CN115727863A - Charging path planning method and device for vehicle - Google Patents
Charging path planning method and device for vehicle Download PDFInfo
- Publication number
- CN115727863A CN115727863A CN202111020258.4A CN202111020258A CN115727863A CN 115727863 A CN115727863 A CN 115727863A CN 202111020258 A CN202111020258 A CN 202111020258A CN 115727863 A CN115727863 A CN 115727863A
- Authority
- CN
- China
- Prior art keywords
- charging
- road
- road section
- path
- section
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 65
- 230000008569 process Effects 0.000 claims abstract description 18
- 230000004044 response Effects 0.000 claims description 19
- 238000004422 calculation algorithm Methods 0.000 claims description 12
- 238000004590 computer program Methods 0.000 claims description 7
- 238000004364 calculation method Methods 0.000 claims description 6
- 208000019901 Anxiety disease Diseases 0.000 abstract description 5
- 230000036506 anxiety Effects 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 16
- 230000006870 function Effects 0.000 description 7
- 238000012545 processing Methods 0.000 description 4
- 230000007547 defect Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000013500 data storage Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 239000000835 fiber Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000002245 particle Substances 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Images
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
Landscapes
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention provides a method and a device for planning a charging path of a vehicle, wherein the method comprises the following steps: binding a charging pile with a road section to generate a charging road section; generating a charging road network based on the charging road section; calculating a charging path based on the charging road section and the charging road network; the charging path planning method directly plans one or more charging paths according to the current residual electric quantity of the vehicle, the charging pile information and the user path preference, and can calculate the optimal charging combination in the multiple charging pile combinations on the charging path based on the preset preference strategy, so that the cruising requirement is met on the premise that the user planning driving path is not influenced, and the charging anxiety problem of the electric vehicle in the long-distance driving process is effectively relieved.
Description
Technical Field
The invention relates to the field of navigation, in particular to a method and a device for planning a charging path of a vehicle.
Background
With the development of new energy automobiles, the market share of electric automobiles increases year by year. The endurance is one of the key indexes of the electric automobile, and the electric automobile attracts wide attention of all social circles. At present, the endurance modes of the electric automobile are mainly divided into two modes, wherein one mode is the quick battery replacement of a battery pack, and the other mode is the charging of a charging pile. In two endurance modes, charging of the charging pile occupies a higher market proportion, so that the charging pile has wider user group demands, and the charging pile is gradually taken into the planning management of a city as a part of city infrastructure.
However, in the prior art, there is no technical scheme that a charging path can be directly planned according to the current remaining power of a vehicle, charging pile information and user path preference, and manual attention needs to be paid to the power and planning charging is needed. Particularly in a scene of long-distance driving, charging anxiety of an electric vehicle driver is often caused easily, and a lot of inconvenience is brought to an electric vehicle user.
In order to overcome the above defects in the prior art, there is an urgent need in the art for a method for planning a charging path of a vehicle, which is used for directly planning one or more charging paths according to the current remaining power of the vehicle, charging pile information and user path preference, and calculating an optimal charging combination among a plurality of charging pile combinations on the charging path based on a preset preference policy, so that a cruising demand is met on the premise that a user planned driving path is not affected, and the problem of charging anxiety of an electric vehicle in a remote driving process is effectively solved.
Disclosure of Invention
The following presents a simplified summary of one or more aspects in order to provide a basic understanding of such aspects. This summary is not an extensive overview of all contemplated aspects, and is intended to neither identify key or critical elements of all aspects nor delineate the scope of any or all aspects. Its sole purpose is to present some concepts of one or more aspects in a simplified form as a prelude to the more detailed description that is presented later.
In order to overcome the above defects in the prior art, the present invention provides a method for planning a charging path of a vehicle, including: binding a charging pile with a road section to generate a charging road section; generating a charging road network based on the charging road section; calculating a charging path based on the charging road section and the charging road network; and selecting the optimal charging combination of the charging pile in the charging path based on a preset charging preference strategy.
In one embodiment, preferably, the calculating the charging path based on the charging section and the charging road network includes: matching the starting point to the road, and adding a vector node connected with the starting point as a forward vector node to a forward open table; matching the end point to a road, and adding a vector node connected with the end point to a reverse open table as a reverse vector node; responding to the fact that a forward open table and a reverse open table are not empty, an A-star algorithm is utilized to carry out topology from a starting point to a forward vector node in one step, the remaining mileage of the forward vector node is calculated, the vector node which is connected with the forward vector node and does not pass through is updated to the forward open table as a new forward vector node, meanwhile, an A-star algorithm is utilized to carry out topology from a terminal point to a reverse vector node in one step, the remaining mileage of the reverse vector node is calculated, the vector node which is connected with the reverse vector node and does not pass through is updated to the reverse open table as a new reverse vector node, and the process is repeated until the forward vector node meets the reverse vector node; and judging whether the remaining mileage of the encountered forward vector node and the encountered reverse vector node meets the remaining mileage condition, and finding a charging path and finishing the calculation in response to the meeting of the remaining mileage condition.
