CN108444492A - A kind of electric vehicle path planning system and planing method - Google Patents
A kind of electric vehicle path planning system and planing method Download PDFInfo
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- CN108444492A CN108444492A CN201810239732.4A CN201810239732A CN108444492A CN 108444492 A CN108444492 A CN 108444492A CN 201810239732 A CN201810239732 A CN 201810239732A CN 108444492 A CN108444492 A CN 108444492A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3469—Fuel consumption; Energy use; Emission aspects
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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Abstract
A kind of electric vehicle path planning system and planing method, planing method the specific steps are：This method by electric power detection module, distance-measurement module Simultaneous Transmission of Data to data comparison module, data comparison module is transferred to data processing module after being compared received data with former storage data, will treated by analysis that data are transferred to path planning module, optimal path information is selected after path planning module is planned and navigation traveling is carried out to destination by GPS positioning module.The present invention is used to make rational planning for a paths for electric vehicle, reduces the difficulty for finding charging pile so that electric vehicle can be that electric vehicle find charging pile and charge in time in low battery, smoothly reach the scheduled destination of driver.Driving path is planned in advance for driver, facilitates the trip of electric vehicle, improves the driving experience of driver.
Description
Technical field
The present invention relates to paths planning methods, and in particular to a kind of electric vehicle path planning system and planing method.
Background technology
With taking place frequently for oil crisis problem, the worsening of global atmosphere pollution and climate warming problem, electric vehicle
A kind of inexorable trend is had been developed as by the advantage of its energy-saving and environmental protection.Since gas station's deployment in the whole country is more,
After regular fuel automobile disposably fills it up with oil, automobile endurance distance is longer, adds without worrying to can not find before fuel consumption is complete
The case where petrol station.Importantly, automobile fuel filler process is very convenient quick, the very long stand-by period is not needed.However, electric
Electrical automobile uses battery as energy source, and energy density limits the maximum range of electric vehicle.With regard to the country at present
As-Is analysis, it is so much that the deployment scenario of charging pile is nothing like gas station's deployment.And it is fully charged for the battery of electric vehicle
Need the time long, and convenient not as regular fuel automobile fuel filler, the above reason has also resulted in electric vehicle charging hardly possible
If problem lacks a good path and planning, it is likely that driver is caused to drive when electric vehicle drive is gone out
When to can not find charging station can not be that electric vehicle charges in time, and be much to be bothered on stroke band.If can be electric vehicle
Trip is made rational planning for a paths so that electric vehicle can be that electric vehicle charges in time, ensure electronic vapour in fast out of power
Vehicle can be arrived at smoothly, and greatly improve the driving experience of driver.Based on this, the present invention provides a kind of electronic
The path planning system and planing method of automobile.
Invention content
The purpose of the present invention is providing a kind of path planning system and planing method for electric vehicle, reduces and find charging pile
Difficulty so that electric vehicle can be charged in time, smoothly arrive at and can be next time trip be ready.
The technical scheme is that：A kind of electric vehicle paths planning method, by electric power detection module, range measurement mould
For the Simultaneous Transmission of Data of block to data comparison module, data comparison module carries out received data and former storage data pair
Data processing module is transferred to than after, will treated by analysis that data are transferred to path planning module, through path planning mould
Slip gauge selects optimal path information and carries out navigation traveling to destination by GPS positioning module after drawing, the specific steps are：
S1, using initial starting point as origination data, using final destination as original equipment manufacturer, using distance-measurement module measure it is original
Data storage is carried out in starting point to the direct route distance input to data comparison module of original equipment manufacturer；
S2, the current electric quantity that electric vehicle is detected by electric power detection module, the maximum of electric vehicle is calculated according to current electric quantity
Operating range is simultaneously input in data comparison module, is carried out if the direct route distance in step S1 is more than maximum operating range
The search of charging pile, while the data of search charging pile are recorded, it is spare；
S3, by data comparison module in step S1 and S2 and search for charging pile data transmission to data processing module, by number
According to path planning module is transported to after the processing analysis of processing module, path planning module has planned that running time is most short and travels
Apart from shortest path, while calculating the remaining capacity after being arrived at the path；
S4, judged whether there is charging pile in the corresponding maximum traveling distance range of the remaining capacity according to remaining capacity, if
The best driving path of 1-3 items is then planned there are charging pile and the best driving path is supplied to driver；
The required path of best driving path selection that S5, driver provide according to path planning module, and pass through GPS positioning mould
Route guided by block is travelled.
It advanced optimizes, the step S2 further includes following sub-step：
The searching method of charging pile is with the middle separated time of connecting line between origination data and original equipment manufacturer in S21, the step S2
As angular bisector, the position of charging pile and set quantity are found in the arcuate extent that radian is 60-120 °, surplus
Remaining electricity, which can travel, selects nearest charging pile with a distance from driver in maximum distance.
