point of the uphill slope by the slope of the corresponding uphill slope.

The above-described embodiments can be applied in various ways in combination with each other.

4 is a diagram for describing a driving parameter determined according to an exemplary embodiment. Referring to FIG. 4, when an electric vehicle travels on a corresponding path according to a driving speed V _c1 and an equivalent acceleration α determined by the determination device according to an embodiment, A graph showing the speed change of the electric vehicle is shown.

FIG. 5 is a diagram for explaining a method of determining a new driving speed V _c1 ′ and a new equivalent acceleration rate α ′ when the driving speed V _c1 determined according to an exemplary embodiment is changed by an external factor . The'external factor' may include various traffic conditions, such as waiting for a signal, a traffic accident, and traffic congestion when commuting to work.

For example, for an electric vehicle, driving time (T) x driving energy (E) ⁿ _Assuming that an external factor occurs at a certain point in time as illustrated in FIG. 5 while driving according to the driving speed V _c1 which minimizes the electric vehicle, it may be difficult to drive by maintaining the driving speed V _c1 . In this case, the determination device considers the limitation due to external factors in addition to the conditions for the above-described time limitation information (first time limitation information), and a new driving speed V _c1 ′ corresponding to the remaining route and a new equivalent acceleration speed ( α') can be determined. Here, the'restriction due to external factors' may include at least one of a minimum speed and a maximum speed for each section of a corresponding road according to real-time traffic information.

The determining device may determine whether or not the driving speed that minimizes the result of multiplying the driving time required to reach the destination of the route information and the energy required multiplied by n powers is changed, for example, by limit information due to external factors. have. According to the determination that the driving speed is changed, the determination device may determine a new driving speed (V _c1 ′) and a new equivalent acceleration speed (α ′) corresponding to the remaining route by further considering limit information due to an external factor.

At this time, the above-described matters through FIGS. 1 to 3 may be applied as it is to determining a new driving speed V _c1 ′ and a new equivalent acceleration rate α ′ corresponding to the remaining route. In addition, when obtaining a plurality of candidates for a new driving speed V _c1 ′, a limitation due to an external factor may be considered.

Although not shown in the drawing, the determination device may calculate second time limit information on a time deadline that can be driven according to the remaining amount of energy of the electric vehicle when driving with the driving parameter determined through the above-described process. In this case, the determining device may determine the driving parameter by further considering the energy model of the electric vehicle, the first time limit information, and the altitude information, and the second time limit information. In this case, the driving time T may be changed according to the second time limit information.

6 is a block diagram of an apparatus for determining a driving parameter of an electric vehicle according to an exemplary embodiment. Referring to FIG. 6, the determining device 600 according to an embodiment includes a communication interface 610, a memory 630, and a processor 650. The communication interface 610, the memory 630, and the processor 650 may communicate with each other through a communication bus 605.

The communication interface 610 includes at least one of location information of an electric vehicle, route information determined based on the location information, first time limit information on a driving time required to reach the destination of the route information, and altitude information according to the route information. Get one.

The memory 630 stores an energy model of an electric vehicle.

The processor 650 determines a driving parameter including a driving speed for a road corresponding to a flat land and an equivalent acceleration speed for a sloped road based on the energy model, first time limit information, and altitude information.

The processor 650, for example, satisfies the condition regarding the first time limit information, and minimizes the result of multiplying the driving time required to reach the destination and the driving energy required to reach the destination by n power. Speed and equivalent acceleration can be determined. In this case, n may be a real number greater than 1.

The processor 650 may determine a driving speed and an equivalent acceleration speed by considering, for example, limit information caused by an external factor in addition to the condition regarding the first time limit information. The processor 650 may determine whether or not a driving speed that minimizes a result of multiplying the driving time and driving energy by the power of n is changed according to limit information caused by an external factor. According to the determination that the driving speed is changed, the processor 650 may determine a new driving speed and a new equivalent acceleration speed corresponding to the remaining route by further considering limit information caused by an external factor.

When traveling with the determined driving parameter, the processor 650 may calculate second time limit information on a time deadline that can be driven according to the remaining amount of energy of the electric vehicle. The processor 650 may determine a driving parameter by further considering the energy model of the electric vehicle, the first time limit information, and the altitude information, and the second time limit information.