In an embodiment, preferably, the charging path planning method further includes: adding a charging index section in the charging road network, wherein the charging index section is used for identifying the road charging section so as to calculate the remaining mileage; calculating the remaining mileage of the forward vector node and calculating the remaining mileage of the reverse vector node, comprising: in response to the fact that the road section in the current forward or reverse vector node is the charging index road section, the remaining mileage of the current vector node is the vehicle endurance mileage minus the distance from the current vector node to the nearest charging road section passing through the topological process; and in response to the road segment in the current forward or reverse vector node not being the charging index road segment, the remaining mileage of the current vector node is the remaining mileage of the previous vector node in the topology process minus the road segment length of the current vector node.
Another aspect of the present invention provides a charge path planning apparatus for a vehicle, including: a memory; and a processor coupled to the memory, the processor configured to implement the steps of the charging path planning method of any of the above.
The invention also provides a computer-readable medium, on which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of the charging path planning method of any of the above.
The charging path planning method for the vehicle can directly plan one or more charging paths according to the current residual electric quantity of the vehicle, the charging pile information and the user path preference, can calculate the optimal charging combination in a plurality of charging pile combinations on the charging path based on a preset preference strategy, meets the cruising requirement on the premise of not influencing the user planned driving path, and effectively relieves the charging anxiety problem of the electric vehicle in the long-distance driving process.
Drawings
The above features and advantages of the present disclosure will be better understood upon reading the detailed description of embodiments of the disclosure in conjunction with the following drawings. In the drawings, components are not necessarily drawn to scale, and components having similar associated characteristics or features may have the same or similar reference numerals.
FIG. 1 is a schematic method flow diagram of a vehicle charge path planning method according to an aspect of the present invention;
fig. 2 is a schematic diagram illustrating a charging pile being bound to a road segment according to an embodiment of the invention;
FIG. 3 is a schematic diagram of a charging road network according to an embodiment of the invention;
FIG. 4 is a schematic process diagram of a node topology according to an embodiment of the present invention;
fig. 5 is a schematic location diagram of a lower high-speed charging index road segment according to an embodiment of the invention;
fig. 6 is a schematic location diagram of a charging index road segment for a service area according to an embodiment of the invention;
fig. 7 is a flowchart illustrating a method for calculating a charging path according to an embodiment of the invention;
fig. 8 is a schematic diagram illustrating selection of an optimal charging combination of charging piles on a charging path according to an embodiment of the invention; and
fig. 9 is a schematic device structure diagram of a vehicle charging path planning device according to another aspect of the present invention.
For clarity, a brief description of the reference numerals is given below:
501. lower high-speed charging index road section
502. Highway switching access & exit
503. Charging road section
601. Charging road section
602. Charging index road section for going to service area
801 optimal charging pile combination
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure. While the invention will be described in connection with the preferred embodiments, there is no intent to limit the features of the invention to those embodiments. On the contrary, the invention has been described in connection with the embodiments for the purpose of covering alternatives or modifications as may be extended based on the claims of the invention. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The invention may be practiced without these particulars. Moreover, some of the specific details have been left out of the description in order to avoid obscuring or obscuring the focus of the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Also, the terms "upper," "lower," "left," "right," "top," "bottom," "horizontal," "vertical" and the like used in the following description shall be understood to refer to the orientation as it is drawn in this section and the associated drawings. The relative terms are used for convenience of description only and do not imply that the described apparatus should be constructed or operated in a particular orientation and therefore should not be construed as limiting the invention.
It will be understood that, although the terms first, second, third, etc. may be used herein to describe various elements, regions, layers and/or sections, these elements, regions, layers and/or sections should not be limited by these terms, but rather are used to distinguish one element, region, layer and/or section from another element, region, layer and/or section. Thus, a first component, region, layer or section discussed below could be termed a second component, region, layer or section without departing from some embodiments of the present invention.
In order to overcome the defects in the prior art, the invention provides a method for planning a charging path of a vehicle, which can directly plan one or more charging paths according to the current residual electric quantity of the vehicle, charging pile information and user path preference, can calculate the optimal charging combination in a plurality of charging pile combinations on the charging path based on a preset preference strategy, meets the requirement of endurance on the premise of not influencing the planning of a driving path of a user, and effectively relieves the charging anxiety problem of the electric vehicle in the process of long-distance driving.
Fig. 1 is a schematic flow chart illustrating a method for planning a charging path of a vehicle according to an aspect of the present invention.
Referring to fig. 1, a method 100 for planning a charging path of a vehicle according to the present invention includes:
step 101: and binding the charging pile with the road section to generate a charging road section.