S22, reached based on step S21 automobiles after nearest charging pile completes charging, then need with the charging pile to be new rise
Point, the operating range shortest path and most short to running time is planned again, and the path after planning is supplied to driving
Person is until automobile reaches original equipment manufacturer.
It advanced optimizes, further includes after the step S21：
If search is less than charging pile in S23, step S21, the search range of charging pile in step S21 is expanded, method be
The position of charging pile is searched in using connecting line between beginning and end as the square range of one pair of which side center line and is filled
Quantity set by electric stake.
It advanced optimizes, best driving path is to take shortest path in the step S4.
It advanced optimizes, best driving path is the minimum path of power consumption in the step S4.
It advanced optimizes, best driving path is the shortest path of operating range in the step S4.
Further include after S5：
If S6, driver's driving deviate from selected path, to be given a warning to driver, new root of laying equal stress on is to drive according to current location
Person plans a new driving path again.
A kind of control system used in electric vehicle paths planning method, including electric power detection module, distance-measurement module,
Data comparison module, data processing module, path planning module and GPS positioning module,
The electric power detection module is used to detect the current electric quantity of electric vehicle, then calculates automobile most according to current electric quantity
Big operating range simultaneously will be in maximum traveling distance input to data comparison module；
The distance-measurement module is used to measure Actual path distance between actual start and practical terminal, and will detect
Distance signal transmission gives the data comparison module；
The data comparison module is connected with the electric power detection module and the distance-measurement module respectively, and being used for will current electricity
The maximum operating range that measuring can travel is compared with Actual path distance；
The data processing module is bi-directionally connected with the data comparison module, is compared for receiving electric power detection module and data
The data of module will simultaneously be provided through row processing analysis；
The path planning module is connected with the data processing module, for planning best driving path；
The GPS positioning module is connected with the path planning module, and the information for receiving data processing module simultaneously carries out mesh
Ground positioning.
Beneficial effects of the present invention are：
One, original in the data information and data comparison module that the system detects electric power detection module and distance-measurement module
Data are transferred to path planning module after comparing and analyzing processing, and optimal path information is selected after path planning module is planned
And location navigation is carried out to destination by GPS positioning module；
Two, the way of search of charging pile is used from small range to large-scale search one by one, first to connect between beginning and end
The middle separated time of wiring carries out small-scale search as angular bisector, and method is in the arcuate extent that radian is 60-120 °
The position of charging pile is found in search and set quantity expands search if the charging pile searched is undesirable
Range is filled using connecting line between beginning and end as diameter, using the terminal of connecting line to be searched in the circular scope in the center of circle
The position of electric stake and the quantity set by charging pile can effectively carry out charging pile positioning using this kind of method；
Three, according to the electric vehicle path planning of the embodiment of the present invention, by collecting the location information of charging pile, electric vehicle is worked as
Front position, current residual electricity and destination locations calculate driving path data according to data processing module, determine
It is that electric vehicle carries out path rule in advance from the charging station sequence of origin-to-destination on the way, and according to the charging station sequence determined
It draws, behind the path that electric vehicle deviates that driver selectes, timely prompting and driver, and again according to the real time position of vehicle
Plan that a new path, more intelligence are convenient for vehicle；
In conclusion the present invention can effectively reduce find charging pile difficulty so that electric vehicle in low battery can and
When find charging pile for electric vehicle and charge, smoothly reach the scheduled destination of driver and carried out fully for trip again
Prepare.
Description of the drawings
Fig. 1 is the control system block diagram of the present invention.
Specific implementation mode
Technological means, creation characteristic, reached purpose and advantageous effect to make the present invention realize are easy to understand, under
Face combines specific implementation mode, and the present invention is further explained.
A kind of electric vehicle path planning system and planing method, specific implementation mode are：A kind of electric vehicle path
Planning system, including electric power detection module, distance-measurement module, data comparison module, data processing module, path planning module
And GPS positioning module, the electric power detection module are used to detect the current electric quantity of electric vehicle, are then calculated according to current electric quantity
Go out the maximum operating range of automobile and travels maximum in distance input to data comparison module；The distance-measurement module is used for
The Actual path distance between actual start and practical terminal is measured, and gives the distance signal transmission detected to the data ratio
Compared with module；The data comparison module is connected with the electric power detection module and the distance-measurement module respectively, for that will work as
The maximum operating range that preceding electricity can travel and Actual path distance versus；Data processing module mould compared with the data
Block is bi-directionally connected, and the data for receiving electric power detection module and data comparison module will simultaneously be provided through row processing analysis；It is described
Path planning module is connected with the data processing module, for planning best driving path；The GPS positioning module with it is described
Path planning module is connected, and the information for receiving data processing module simultaneously carries out outer fix.