Although the'minimum' or'optimal' embodiment has been described above for convenience of description,'minimum' can be understood as including a case where the item has a value less than a predetermined threshold, and'optimal' is It may be understood to include a case in which the corresponding evaluation metric has a quality equal to or higher than a predetermined threshold.

In addition, the processor 650 may perform at least one method or an algorithm corresponding to at least one method described above with reference to FIGS. 1 to 5. The processor 650 may be a data processing device implemented in hardware having a circuit having a physical structure for executing desired operations. For example, desired operations may include code or instructions included in a program. For example, a data processing device implemented in hardware is a microprocessor, a central processing unit, a processor core, a multi-core processor, and a multiprocessor. , Application-Specific Integrated Circuit (ASIC), and Field Programmable Gate Array (FPGA).

The processor 650 may execute a program and control the determination device 600. The program code executed by the processor 650 may be stored in the memory 630.

The memory 630 may store various pieces of information generated in the process of the processor 650 described above. In addition, the memory 630 may store various types of data and programs. The memory 630 may include a volatile memory or a nonvolatile memory. The memory 630 may include a mass storage medium such as a hard disk to store various types of data.

The embodiments described above may be implemented as a hardware component, a software component, and/or a combination of a hardware component and a software component. For example, the devices, methods, and components described in the embodiments include, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate (FPGA). array), programmable logic unit (PLU), microprocessor, or any other device capable of executing and responding to instructions, such as one or more general purpose computers or special purpose computers. The processing device may execute an operating system (OS) and one or more software applications executed on the operating system. In addition, the processing device may access, store, manipulate, process, and generate data in response to the execution of software. For the convenience of understanding, although it is sometimes described that one processing device is used, one of ordinary skill in the art, the processing device is a plurality of processing elements and/or a plurality of types of processing elements. It can be seen that it may include. For example, the processing device may include a plurality of processors or one processor and one controller. In addition, other processing configurations are possible, such as a parallel processor.

The software may include a computer program, code, instructions, or a combination of one or more of these, configuring the processing unit to behave as desired or processed independently or collectively. You can command the device. Software and/or data may be interpreted by a processing device or to provide instructions or data to a processing device, of any type of machine, component, physical device, virtual equipment, computer storage medium or device. It can be permanently or temporarily embody. The software may be distributed over networked computer systems and stored or executed in a distributed manner. Software and data may be stored on one or more computer-readable recording media.

The method according to the embodiment may be implemented in the form of program instructions that can be executed through various computer means and recorded in a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, and the like alone or in combination. The program instructions recorded on the medium may be specially designed and configured for the embodiment, or may be known and usable to those skilled in computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs and DVDs, and magnetic media such as floptical disks. -A hardware device specially configured to store and execute program instructions such as magneto-optical media, and ROM, RAM, flash memory, and the like. Examples of the program instructions include not only machine language codes such as those produced by a compiler, but also high-level language codes that can be executed by a computer using an interpreter or the like. The hardware device described above may be configured to operate as one or more software modules to perform the operation of the embodiment, and vice versa.

As described above, although the embodiments have been described by the limited drawings, a person of ordinary skill in the art can apply various technical modifications and variations based on the above. For example, the described techniques are performed in a different order from the described method, and/or components such as a system, structure, device, circuit, etc. described are combined or combined in a form different from the described method, or other components Alternatively, even if substituted or substituted by an equivalent, an appropriate result can be achieved.

Claims (20)