In one embodiment, binding a charging pile with a road segment to generate a charging road segment includes: in response to the fact that the charging pile has the associated road section, binding the charging pile with the associated road section to generate a charging road section; in response to the fact that no associated road section exists in the charging pile, the road section with the matched nearby name is bound with the charging pile to generate a charging road section; and responding to the fact that no associated road section exists in the charging pile and no road section with the name matched with the name exists nearby, and binding the road section closest to the charging pile with the charging pile to generate a charging road section.
Fig. 2 is a schematic diagram illustrating a charging pile being bound to a road segment according to an embodiment of the invention.
Referring to fig. 2, lines indicate roads, and dots indicate charging piles. And if the charging pile has the associated road section, directly binding the charging pile to the associated road section. The associated road sections of the charging piles are prestored in a map database.
And if the charging pile does not have the associated road section, whether a road with a matched name exists nearby the charging pile is judged. For example, if a charging pile is named as a charging pile on Guilin road and the charging pile is located near the charging pile on Guilin road, the charging pile on Guilin road is bound with the charging pile on Guilin road.
If a charging pile is not associated with a road section and is not provided with a closer road with a name matched with the road section, the charging pile is bound on the road section with a closer distance. In the embodiment shown in fig. 2, the sections indicated by the thick line and the short line are the charging sections bound by the charging piles indicated by the dots.
Referring back to fig. 1, the method 100 for planning a charging path of a vehicle according to the present invention further includes:
step 102: and generating a charging road network based on the charging road section.
In one embodiment, generating a charging road network based on charging road segments comprises: traversing the highest functional level road section, and adding the highest level road section into a charging circuit network in response to the highest level road section reaching any charging road section within the endurance mileage of the vehicle; and traversing all the charging sections, and in response to the fact that the distance between any two charging sections does not exceed the driving range of the vehicle, calculating the path by taking the two charging sections as a starting point and an end point, and adding the functional level sections of three-level roads and above in the calculated path into a charging circuit network.
Fig. 3 is a schematic diagram of a charging network according to an embodiment of the invention.
According to the use task, the function and the adaptive traffic volume, the roads are divided into five levels of expressways, first-level roads, second-level roads, third-level roads and fourth-level roads from the aspect of function level in China. In the step of generating the charging road network, the road segments with the highest functional level, i.e. the national expressways, are traversed first, and if the road segments with the highest functional level can reach any charging road segment within the range of the vehicle (for example, three hundred kilometers), the road segments with the highest functional level are added into the charging road network. The driving range of the vehicle varies with the manufacturer and model of the vehicle, and is not used to limit the protection scope of the present invention.
Further, for all the charging segments generated in step 101, the distance between any two charging segments does not exceed the driving range of the vehicle, the two segments are taken as the starting point and the end point to calculate the path, and the segment with the higher functional level in the calculated path is added to the charging network.
In the embodiment of fig. 3, a charging network generated by a certain vehicle model according to the method is shown, and as can be seen from the figure, the charging network generated by the method covers most of administrative districts in China, and meanwhile, the density degree of the charging network is in positive correlation with the development level of urban areas.
Referring back to fig. 1, the method 100 for planning a charging path of a vehicle according to the present invention further includes:
step 103: a charging path is calculated based on the charging road segment and the charging road network.
In one embodiment, calculating a charging path based on a charging road segment and a charging road network comprises: matching the starting point to the road, and adding a vector node connected with the starting point as a forward vector node to a forward open table; matching the end point to a road, and adding a vector node connected with the end point to a reverse open table as a reverse vector node; responding to the fact that a forward open table and a reverse open table are not empty, an A-star algorithm is utilized to carry out topology from a starting point to a forward vector node in one step, the remaining mileage of the forward vector node is calculated, the vector node which is connected with the forward vector node and does not pass through is updated to the forward open table as a new forward vector node, meanwhile, an A-star algorithm is utilized to carry out topology from a terminal point to a reverse vector node in one step, the remaining mileage of the reverse vector node is calculated, the vector node which is connected with the reverse vector node and does not pass through is updated to the reverse open table as a new reverse vector node, and the process is repeated until the forward vector node meets the reverse vector node; and judging whether the remaining mileage of the encountered forward vector node and the encountered reverse vector node meets the remaining mileage condition, and finding a charging path and finishing the calculation in response to the meeting of the remaining mileage condition.
Fig. 4 is a schematic process diagram of a node topology according to an embodiment of the invention.
Referring to fig. 4, the environmental features in the map are all represented by nodes and line segments connected to the nodes, and one node and a line segment connected to the node form a basic vector node in the path calculation. In the embodiment shown in fig. 4, three base vector nodes are included: A. b, C. The vector nodes B and C are generated by extending nodes of the vector node A outwards, namely B and C are generated by an A-out topology, and the process is called topology.
The open table is used for storing non-topological basic vector nodes, such as vector nodes B and C in the embodiment shown in fig. 4, and the topological algorithm adopted by the present invention is bidirectional, and thus includes two open tables, namely a forward open table and a reverse open table. The forward open table is used for storing the vector nodes which are out of the starting point topology and are not subjected to topology, and the reverse open table is used for storing the vector nodes which are out of the end point topology and are not subjected to topology. When the vector nodes in the two-side open table meet, a path is found.