Using the planing method of electric vehicle path planning system, by electric power detection module, the data of distance-measurement module
Simultaneous transmission to data comparison module, after being compared received data and former storage data transmit by data comparison module
To data processing module, will treated by analysis that data are transferred to path planning module, after path planning module is planned
Selection optimal path information simultaneously carries out navigation traveling by GPS positioning module to destination, the specific steps are：
First using initial starting point as origination data, using final destination as original equipment manufacturer, measured using distance-measurement module former
Data storage is carried out in beginning starting point to the direct route distance input to data comparison module of original equipment manufacturer, by electric power detection module
The current electric quantity for detecting electric vehicle, calculates the maximum operating range of electric vehicle according to current electric quantity and is input to data ratio
Compared in module, the search of charging pile is carried out if direct route distance is more than maximum operating range, while recording search charging pile
Data, then by data comparison module and search charging pile data transmission to data processing module, by data processing mould
Path planning module is transported to after the processing analysis of block, path planning module has planned that running time is most short and operating range is most short
Path, while calculating the remaining capacity after being arrived at the path, judge then according to remaining capacity electric with the residue
It measures in corresponding maximum traveling distance range and whether there is charging pile, the best driving path of 1-3 items is planned if there are charging pile
And the best driving path is supplied to driver, the best traveling road that last driver provides according to path planning module
Path needed for diameter selection, and travelled by the route guided by GPS positioning module.
The searching method of the charging pile be from small range to large-scale search one by one, small range search method be with
The middle separated time of connecting line finds charging as angular bisector in the arcuate extent that radian is 60-120 ° between beginning and end
The position of stake and set quantity, select that from remaining capacity the nearest charging pile of maximum distance can be travelled；If small
The quantity of charging pile and charging pile that the position that meets the requirements is not searched in range will expand search range, on a large scale
Searching method is that its method is to be searched in the square range using connecting line between beginning and end as one pair of which side center line
The position of rope charging pile and the quantity set by charging pile, after selecting optimal charge stake, electric automobile during traveling to optimal charge
Stake charging after, should using the charging pile as starting point, using former terminal as terminal again planning path, if in the path planned again
It also needs to find charging pile, finding method is to start first small with one using the line of charging pile and former terminal as angular bisector
Search in the fan-shaped range of angle is filled until there are suitable multiple candidates if searched for less than continuing if suitably to expand angle
Electric stake, and compare the actual path distance from beginning and end to each charging pile.
In the present invention, if it should be noted that driver driving deviate from selected path, to be given a warning to driver,
New root of laying equal stress on is that driver plans a new driving path again according to current location.
It advanced optimizes, the best driving path is to take shortest path.
It advanced optimizes, the best driving path is the minimum path of power consumption.
It advanced optimizes, the best driving path is the shortest path of operating range.
It advanced optimizes, the step S2 further includes following sub-step：
Reach nearest charging pile based on step S21 automobiles to complete after charging, then needs using the charging pile as ground zero, to traveling
Time is most short and the shortest path of operating range is planned again, and the path after planning is supplied to driver until automobile
Until reaching original equipment manufacturer.
Main feature, application method, basic principle and the advantages of the present invention of the present invention has been shown and described above.This
Industry technology personnel are it should be appreciated that the present invention is not limited to the above embodiments, described in the above embodiment and specification
It is to illustrate the principle of the present invention, without departing from the spirit and scope of the present invention, the present invention can also have according to actual conditions
Various changes and modifications, these changes and improvements all fall within the protetion scope of the claimed invention.The claimed scope of the invention
It is defined by the appending claims and its equivalent thereof.
Claims (8)
1. a kind of electric vehicle paths planning method, which is characterized in that electric power detection module, the data of distance-measurement module are same
When be transferred to data comparison module, data comparison module is transferred to after being compared received data and former storage data
Data processing module, will treated by analysis that data are transferred to path planning module, selected after path planning module is planned
It selects optimal path information and navigation traveling is carried out to destination by GPS positioning module, the specific steps are：
S1, using initial starting point as origination data, using final destination as original equipment manufacturer, using distance-measurement module measure it is original
Data storage is carried out in starting point to the direct route distance input to data comparison module of original equipment manufacturer；
S2, the current electric quantity that electric vehicle is detected by electric power detection module, the maximum of electric vehicle is calculated according to current electric quantity
Operating range is simultaneously input in data comparison module, is carried out if the direct route distance in step S1 is more than maximum operating range
The search of charging pile, while the data of search charging pile are recorded, it is spare；
S3, by data comparison module in step S1 and S2 and search for charging pile data transmission to data processing module, by number
According to path planning module is transported to after the processing analysis of processing module, path planning module has planned that running time is most short and travels
Apart from shortest path, while calculating the remaining capacity after being arrived at the path；
S4, judged whether there is charging pile in the corresponding maximum traveling distance range of the remaining capacity according to remaining capacity, if
The best driving path of 1-3 items is then planned there are charging pile and the best driving path is supplied to driver；
The required path of best driving path selection that S5, driver provide according to path planning module, and pass through GPS positioning mould
Route guided by block is travelled.
