CN114646330B - Path planning method and path planning system based on charging pile - Google Patents
Path planning method and path planning system based on charging pile Download PDFInfo
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- CN114646330B CN114646330B CN202210544627.8A CN202210544627A CN114646330B CN 114646330 B CN114646330 B CN 114646330B CN 202210544627 A CN202210544627 A CN 202210544627A CN 114646330 B CN114646330 B CN 114646330B
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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
- G01C21/3476—Special cost functions, i.e. other than distance or default speed limit of road segments using point of interest [POI] information, e.g. a route passing visible POIs
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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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- 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
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
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- Radar, Positioning & Navigation (AREA)
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- Automation & Control Theory (AREA)
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- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a path planning method and a path planning system based on a charging pile, which comprises the following steps: acquiring destination information and starting place information, and obtaining an initial path through a path planning module; acquiring the position information of the charging station along the path according to the initial path to obtain a corrected path; acquiring the distance between every two types of charging stations in the corrected path, calculating the electric quantity required by the vehicle between every two adjacent charging stations according to the power consumption of the vehicle per kilometer, performing secondary correction on the corrected path, and connecting the set charging stations of the second type in the corrected path in series to obtain a main path of the planned path; respectively acquiring the vacancy rates of the charging piles of the two types of charging stations, and planning the paths from the two types of charging stations to the standby charging stations; the main path and the auxiliary path of the planning path constitute a complete path. By the technical scheme provided by the invention, the charging station can be planned at the beginning of the trip of the electric vehicle, and the standby secondary charging station is reserved, so that the safety of the vehicle is ensured to the maximum extent.
Description
Technical Field
The invention relates to the field of new energy, in particular to a path planning method and a path planning system based on a charging pile.
Background
With the large-scale use of domestic electric vehicles and the rapid development and relevant policies of electric vehicles and their charging technologies, equipment and operation management systems, the continuously expanded charging network will have a significant impact on all business fields related to the electric vehicle industry.
With the gradual popularization of electric vehicles, the number of people using electric vehicles is increased, the problems of difficult charging, slow charging, queuing for charging and the like are increasingly highlighted, the time for solving the problems is long, the cost is high by building a charging station, the quick charging standards of the vehicles are inconsistent, and the outstanding problems are difficult to effectively relieve currently, so that how to meet the traveling requirements of the electric vehicles by using the existing charging conditions is the subject of current research.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a path planning method based on a charging pile, which comprises the following steps:
step one, destination information and starting place information are obtained, and an initial path is obtained through a path planning module;
step two, acquiring the number of the charging stations reachable along the route according to the initial route, classifying the charging stations, respectively acquiring the quick charging information of the charging piles of the charging stations, wherein if the quick charging of the charging piles of the charging stations is matched with the quick charging of the vehicle, the charging stations are first-class charging stations, otherwise, the charging stations are second-class charging stations, the initial route is corrected according to the position information of the first-class charging stations, and the first-class charging stations are connected in series in the route to obtain a corrected route;
step three, obtaining the distance between every two types of charging stations in the corrected path, calculating the electric quantity required by the vehicle between two adjacent charging stations of the first type according to the power consumption of the vehicle per kilometer, if the electric quantity required by the vehicle is larger than the electric quantity of the vehicle, arranging two types of charging stations with the nearest distance between the two adjacent charging stations of the first type, performing secondary correction on the corrected path, and connecting the arranged charging stations of the second type in the corrected path in series to obtain a main path of the planned path;
step four, respectively acquiring the charging pile vacancy rates of the two types of charging stations, if the charging pile vacancy rates are smaller than the set charging pile vacancy rates, setting standby charging stations for the two types of charging stations, and planning paths from the two types of charging stations to the standby charging stations, wherein the paths are auxiliary paths of the planned paths; the main path and the auxiliary path of the planning path form a complete path.
Further, the power consumption per kilometer includes power consumption per kilometer under different weather conditions, and the power consumption per kilometer under different weather conditions includes power consumption per kilometer under rainy conditions and power consumption per kilometer under non-rainy conditions.
Further, the acquiring the number of charging stations reachable along the route according to the initial route includes the following steps:
according to the initial path, the position of the vehicle is taken as a central point, the weather condition on the path is obtained, the distance that the vehicle can travel is obtained according to the safety electric quantity of the vehicle, the electric consumption per kilometer under the corresponding weather condition and the electric quantity of the vehicle, the distance that the vehicle can travel is taken as a radius range, the charging stations in the range are reachable charging stations, and the distance S that the vehicle can travel adopts the following formula:
further, fill electric pile idle rate
Comprises the following steps:
therein
The vacancy rate is n, the number of charging piles in the second type of charging station is n,
for the ith charging pile working within a set time lengthThe length of the utility model is long,
the time length that the ith charging pile is idle in the set time length is provided.