The A-Star algorithm is a direct searching method which is most effective for solving the shortest path in a static road network, and is also an effective algorithm for solving a plurality of searching problems. The closer the distance estimation value in the algorithm is to the actual value, the faster the final search speed is. It is formulated as: f (n) = g (n) + h (n), where f (n) is the minimum cost estimate from the initial state to the target state via state n, g (n) is the minimum cost from the initial state to state n in the state space, and h (n) is the minimum estimated cost for the path from state n to the target state. In the path search problem, the states are nodes in the graph and the cost is distance.
In one embodiment, the calculating the charging path based on the charging road segment and the charging road network further comprises: in the topology process, after the vector nodes on the non-charging road network are topologically connected to the vector nodes on the charging road network for a preset number of times, the nodes jump, and the subsequent topology is only performed on the charging road network. This process is called a jump-layer.
In the invention, a charging index road section is introduced in the calculation of the remaining mileage, and in one embodiment, the charging index road section comprises: the system comprises a lower high-speed charging index section, a charging section and a switching gateway, wherein the lower high-speed charging index section is connected with the highway switching gateway and the charging section, and the length of the lower high-speed charging index section is within a preset distance range; the service area charging index road section is a high-speed road section connected with a service area with a charging pile; and the easy-to-charge index road section is a three-level road and above functional level road sections with the distance reaching any charging road section within a preset distance range.
Fig. 5 is a schematic position diagram of a lower high-speed charging index road segment according to an embodiment of the invention; fig. 6 is a schematic location diagram of a charging index road segment for going to a service area according to an embodiment of the invention; fig. 7 is a schematic diagram illustrating selection of an optimal charging combination of charging piles on a charging path according to an embodiment of the invention.
Referring to fig. 5, a charging section 503 is located below a certain section of highway, and is connected with the highway through a highway switching entrance (IC section) 502, so that the section connecting the highway and the highway switching entrance 502 is a lower highway charging index section 501.
Referring to fig. 6, a service area is located near a highway segment, the service area is provided with charging piles, and the highway segment connected to the charging pile 601 corresponding to the charging pile is a charging index segment 602 going to the service area.
The charging index sections also comprise easy-to-charge index sections besides the lower high-speed charging index section and the service area charging index section, and the three charging index sections jointly provide a reference basis for calculating the remaining mileage condition.
In an embodiment, the method for planning a charging path further includes: adding a charging index road section in a charging road network, wherein the charging index road section is used for identifying a route charging road section so as to calculate the remaining mileage; calculating the remaining mileage of the forward vector node and calculating the remaining mileage of the reverse vector node, comprising: in response to the fact that the road section in the current forward or reverse vector node is the charging index road section, the remaining mileage of the current vector node is the vehicle endurance mileage minus the distance from the current vector node to the nearest charging road section passing through the topological process; and in response to the road segment in the current forward or reverse vector node not being the charging index road segment, the remaining mileage of the current vector node is the remaining mileage of the previous vector node in the topology process minus the road segment length of the current vector node.
In one embodiment, the remaining mileage condition includes: the sum of the remaining mileage of the forward vector nodes after the encounter and the remaining mileage of the reverse vector nodes after the encounter is greater than the vehicle driving mileage.
Fig. 7 is a flowchart illustrating a method for calculating a charging path according to an embodiment of the invention.
In the embodiment shown in fig. 7, calculating the charging path first performs step 701: and matching the starting point and the end point to a road, generating vector nodes, and adding the vector nodes to the forward opening table and the reverse opening table respectively.
Next, step 702 is executed: and judging whether the forward open table is empty or not.
If the forward open table is empty, it indicates that the starting point vector node cannot expand the topology to the periphery, and no vector node around can be connected to the starting point, and the path calculation fails.
If the forward open table is not empty, execute step 703: and taking out the vector nodes from the forward open table for topology. Setting a loop condition, and executing a judging step 704: and judging whether the forward vector meets the reverse vector or not, and continuously adding new vector nodes into the forward open table according to whether the layer requirements are met or not and the residual electric quantity of the vector nodes so as to realize outward topology. Finally, step 705 is executed: and judging whether the residual electric quantity of the vector node meets the residual mileage condition or not when meeting.
When the loop condition of the forward topology is satisfied, step 706 is still executed: and judging whether the reverse open table is empty, if so, failing to calculate, and if not, further starting outward topology from the end point and filling the reverse open table.
Similar to the forward topology, in the reverse topology, step 708 is performed: it is determined whether the reverse vector meets the forward vector. Until step 709: and judging whether the residual electric quantity of the vector nodes meets the residual mileage condition or not.
If the residual electric quantity of the vector nodes meets the residual mileage condition, successfully calculating the optimal charging path by the forward topology and the reverse topology 'victory consultant'.