In the method of determining the driving parameters of an electric vehicle,
Obtaining location information of the electric vehicle;
Obtaining route information determined based on the location information;
Obtaining first time limit information on a driving time required to reach the destination of the route information;
Obtaining altitude information according to the route information; And
Determining a driving parameter including a driving speed for a road corresponding to a flat land and an equivalent acceleration speed for a sloped road based on the energy model of the electric vehicle, the first time limit information, and the altitude information
Including,
The step of determining the driving parameter is
Determining whether or not a driving speed for minimizing a result of multiplying the driving time and driving energy required to reach the destination by the power of n is changed according to limit information due to an external factor;
Determining a new driving speed and a new equivalent acceleration speed corresponding to the remaining route by further considering the limit information due to the external factor according to the determination that the driving speed is changed; And
In addition to the condition regarding the first time limit information, determining the driving speed and the equivalent acceleration speed by considering a new driving speed and a new equivalent acceleration determined by the external factor together.
Including, the method of determining the driving parameters of the electric vehicle. The method of claim 1,
The step of determining the driving parameter is
While satisfying the condition for the first time limit information, minimizing the result of multiplying the driving time required to reach the destination and the driving energy required to reach the destination by n-the n is a real number greater than 1 Determining the driving speed and the equivalent acceleration speed
Including, the method of determining the driving parameters of the electric vehicle. delete The method of claim 1,
Limit information due to the above external factors
A method for determining a driving parameter of an electric vehicle, including at least one of a minimum speed and a maximum speed for each section of a corresponding road according to real-time traffic information. delete The method of claim 1,
Calculating second time limit information on a time deadline that can be driven according to the remaining amount of energy of the electric vehicle when driving with the determined driving parameter
Including more,
The step of determining the driving parameter is
Determining the driving parameter by further considering the second time limit information in the energy model of the electric vehicle, the first time limit information, and the altitude information
Including, the method of determining the driving parameters of the electric vehicle. The method of claim 1,
Obtaining altitude information according to the route information
Acquiring altitude information for each section of a road on which the electric vehicle is to travel according to the route information
Including, the method of determining the driving parameters of the electric vehicle. The method of claim 1,
The above equivalent acceleration is
A first constant acceleration for roads with an uphill slope; And
Second constant acceleration for downhill roads
Including, the method of determining the driving parameters of the electric vehicle. The method of claim 8,
The first equivalent acceleration speed and the second equivalent acceleration speed are the same or different from each other, a method of determining a driving parameter of an electric vehicle. The method of claim 1,
The energy model is
A method of determining a driving parameter of an electric vehicle, which is determined based on a first power consumption model defined as a product of a resistance component of the electric vehicle and a driving speed of the electric vehicle. The method of claim 10,
The energy model is
In the first power consumption model, the method of determining a driving parameter of an electric vehicle is determined based on a second power consumption model defined by further considering the motor efficiency of the electric vehicle. The method of claim 11,
The energy model is
In the second power consumption model, the method of determining a driving parameter of an electric vehicle is determined based on a third power consumption model defined by further considering energy consumption in a drive system of the electric vehicle. The method of claim 1,
The above altitude information is
A method for determining a driving parameter of an electric vehicle, including slope information indicating a change in altitude according to the route information. A computer program that is combined with hardware and stored in a computer-readable recording medium to execute the method for determining driving parameters of an electric vehicle according to any one of claims 1 to 2, 4, and 6 to 13. In the driving parameter determination device for an electric vehicle,
At least one of location information of the electric vehicle, route information determined based on the location information, first time limit information on a driving time required to reach the destination of the route information, and altitude information according to the route information A communication interface to obtain;
A memory for storing the energy model of the electric vehicle; And
A processor for determining a driving parameter including a driving speed for a road corresponding to a flat land and an equivalent acceleration speed for a sloped road based on the energy model, the first time limit information, and the altitude information
Including,
The processor is
It is determined whether or not a driving speed that minimizes a result of multiplying the driving time and driving energy required to reach the destination by the power of n is changed according to the limit information due to an external factor,
According to the determination that the driving speed is changed, a new driving speed and a new equivalent acceleration speed corresponding to the remaining route are determined by further considering the limit information due to the external factor,
In addition to the condition related to the first time limit information, the driving parameter determining apparatus of an electric vehicle is configured to determine the driving speed and the equivalent acceleration speed by considering a new driving speed and a new equivalent acceleration determined by the external factor together. The method of claim 15,
The processor is
In order to minimize the result of multiplying the driving time and the driving energy required to reach the destination by n-the n is a real number greater than 1, while satisfying the condition regarding the first time limit information, the driving speed And a driving parameter determination apparatus for an electric vehicle that determines the equivalent acceleration speed. delete delete The method of claim 15,
The processor is
When driving with the determined driving parameter, second time limit information on a time deadline that can be driven according to the remaining energy of the electric vehicle is calculated, and the energy model of the electric vehicle, the first time limit information, and the altitude The driving parameter determination apparatus for an electric vehicle, wherein the driving parameter is determined by further considering the second time limit information in information. The method of claim 15,
The above equivalent acceleration is
A first constant acceleration for roads with an uphill slope; And
Second constant acceleration for downhill roads
Including,
The first equivalent acceleration speed and the second equivalent acceleration speed are the same or different from each other, the driving parameter determination apparatus of an electric vehicle.

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