Further, the two types of charging stations closest to each other are: the sum of the distances between the two types of charging stations and the two adjacent types of charging stations is the smallest, and the charging station is the closest charging station.
Further, the setting of the standby charging stations for the two types of charging stations includes the following processes: and taking the second type of charging station as a center, and taking the second type of charging station closest to the second type of charging station as a standby charging station.
The path planning system applying the path planning method based on the charging pile comprises a data processing module, a path planning module, a charging management module, a display device, a cloud data server, a charging station information acquisition device, a communication device and a map module; the route planning module, the charging management module, the display device, the charging station information acquisition device, the communication device and the map module are respectively connected with the data processing module, and the cloud data server is in communication connection with the communication device;
the path planning module is used for generating a planned path; the charging management module is used for matching the vehicle quick charging with the charging station quick charging; the charging station information acquisition device is used for acquiring quick charging information, charging station position information and charging pile vacancy rate in a charging station; the map module is used for providing map data, and the map data comprises path information.
The invention has the beneficial effects that: by the technical scheme disclosed by the invention, the charging station can be planned at the beginning of the trip of the electric vehicle, and the standby secondary charging station is reserved, so that the safety of the vehicle is ensured to the maximum extent.
Drawings
Fig. 1 is a schematic flow chart of a path planning method based on a charging pile;
fig. 2 is a schematic diagram of a path planning system based on the charging pile path planning method.
Detailed Description
The technical solutions of the present invention are further described in detail below with reference to the accompanying drawings, but the scope of the present invention is not limited to the following.
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail with reference to the accompanying drawings and embodiments. It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention. The components of embodiments of the present invention 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 invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention. It is noted that relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The features and properties of the present invention are described in further detail below with reference to examples.
As shown in fig. 1, a path planning method based on charging pile includes the following steps:
step one, destination information and starting place information are obtained, and an initial path is obtained through a path planning module;
step two, acquiring the number of the charging stations reachable along the route according to the initial route, classifying the charging stations, and respectively acquiring the quick charging information of the charging piles of all the charging stations, wherein if the quick charging of the charging piles of the charging stations is matched with the quick charging of the vehicle, the charging stations are first-class charging stations, otherwise, the charging stations are second-class charging stations, the initial route is corrected according to the position information of the first-class charging stations, and all the first-class charging stations are connected in series in the route to obtain a corrected route;
step three, obtaining the distance between every two types of charging stations in the corrected path, calculating the electric quantity required by the vehicle between two adjacent charging stations of the first type according to the power consumption of the vehicle per kilometer, if the electric quantity required by the vehicle is larger than the electric quantity of the vehicle, arranging two types of charging stations with the nearest distance between the two adjacent charging stations of the first type, performing secondary correction on the corrected path, and connecting the arranged charging stations of the second type in the corrected path in series to obtain a main path of the planned path;
step four, acquiring the vacancy rates of the charging piles of the two types of charging stations, if the vacancy rates of the charging piles are smaller than the set vacancy rates of the charging piles, setting standby charging stations for the two types of charging stations, and planning paths from the two types of charging stations to the standby charging stations, wherein the paths are auxiliary paths for planning the paths; the main path and the auxiliary path of the planning path constitute a complete path.
The power consumption per kilometer includes power consumption per kilometer under different weather conditions, and the power consumption per kilometer under different weather conditions includes power consumption per kilometer under a rainy condition and power consumption per kilometer under a non-rainy condition.
The acquiring the number of the charging stations reachable along the route according to the initial route comprises the following processes:
according to the initial path, taking the position of the vehicle as a central point, acquiring the weather condition on the path, acquiring the distance that the vehicle can travel according to the safety electric quantity of the vehicle, the electric consumption per kilometer under the corresponding weather condition and the electric quantity of the vehicle, taking the distance that the vehicle can travel as a radius range, and taking the charging station in the range as a reachable charging station, wherein the distance S that the vehicle can travel adopts the following formula:
fill electric pile idle rate
Comprises the following steps:
therein
The vacancy rate is n, the number of charging piles in the second type of charging station is n,
for the working time of the ith charging pile in the set time length,
the time length that the ith charging pile is idle in the set time length is provided.
The arrangement of the second charging station specifically comprises the following steps: the sum of the distances between the two types of charging stations and the two adjacent types of charging stations is the smallest, and the charging station is the closest charging station.
The method for setting the standby charging stations for the two types of charging stations comprises the following steps: and taking the second type of charging station as a center, and taking the second type of charging station closest to the second type of charging station as a standby charging station.