Referring back to fig. 1, the method 100 for planning a charging path of a vehicle according to the present invention further includes:
step 104: and selecting the optimal charging combination of the charging piles in the charging path based on a preset charging preference strategy.
In one embodiment, selecting an optimal charging combination of charging piles based on a preset charging preference policy in a charging path includes: traversing the charging combinations of all the charging piles in the charging path; and comparing and selecting the charging combinations in the plurality of charging combinations based on the charging preference strategy to obtain the optimal charging combination of the charging pile.
In one embodiment, the charging preference policy includes: the combination with fewer charging times is more preferable.
Further, in an embodiment, in response to the same number of charges, the charging preference policy further includes one or more of: charging piles passing through a service area in a charging path or more charging combinations comprising more charging sections are more optimal; more charging combinations of the quick charging piles passing through the charging path are more optimal; charging combinations with fewer times of upper and lower high speeds in the charging path are better; and the charging combination with shorter distance to the charging pile to drive away from the main route in the charging path is more optimal.
It should be understood by those skilled in the art that the charging preference policy is only exemplary, and is intended to more clearly illustrate the technical solution of selecting the optimal charging combination of the charging piles under the specific charging preference policy in the present invention, and is not intended to limit the scope of the present invention, and any charging preference policy made based on actual requirements should fall within the scope of the present invention.
Fig. 8 is a schematic diagram illustrating an optimal charging combination of charging piles on a charging path according to an embodiment of the invention.
Referring to fig. 8, in an embodiment, a thick line segment in the figure represents a calculated charging path, a plurality of charging piles are located along the charging path, and the charging pile is represented by a white dot in fig. 8. Each charging pile has two options of charging and non-charging. Therefore, the charging piles on the charging path have various combined charging modes. The multiple combination modes are ranked according to the advantages and the disadvantages based on the specific charging preference policy, and finally the optimal charging pile combination 801 represented by a gray circle in fig. 8 is obtained, that is, the optimal charging pile charging combination result selected on the charging path based on the charging preference policy.
While, for purposes of simplicity of explanation, the methodologies are shown and described as a series of acts, it is to be understood and appreciated that the methodologies are not limited by the order of acts, as some acts may, in accordance with one or more embodiments, occur in different orders and/or concurrently with other acts from that shown and described herein or not shown and described herein, as would be understood by one skilled in the art.
Another aspect of the present invention provides a charge path planning apparatus for a vehicle, including: a memory; and a processor coupled to the memory, the processor configured to implement the steps of the charging path planning method of any of the above.
Fig. 9 is a schematic device structure diagram of a vehicle charging path planning device according to another aspect of the present invention.
As shown in fig. 9, the computer system/server 900 of the charging path planning apparatus is represented in the form of a general-purpose computer device. The components of the computer system/server 900 may include one or more processors 902, memory 901, and a bus 903 connecting the various system components, including the memory 901 and the processors 902.
The bus 903 includes a data bus, an address bus, and a control bus. The product of the number of bits of the data bus and the operating frequency is proportional to the data transfer rate, the number of bits of the address bus determines the maximum addressable memory space, and the control bus (read/write) indicates the type of bus cycle and the time at which the present I/O operation is completed. The processor 902 is connected to the memory 901 via the bus 903, and is configured to implement the vehicle control method provided by any one of the embodiments described above.
The processor 902 is a final execution unit for information processing and program operation, which is an operation and control core of the computer system/server 900 of the charge path planning apparatus. The operation of all software layers in the computer system will ultimately be mapped to the operation of the processor 902 by the instruction set. The processor 902 has the main functions of processing instructions, executing operations, controlling time and processing data.
The memory 901 is a storage device for storing programs and data in the computer. Memory 901 may include computer system readable media in the form of storage volatile memory. Such as Random Access Memory (RAM) 904 and/or cache memory 905.
A Random Access Memory (RAM) 904 is an internal memory that directly exchanges data with the processor 902. It can be read and written at any time (except when it is refreshed) and at a fast speed, and is usually used as a temporary data storage medium for an operating system or other programs in operation, and the data stored in the temporary data storage medium is lost when the power is off. A Cache memory (Cache) 905 is a level one memory existing between a main memory and the processor 902, and has a relatively small capacity but a speed much higher than that of the main memory, close to that of the processor 902.
The computer system/server 900 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. In this embodiment, the storage system 906 may be used to read from and write to non-removable, nonvolatile magnetic media.
Computer system/server 900 may also communicate with one or more external devices 908 (e.g., keyboard, pointing device, display 909, etc.), one or more devices that enable a user to interact with the computer system/server 900, and/or any device (e.g., network card, modem, etc.) that enables the computer system/server 900 to communicate with one or more other computing devices. Such communication may occur via input/output (I/O) interfaces 910.
Computer system/server 900 may also communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network such as the internet) via network adapter 911. As shown in fig. 9, a network adapter 911 communicates with the other modules of the computer system/server 900 via a bus 903. It should be appreciated that although not shown in the figures, other hardware and/or software modules may be used in conjunction with computer system/server 900, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, to name a few.