2. a kind of electric vehicle paths planning method according to claim 1, which is characterized in that the step S2 further include with
Lower sub-step：
The searching method of charging pile is with the middle separated time of connecting line between origination data and original equipment manufacturer in S21, the step S2
As angular bisector, the position of charging pile and set quantity are found in the arcuate extent that radian is 60-120 °, surplus
Remaining electricity, which can travel, selects nearest charging pile with a distance from driver in maximum distance；
S22, reached based on step S21 automobiles after nearest charging pile completes charging, then needed using the charging pile as ground zero, it is right
The running time most short and shortest path of operating range planned again, and by the path after planning be supplied to driver up to
Until automobile reaches original equipment manufacturer.
3. a kind of electric vehicle paths planning method according to claim 1, which is characterized in that also wrapped after the step S21
It includes：
If search is less than charging pile in S23, step S21, the search range of charging pile in step S21 is expanded, method be
The position of charging pile is searched in using connecting line between beginning and end as the square range of one pair of which side center line and is filled
Quantity set by electric stake.
4. a kind of electric vehicle paths planning method according to claim 1, which is characterized in that best row in the step S4
It is to take shortest path to sail path.
5. a kind of electric vehicle paths planning method according to claim 1, which is characterized in that best row in the step S4
It is the minimum path of power consumption to sail path.
6. a kind of electric vehicle paths planning method according to claim 1, which is characterized in that best row in the step S4
It is the shortest path of operating range to sail path.
7. a kind of electric vehicle paths planning method according to claim 1, which is characterized in that
If S6, driver's driving deviate from selected path, to be given a warning to driver, new root of laying equal stress on is to drive according to current location
Person plans a new driving path again.
8. the control system used in a kind of electric vehicle paths planning method according to claim 1, which is characterized in that including
Electric power detection module, distance-measurement module, data comparison module, data processing module, path planning module and GPS positioning mould
Block；
The electric power detection module is used to detect the current electric quantity of electric vehicle, then calculates automobile most according to current electric quantity
Big operating range simultaneously will be in maximum traveling distance input to data comparison module；
The distance-measurement module is used to measure Actual path distance between actual start and practical terminal, and will detect
Distance signal transmission gives the data comparison module；
The data comparison module is connected with the electric power detection module and the distance-measurement module respectively, and being used for will current electricity
The maximum operating range that measuring can travel is compared with Actual path distance；
The data processing module is bi-directionally connected with the data comparison module, is compared for receiving electric power detection module and data
The data of module will simultaneously be provided through row processing analysis；
The path planning module is connected with the data processing module, for planning best driving path；
The GPS positioning module is connected with the path planning module, and the information for receiving data processing module simultaneously carries out mesh
Ground positioning.
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| CN109141458A (en) * | 2018-09-10 | 2019-01-04 | 威马智慧出行科技（上海）有限公司 | A kind of navigation route planning method and its system |
| CN109855642A (en) * | 2019-02-26 | 2019-06-07 | 广州信沃达电子科技有限公司 | A kind of new-energy automobile automobile charging pile finding system |
| CN110194058A (en) * | 2019-05-31 | 2019-09-03 | 北京长城华冠汽车技术开发有限公司 | Low battery system for prompting and low battery based reminding method for electric car |
| CN112858915A (en) * | 2021-01-06 | 2021-05-28 | 江勇 | New energy automobile reminds analytic system that charges based on big data |
| CN113095751A (en) * | 2021-03-31 | 2021-07-09 | 牧星机器人(江苏)有限公司 | Multi-supplier carrying supply optimization method, device and system |
| CN114295144A (en) * | 2021-12-30 | 2022-04-08 | 海南大学 | DIKW-based vehicle path planning method |
| CN114518112A (en) * | 2020-11-18 | 2022-05-20 | 丰翼科技(深圳)有限公司 | Flight equipment path planning method and device |
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| CN114295144A (en) * | 2021-12-30 | 2022-04-08 | 海南大学 | DIKW-based vehicle path planning method |
| CN114295144B (en) * | 2021-12-30 | 2023-05-26 | 海南大学 | DIKW-based vehicle path planning method |
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Application publication date: 20180824 |