The path planning system applying the path planning method based on the charging pile comprises a data processing module, a path planning module, a charging management module, a display device, a cloud data server, a charging station information acquisition device, a communication device and a map module; the route planning module, the charging management module, the display device, the charging station information acquisition device, the communication device and the map module are respectively connected with the data processing module, and the cloud data server is in communication connection with the communication device;
the route planning module is used for generating a planned route according to the destination information and the starting place information and the map data stored by the map module; the charging management module is used for matching the vehicle quick charging with the charging station quick charging; the charging station information acquisition device is used for acquiring quick charging information, charging station position information and charging pile vacancy rate in a charging station; the map module is used for providing map data, and the map data comprises path information.
The foregoing is illustrative of the preferred embodiments of this invention, and it is to be understood that the invention is not limited to the precise form disclosed herein and that various other combinations, modifications, and environments may be resorted to, falling within the scope of the concept as disclosed herein, either as described above or as apparent to those skilled in the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (5)
1. A path planning method based on a charging pile is characterized by comprising the following steps:
step one, destination information and starting place information are obtained, and an initial path is obtained through a path planning module;
step two, acquiring the number of the charging stations reachable along the route according to the initial route, classifying the charging stations, and respectively acquiring the quick charging information of the charging piles of all the charging stations, wherein if the quick charging of the charging piles of the charging stations is matched with the quick charging of the vehicle, the charging stations are first-class charging stations, otherwise, the charging stations are second-class charging stations, the initial route is corrected according to the position information of the first-class charging stations, and all the first-class charging stations are connected in series in the route to obtain a corrected route;
step three, obtaining the distance between every two types of charging stations in the corrected path, calculating the electric quantity required by the vehicle between two adjacent charging stations of the first type according to the power consumption of the vehicle per kilometer, if the electric quantity required by the vehicle is larger than the electric quantity of the vehicle, arranging two types of charging stations with the nearest distance between the two adjacent charging stations of the first type, performing secondary correction on the corrected path, and connecting the arranged charging stations of the second type in the corrected path in series to obtain a main path of the planned path;
step four, acquiring the vacancy rates of the charging piles of the two types of charging stations, if the vacancy rates of the charging piles are smaller than the set vacancy rates of the charging piles, setting standby charging stations for the two types of charging stations, and planning paths from the two types of charging stations to the standby charging stations, wherein the paths are auxiliary paths for planning the paths; the main path and the auxiliary path of the planning path form a complete path;
the two types of charging stations with the nearest distance are as follows: the sum of the distances between the second-class charging station and the two adjacent first-class charging stations is the smallest, and the second-class charging station with the shortest distance is the charging station with the shortest distance;
fill electric pile idle rate
Comprises the following steps:
therein are
The vacancy rate is n, the number of charging piles in the second type of charging station is n,
for the working time of the ith charging pile in the set time length,
the time length that the ith charging pile is idle in the set time length is provided.
2. The method of claim 1, wherein the power consumption per kilometer comprises power consumption per kilometer under different weather conditions, and the power consumption per kilometer under different weather conditions comprises power consumption per kilometer under rainy conditions and power consumption per kilometer under non-rainy conditions.
3. The charging pile-based path planning method according to claim 2, wherein the acquiring the number of the charging stations reachable along the path according to the initial path comprises the following steps:
according to the initial path, the position of the vehicle is taken as a central point, the weather condition on the path is obtained, the distance that the vehicle can travel is obtained according to the safety electric quantity of the vehicle, the electric consumption per kilometer under the corresponding weather condition and the electric quantity of the vehicle, the distance that the vehicle can travel is taken as a radius range, the charging stations in the range are reachable charging stations, and the distance S that the vehicle can travel adopts the following formula:
4. the charging pile-based path planning method according to claim 1, wherein the step of setting standby charging stations for the two types of charging stations comprises the following steps: and taking the second type of charging station as a center, and taking the second type of charging station closest to the second type of charging station as a standby charging station.
5. The path planning system applying the charging pile-based path planning method of any one of claims 1-4, comprising a data processing module, a path planning module, a charging management module, a display device, a cloud data server, a charging station information acquisition device, a communication device, and a map module; the route planning module, the charging management module, the display device, the charging station information acquisition device, the communication device and the map module are respectively connected with the data processing module, and the cloud data server is in communication connection with the communication device;
the path planning module is used for generating a planned path; the charging management module is used for matching the vehicle quick charging with the charging station quick charging; the charging station information acquisition device is used for acquiring quick charging information, charging station position information and charging pile vacancy rate in a charging station; the map module is used for providing map data, and the map data comprises path information.
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