The invention also provides an embodiment of a computer-readable medium having a computer program stored thereon. The computer program, when executed by a processor, may implement the steps of any of the vehicle charging path planning methods described above.
Those of skill in the art would understand that information, signals, and data may be represented using any of a variety of different technologies and techniques. For example, data, instructions, commands, information, signals, bits (bits), symbols, and chips that may be referenced throughout the above description may be represented by voltages, currents, electromagnetic waves, magnetic fields or particles, optical fields or particles, or any combination thereof.
Those of skill would further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The processors described herein may be implemented using electronic hardware, computer software, or any combination thereof. Whether such processors are implemented as hardware or software will depend on the particular application and the overall design constraints imposed on the system. As an example, a processor, any portion of a processor, or any combination of processors presented in this disclosure may be implemented with a microprocessor, a microcontroller, a Digital Signal Processor (DSP), a Field Programmable Gate Array (FPGA), a Programmable Logic Device (PLD), a state machine, gated logic, discrete hardware circuitry, and other suitable processing components configured to perform the various functions described throughout this disclosure. The functionality of a processor, any portion of a processor, or any combination of processors presented in this disclosure may be implemented in software executed by a microprocessor, microcontroller, DSP, or other suitable platform.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC. The ASIC may reside in a user terminal. In the alternative, the processor and the storage medium may reside as discrete components in a user terminal.
In one or more exemplary embodiments, the functions described may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software as a computer program product, the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage media may be any available media that can be accessed by a computer. By way of example, and not limitation, such computer-readable media can comprise RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. Any connection is properly termed a computer-readable medium. For example, if the software is transmitted from a web site, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, digital Subscriber Line (DSL), or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of medium. Disk (disk) and disc (disc), as used herein, includes Compact Disc (CD), laser disc, optical disc, digital Versatile Disc (DVD), floppy disk and blu-ray disc where disks (disks) usually reproduce data magnetically, while discs (discs) reproduce data optically with lasers. Combinations of the above should also be included within the scope of computer-readable media.
The previous description of the disclosure is provided to enable any person skilled in the art to make or use the disclosure. Various modifications to the disclosure will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other variations without departing from the spirit or scope of the disclosure. Thus, the disclosure is not intended to be limited to the examples and designs described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (13)
1. A method of charge path planning for a vehicle, comprising:
binding a charging pile with a road section to generate a charging road section;
generating a charging road network based on the charging road section;
calculating a charging path based on the charging road section and the charging road network; and
and selecting an optimal charging combination of the charging piles in the charging path based on a preset charging preference strategy.
2. The method for planning a charging path according to claim 1, wherein the calculating a charging path based on the charging section and the charging road network comprises:
matching a starting point on a road, and adding a vector node connected with the starting point as a forward vector node into a forward open table;
matching the end point to a road, and adding a vector node connected with the end point to a reverse open table as a reverse vector node;
responding to the condition that the forward open table and the reverse open table are not empty, utilizing an A-star algorithm to perform one step from the starting point to the forward vector nodes, calculating the remaining mileage of the forward vector nodes, updating the vector nodes which are connected with the forward vector nodes and not passed through as new forward vector nodes into the forward open table, simultaneously utilizing an A-star algorithm to perform one step from the ending point to the reverse vector nodes, calculating the remaining mileage of the reverse vector nodes, updating the vector nodes which are connected with the reverse vector nodes and not passed through as new reverse vector nodes into the reverse open table, and repeating until the forward vector nodes meet the reverse vector nodes; and
and judging whether the remaining mileage of the encountered forward vector node and the encountered reverse vector node meets a remaining mileage condition, and finding the charging path and finishing the calculation in response to the condition that the remaining mileage is met.
3. The charging path planning method according to claim 2, wherein the calculating of the charging path based on the charging section and the charging road network further comprises:
in the topology process, after the vector nodes on the non-charging road network are topologically connected to the vector nodes on the charging road network for a preset number of times, the layer is jumped, and the subsequent topology is only carried out on the charging circuit network.
4. The charge path planning method of claim 2, further comprising:
adding a charging index section in the charging road network, wherein the charging index section is used for identifying a route charging section so as to calculate the remaining mileage;
the calculating the remaining mileage of the forward vector node and the calculating the remaining mileage of the reverse vector node comprises:
in response to the road segment in the current forward or reverse vector node being the charging index road segment, the remaining mileage of the current vector node is the vehicle driving mileage minus the distance from the current vector node to the nearest charging road segment passing through the topology process; and
and in response to that the road section in the current forward or reverse vector node is not the charging index road section, the remaining mileage of the current vector node is the remaining mileage of the previous vector node in the topology process minus the road section length of the current vector node.
5. The charge path planning method of claim 4, wherein the remaining range condition comprises:
and the sum of the remaining mileage of the encountered forward vector node and the remaining mileage of the encountered reverse vector node is greater than the vehicle endurance mileage.
6. The charging path planning method of claim 4, wherein the charging index segment comprises:
the system comprises a lower high-speed charging index road section, a charging road section and a charging control system, wherein the lower high-speed charging index road section is connected with a highway switching entrance and exit and the charging road section, and the length of the lower high-speed charging index road section is within a preset distance range;
a service area charging index section which is a high-speed section connected with a service area with charging piles; and
the road comprises an easy-to-charge index road section, wherein the easy-to-charge index road section is a three-level road and a functional level road section above the three-level road, and the distance from the easy-to-charge index road section to any one charging road section is within a preset distance range.
7. The method for planning a charging path according to claim 1, wherein the binding of the charging pile to the road segment to generate the charging road segment comprises:
in response to the charging pile having an associated road section, binding the charging pile with the associated road section to generate the charging road section;
in response to the charging pile not having the associated road section, binding a road section with a nearby name matching with the charging pile to generate the charging road section;
and responding to the fact that the associated road section does not exist in the charging pile and the road section with the name matched does not exist nearby, and binding the road section which is closest to the charging pile with the charging pile to generate a charging road section.
8. The charging path planning method according to claim 1, wherein the generating a charging road network based on the charging section includes:
traversing a highest functional level road section, and adding the highest level road section into a charging circuit network in response to the fact that the highest level road section can reach any charging road section within the endurance mileage of the vehicle; and
and traversing all the charging road sections, and in response to the fact that the distance between any two charging road sections does not exceed the endurance mileage of the vehicle, calculating the two charging road sections as a starting point and an end point, and adding three-level roads and more than three functional level road sections in the calculated path into the charging road network.
9. The method for planning a charging path according to claim 1, wherein the selecting an optimal charging combination of charging piles in the charging path based on a preset charging preference policy comprises:
traversing the charging combinations of all the charging piles in the charging paths;
and comparing and selecting a plurality of charging combinations based on the charging preference strategy to obtain the optimal charging combination of the charging pile.
10. The charging path planning method of claim 9, wherein the charging preference policy comprises:
the combination with fewer charging times is more preferable.
11. The charging path planning method of claim 10, wherein in response to a same number of charges, the charging preference policy further comprises one or more of:
charging piles pass through a service area in the charging path or more charging combinations comprising more charging sections are more optimal;
more charging combinations of the quick charging piles passing through the charging path are more optimal;
charging combinations with fewer times of high speed up and down in the charging path are better; and
and the charging combination with shorter distance to the charging pile to drive away from the main route in the charging path is more optimal.
12. A charging path planning apparatus for a vehicle, comprising:
a memory; and
a processor coupled to the memory, the processor configured to implement the steps of the charge path planning method of any of claims 1-11.
13. A computer-readable medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of a method for charge path planning according to any one of claims 1 to 11.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111020258.4A CN115727863A (en) | 2021-09-01 | 2021-09-01 | Charging path planning method and device for vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111020258.4A CN115727863A (en) | 2021-09-01 | 2021-09-01 | Charging path planning method and device for vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115727863A true CN115727863A (en) | 2023-03-03 |
Family
ID=85292067
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111020258.4A Pending CN115727863A (en) | 2021-09-01 | 2021-09-01 | Charging path planning method and device for vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115727863A (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130024112A1 (en) * | 2011-07-18 | 2013-01-24 | GM Global Technology Operations LLC | System and method for generating recommended driving routes for an electric vehicle |
| WO2014127849A1 (en) * | 2013-02-25 | 2014-08-28 | Nec Europe Ltd. | Method and system for determining routes of vehicles |
| CN107133841A (en) * | 2017-04-20 | 2017-09-05 | 深圳充电网科技有限公司 | A kind of charging pile website recommendation method and apparatus |
| US20170336219A1 (en) * | 2015-05-19 | 2017-11-23 | Fleetmatics Development Limited | System and method for accelerating route search |
| GB201806205D0 (en) * | 2018-04-16 | 2018-05-30 | Morgan Brown Consultancy Ltd | Vehicle Routing |
| CN110174117A (en) * | 2019-05-29 | 2019-08-27 | 国网浙江电动汽车服务有限公司 | A kind of electric car charging route planning method |
| CN111220168A (en) * | 2019-11-29 | 2020-06-02 | 安徽江淮汽车集团股份有限公司 | Method and device for planning charging path of electric vehicle and storage medium |
| CN112132608A (en) * | 2020-09-15 | 2020-12-25 | 北京慧辰资道资讯股份有限公司 | Charging service intelligent recommendation method and device based on big data of power internet of things |
| CN112882466A (en) * | 2021-01-12 | 2021-06-01 | 上海电力大学 | Fusion hierarchical planning and A*Shared electric vehicle path planning method of algorithm |
| DE102019133338A1 (en) * | 2019-12-06 | 2021-06-10 | Bayerische Motoren Werke Aktiengesellschaft | Method and system for planning the charging stops of a hybrid or electric vehicle |
| CN113029182A (en) * | 2021-04-23 | 2021-06-25 | 河南大学 | Electric vehicle path planning method considering wireless charging and dynamic energy consumption |
-
2021
- 2021-09-01 CN CN202111020258.4A patent/CN115727863A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130024112A1 (en) * | 2011-07-18 | 2013-01-24 | GM Global Technology Operations LLC | System and method for generating recommended driving routes for an electric vehicle |
| WO2014127849A1 (en) * | 2013-02-25 | 2014-08-28 | Nec Europe Ltd. | Method and system for determining routes of vehicles |
| US20170336219A1 (en) * | 2015-05-19 | 2017-11-23 | Fleetmatics Development Limited | System and method for accelerating route search |
| CN107133841A (en) * | 2017-04-20 | 2017-09-05 | 深圳充电网科技有限公司 | A kind of charging pile website recommendation method and apparatus |
| GB201806205D0 (en) * | 2018-04-16 | 2018-05-30 | Morgan Brown Consultancy Ltd | Vehicle Routing |
| CN110174117A (en) * | 2019-05-29 | 2019-08-27 | 国网浙江电动汽车服务有限公司 | A kind of electric car charging route planning method |
| CN111220168A (en) * | 2019-11-29 | 2020-06-02 | 安徽江淮汽车集团股份有限公司 | Method and device for planning charging path of electric vehicle and storage medium |
| DE102019133338A1 (en) * | 2019-12-06 | 2021-06-10 | Bayerische Motoren Werke Aktiengesellschaft | Method and system for planning the charging stops of a hybrid or electric vehicle |
| CN112132608A (en) * | 2020-09-15 | 2020-12-25 | 北京慧辰资道资讯股份有限公司 | Charging service intelligent recommendation method and device based on big data of power internet of things |
| CN112882466A (en) * | 2021-01-12 | 2021-06-01 | 上海电力大学 | Fusion hierarchical planning and A*Shared electric vehicle path planning method of algorithm |
| CN113029182A (en) * | 2021-04-23 | 2021-06-25 | 河南大学 | Electric vehicle path planning method considering wireless charging and dynamic energy consumption |
Non-Patent Citations (3)
| Title |
|---|
| BARBECHO BAUTISTA, PABLO: "A traffic-aware electric vehicle charging management system for smart cities", VEHICULAR COMMUNICATIONS, vol. 20, 29 November 2019 (2019-11-29) * |
| 张伯男;刘捃梁;范梦辉;: "多需求场景下的汽车充电路径诱导优化", 交通节能与环保, no. 04, 15 August 2020 (2020-08-15) * |
| 顾青;豆风铅;马飞;: "基于改进A*算法的电动车能耗最优路径规划", 农业机械学报, vol. 46, no. 12, 31 December 2015 (2015-12-31) * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102538806B (en) | A kind of paths planning method and relevant device | |
| CN102435200B (en) | Rapid path planning method | |
| US8577609B2 (en) | Map data, storage medium, and electronic apparatus | |
| CN104121916B (en) | Method and system for map match | |
| CN110175780A (en) | A kind of electric automobile charging station site selecting method, system and relevant apparatus | |
| CN104596531A (en) | Navigation route generation method, navigation route generation apparatus, and server | |
| CN103542858A (en) | Method of estimating an ability of a vehicle to reach a target road segment, method of generating a database, and navigation system | |
| CN103323017B (en) | A kind of air navigation aid and guider | |
| CN112985443B (en) | Path planning method and device and terminal equipment | |
| CN110084432A (en) | Recommended method, system and the vehicle of route or travel by vehicle | |
| CN107917716A (en) | Fixed circuit air navigation aid, device, terminal and computer-readable recording medium | |
| JP7353360B2 (en) | How to calculate management instructions for fuel and current consumption by hybrid vehicles | |
| CN109190832A (en) | A kind of electric bus charging station site selecting method based on Focus Theory | |
| CN111582581A (en) | Electric automobile battery replacement station robust site selection method considering random traffic flow offset | |
| Su et al. | Spatial-temporal distribution model of electric vehicle charging demand based on a dynamic evolution process | |
| CN112748736B (en) | Vehicle driving assisting method and device | |
| CN106556402B (en) | A kind of paths planning method and device | |
| JP3789306B2 (en) | Route search method | |
| CN115727863A (en) | Charging path planning method and device for vehicle | |
| Hwang et al. | An alternative fuel refueling station location model considering detour traffic flows on a highway road system | |
| CN110738848A (en) | electric vehicle navigation method considering time-varying road resistance information | |
| CN111209494A (en) | Dynamic searching method and device for electric vehicle charging station, storage medium and equipment | |
| CN115402323A (en) | Lane changing decision method and electronic equipment | |
| CN114611021B (en) | Method and device for recommending charging pile | |
| CN115752502A (en) | Path screening method and device and electronic equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |