CN103234544B - Electric automobile electric quantity consumption factor model is set up and continual mileage evaluation method - Google Patents

Abstract

Translated fromChinese

本发明公开了一种电动汽车电量消耗因子模型建立及续驶里程估算方法，该模型建立方法包括以下步骤：引入综合变量，基于预先得到的电动汽车瞬时速度与加速度，计算每秒的综合变量值，结合对应的每秒电量消耗率形成基础数据库；按照一定的时间间隔划分行驶片段，统计每个片段的平均速度；将相同平均速度的行驶片段下的综合变量值合并，统计其分布规律，并计算其平均每公里的电量消耗率，即电量消耗因子；根据统计得到的平均速度和电量消耗因子，运用数理统计的方法，确定最终的基于平均速度的电动汽车电量消耗因子模型。本发明同时还公开了一种电动汽车续驶里程估算方法。

The invention discloses a method for establishing a power consumption factor model of an electric vehicle and estimating the driving range. The method for establishing the model includes the following steps: introducing a comprehensive variable, and calculating the comprehensive variable value per second based on the pre-obtained instantaneous speed and acceleration of the electric vehicle , combined with the corresponding power consumption rate per second to form a basic database; divide the driving segments according to a certain time interval, and count the average speed of each segment; combine the comprehensive variable values under the driving segments with the same average speed, and count their distribution rules, and Calculate its average power consumption rate per kilometer, that is, the power consumption factor; according to the average speed and power consumption factor obtained from statistics, use mathematical statistics to determine the final electric vehicle power consumption factor model based on the average speed. The invention also discloses a method for estimating the mileage of the electric vehicle.

Description

Translated fromChinese

电动汽车电量消耗因子模型建立及续驶里程估算方法Electric vehicle power consumption factor model establishment and mileage estimation method

技术领域technical field

本发明涉及电动汽车技术领域，尤其涉及电动汽车电量消耗因子模型建立及续驶里程估算方法。The invention relates to the technical field of electric vehicles, in particular to a method for establishing electric vehicle power consumption factor models and estimating mileage.

背景技术Background technique

随着燃油汽车的保有量迅速增加，由燃油汽车引起的环境污染以及全球燃油枯竭问题也日益严重。电动汽车因具有低能耗、低噪音、能源利用率高、结构简单以及易于维修等特点，受到了越来越多的重视。目前，电动汽车受电池容量和行驶里程的限制，在出行过程中需要进行多次充电，因此合理的路径规划及导航显得尤为必要。而作为电动汽车路径规划及导航的先决条件，准确的续驶里程估计也越来越受到关注。现有的估计方法并未考虑真实的交通状态与电动汽车续驶里程之间的关系，使得估计结果不够精确。鉴于瞬时速度与加速度等微观行驶参数难以获得的问题，本发明提出了基于路段平均速度的电动汽车续驶里程估算方法，增强了方法的实用性。With the rapid increase in the number of fuel vehicles, the environmental pollution caused by fuel vehicles and the problem of global fuel depletion are also becoming more and more serious. Electric vehicles have received more and more attention because of their low energy consumption, low noise, high energy efficiency, simple structure and easy maintenance. At present, electric vehicles are limited by battery capacity and mileage, and need to be recharged many times during travel. Therefore, reasonable route planning and navigation are particularly necessary. As a prerequisite for electric vehicle path planning and navigation, accurate driving range estimation is also receiving more and more attention. The existing estimation methods do not consider the relationship between the real traffic state and the driving range of electric vehicles, which makes the estimation results inaccurate. In view of the difficulty in obtaining microcosmic driving parameters such as instantaneous speed and acceleration, the present invention proposes a method for estimating the driving range of electric vehicles based on the average speed of road sections, which enhances the practicability of the method.

发明内容Contents of the invention

本发明解决的技术问题在于如何准确估计电动汽车续驶里程，为路径规划及导航算法提供依据。The technical problem solved by the invention is how to accurately estimate the driving range of the electric vehicle, so as to provide a basis for path planning and navigation algorithms.

本发明实施例公开了一种电动汽车电量消耗因子模型建立方法，包括以下步骤：The embodiment of the present invention discloses a method for establishing a power consumption factor model of an electric vehicle, comprising the following steps:

1）引入综合变量，基于预先得到的电动汽车瞬时速度与加速度，计算每秒的综合变量值，结合对应的每秒电量消耗率形成基础数据库；1) Introduce comprehensive variables, calculate the comprehensive variable value per second based on the pre-obtained instantaneous speed and acceleration of electric vehicles, and form a basic database in combination with the corresponding power consumption rate per second;

2）按照一定的时间间隔划分行驶片段，统计每个片段的平均速度；2) Divide the driving segments according to a certain time interval, and count the average speed of each segment;

3）将相同平均速度的行驶片段下的综合变量值合并，统计其分布规律，并计算其平均每公里的电量消耗率，即电量消耗因子；3) Merge the comprehensive variable values under the driving segments with the same average speed, count the distribution rules, and calculate the average power consumption rate per kilometer, that is, the power consumption factor;

4）根据统计得到的平均速度和电量消耗因子，运用数理统计的方法，确定最终的基于平均速度的电动汽车电量消耗因子模型。4) According to the statistically obtained average speed and power consumption factor, use mathematical statistics to determine the final electric vehicle power consumption factor model based on the average speed.

进一步，作为优选，所述综合变量包括：交通状态、道路坡度、电动车重量、挡风玻璃以及滚动阻力，A=f(V,a,grade,m,S,C)，其中，A为综合变量；V为电动汽车瞬时速度；a为电动汽车瞬时加速度；grade为坡度；m为电动汽车质量；S为电动汽车挡风面积；C为滚动阻力。Further, preferably, the comprehensive variable includes: traffic state, road gradient, electric vehicle weight, windshield and rolling resistance, A=f(V,a,grade,m,S,C), where A is the comprehensive Variables; V is the instantaneous velocity of the electric vehicle; a is the instantaneous acceleration of the electric vehicle; grade is the slope; m is the mass of the electric vehicle; S is the windshield area of the electric vehicle; C is the rolling resistance.

本发明还公开了一种电动汽车续驶里程估算方法，包括以下步骤：The invention also discloses a method for estimating the mileage of an electric vehicle, comprising the following steps:

1）根据预先获得的规划路径以及路网未来的交通状态，提取得到规划路径相应路段的平均速度；其中，规划路径是在不考虑中途充电的情况下由路径规划算法计算得到；路段未来的平均速度可通过短时交通预测方法计算得到；1) According to the pre-obtained planning path and the future traffic status of the road network, the average speed of the corresponding road section of the planned path is extracted; among them, the planned path is calculated by the path planning algorithm without considering the midway charging; the average speed of the road section in the future The speed can be calculated by the short-term traffic prediction method;

2）根据权利要求1或2的方法，获得电动汽车电量消耗因子模型；2) According to the method of claim 1 or 2, the electric vehicle power consumption factor model is obtained;

3）将路段的平均速度代入建立好的电动汽车电量消耗因子模型，计算得到电量消耗因子；3) Substitute the average speed of the road section into the established electric vehicle power consumption factor model to calculate the power consumption factor;

获取当前电池的剩余电量，结合电量消耗因子，经过循环计算得到剩余里程。Obtain the remaining power of the current battery, combined with the power consumption factor, and calculate the remaining mileage through circular calculation.

本发明针对真实的道路行驶环境，在既考虑微观行驶参数对电动汽车续驶里程的影响，又考虑实际运用的情况下，通过引入综合变量，建立了基于平均速度的电动汽车电量消耗因子模型，保证模型精度的同时，简化了所需要的输入变量，增加了模型的实用性。基于电量消耗因子模型，提出了一种基于路段平均速度的电动汽车续驶里程估计方法，实现在真实道路行驶环境下对电动汽车续驶里程的准确估计，进而为用户的出行、路径规划及导航算法的实现提供数据基础。Aiming at the real road driving environment, the present invention not only considers the impact of microscopic driving parameters on the mileage of electric vehicles, but also considers the actual application, and establishes an electric vehicle power consumption factor model based on the average speed by introducing comprehensive variables. While ensuring the accuracy of the model, the required input variables are simplified and the practicability of the model is increased. Based on the power consumption factor model, a method for estimating the mileage of electric vehicles based on the average speed of road sections is proposed to realize accurate estimation of the mileage of electric vehicles in the real road driving environment, and then provide users with travel, route planning and navigation. The implementation of the algorithm provides the data basis.

附图说明Description of drawings

当结合附图考虑时，通过参照下面的详细描述，能够更完整更好地理解本发明以及容易得知其中许多伴随的优点，但此处所说明的附图用来提供对本发明的进一步理解，构成本发明的一部分，本发明的示意性实施例及其说明用于解释本发明，并不构成对本发明的不当限定，其中：A more complete and better understanding of the invention, and many of its attendant advantages, will readily be learned by reference to the following detailed description when considered in conjunction with the accompanying drawings, but the accompanying drawings illustrated herein are intended to provide a further understanding of the invention and constitute A part of the present invention, the exemplary embodiment of the present invention and its description are used to explain the present invention, and do not constitute an improper limitation of the present invention, wherein:

图1是本实施例提供的电动汽车续驶里程估算方法的流程图。Fig. 1 is a flow chart of the method for estimating the driving range of an electric vehicle provided in this embodiment.

图2是本实施例提供的续驶里程具体计算的流程图。Fig. 2 is a flow chart of the specific calculation of the driving range provided by this embodiment.

具体实施方式detailed description

参照图1-2对本发明的实施例进行说明。Embodiments of the present invention will be described with reference to FIGS. 1-2.

为使上述目的、特征和优点能够更加明显易懂，下面结合附图和具体实施方式对本发明作进一步详细的说明。In order to make the above objects, features and advantages more comprehensible, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

如图1所示，本实施例提供的电动汽车续驶里程估计方法，包括以下步骤：As shown in Figure 1, the method for estimating the driving range of an electric vehicle provided in this embodiment includes the following steps:

S11、获取各路段的平均速度；S11. Obtain the average speed of each road section;

S12、获取规划路径；S12. Obtain a planned path;

S13、根据预先获得的规划路径以及路段未来的平均速度，提取得到规划路径相应路段的平均速度，单位是km/h；规划路径是在不考虑中途充电的情况下由路径规划算法计算得到；路段未来的平均速度可通过交通预测方法计算得到；S13. Extract the average speed of the corresponding road section of the planned path according to the pre-acquired planned path and the future average speed of the road section , the unit is km/h; the planned path is calculated by the path planning algorithm without considering the midway charging; the future average speed of the road section can be calculated by the traffic prediction method;

S14、将路段的平均速度代入已建立的电动汽车电量消耗因子模型，计算得到电量消耗因子q，单位是C/km；S14. Substituting the average speed of the road section into the established electric vehicle power consumption factor model, and calculating the power consumption factor q, the unit is C/km;

$\mathrm{<span><span>q</span>q</span>}<span><span>=</span>=</span>\mathrm{<span><span>12511.049</span>12511.049</span>}<span><span>/</span>/</span>\stackrel{<span><span>\&OverBar;</span>\&OverBar;</span>}{\mathrm{<span><span>V</span>V</span>}}<span><span>-</span>-</span>\mathrm{<span><span>18.066</span>18.066</span>}<span><span>\&CenterDot;</span>\&CenterDot;</span>\stackrel{<span><span>\&OverBar;</span>\&OverBar;</span>}{\mathrm{<span><span>V</span>V</span>}}<span><span>+</span>+</span>\mathrm{<span><span>0.159</span>0.159</span>}<span><span>\&CenterDot;</span>\&Center\; Dot;</span>{\stackrel{<span><span>\&OverBar;</span>\&OverBar;</span>}{\mathrm{<span><span>V</span>V</span>}}}^{\mathrm{<span><span>2</span>2</span>}}<span><span>+</span>+</span>\mathrm{<span><span>1846.27</span>1846.27</span>}<span><span>;</span>;</span>$

S15、获取当前电池的剩余电量SOC_r；S15. Obtain the current remaining power SOC_r of the battery;

S16、根据SOC_r与电量消耗因子q，经过循环计算得到剩余里程S，单位是km。S16. According to the SOC_r and the power consumption factor q, the remaining mileage S is obtained through cyclic calculation, and the unit is km.

剩余里程S具体计算流程如图2所示。The specific calculation process of the remaining mileage S is shown in Figure 2.

S21、获得电动汽车剩余电量SOC_r；S21. Obtaining the SOC_r of the remaining power of the electric vehicle;

S22、按照起点与终点的方向，对规划路径中的路段进行编号k(k=1,2,3…)，令初始k=1，S=0；S22. According to the directions of the start point and the end point, number k (k=1, 2, 3...) of the road sections in the planned route, let the initial k=1, S=0;

S23、提取第k条路段的长度L_k及其未来的平均速度；S23, extracting the length L_k of the kth road section and its future average speed;

S24、代入电量消耗因子模型，计算每公里的电量消耗；S24. Substituting into the power consumption factor model to calculate the power consumption per kilometer;

S25、计算第k条路段消耗的总电量Q_k=q_k·L_k；S25. Calculate the total electricity consumption Q_k =q_k L_k of the kth road section;

S26、判断是否SOC_r>Q_k；如果是,则执行S27、SOC_r=SOC_r-Q_k，S=S+L_k，k=k+1，然后跳转到步骤S23；否则执行S28、续驶里程S=S+SOC_r/q_k；S29、计算电动汽车续驶里程S。S26. Determine whether SOC_r > Q_k ; if yes, execute S27, SOC_r = SOC_r -Q_k , S=S+L_k , k=k+1, and then jump to step S23; otherwise, execute S28, Driving range S=S+SOC_r /q_k ; S29. Calculate driving range S of the electric vehicle.

其中，S14中电量消耗因子模型通过以下方法建立：Among them, the power consumption factor model in S14 is established by the following method:

1）通过引入综合变量（在本实例中以机动车比功率（VSP）为例），将交通状态、道路坡度、电动车重量以及挡风玻璃等影响耗电量的因素结合起来。同时基于预先得到的瞬时电动汽车行驶数据，计算每秒的VSP（单位是kw/t），结合对应的每秒电量消耗率形成基础数据库。1) By introducing comprehensive variables (in this case, vehicle specific power (VSP) is taken as an example), the factors that affect power consumption, such as traffic conditions, road slope, electric vehicle weight, and windshield, are combined. At the same time, based on the pre-obtained instantaneous electric vehicle driving data, the VSP per second (unit is kw/t) is calculated, combined with the corresponding power consumption rate per second to form a basic database.

$\begin{array}{c}\mathrm{<span><span>VSP</span>VSP</span>}<span><span>=</span>=</span>\mathrm{<span><span>V</span>V</span>}<span><span>\&CenterDot;</span>\&CenterDot;</span><span><span>[</span>[</span>\mathrm{<span><span>a</span>a</span>}<span><span>+</span>+</span>\mathrm{<span><span>g</span>g</span>}<span><span>\&CenterDot;</span>\&CenterDot;</span>\mathrm{<span><span>grad</span>grad</span>}\mathrm{<span><span>e</span>e</span>}<span><span>+</span>+</span>\mathrm{<span><span>g</span>g</span>}<span><span>\&CenterDot;</span>\&CenterDot;</span>{\mathrm{<span><span>C</span>C</span>}}_{\mathrm{<span><span>R</span>R</span>}}<span><span>]</span>]</span><span><span>+</span>+</span>\frac{\mathrm{<span><span>1</span>1</span>}}{\mathrm{<span><span>2</span>2</span>}}{\mathrm{<span><span>\&rho;</span>\&rho;</span>}}_{\mathrm{<span><span>\&sigma;</span>\&sigma;</span>}}\frac{{\mathrm{<span><span>C</span>C</span>}}_{\mathrm{<span><span>D</span>D.</span>}}<span><span>\&CenterDot;</span>\&CenterDot;</span>\mathrm{<span><span>S</span>S</span>}}{\mathrm{<span><span>m</span>m</span>}}{\mathrm{<span><span>V</span>V</span>}}^{\mathrm{<span><span>3</span>3</span>}}\\ <span><span>=</span>=</span>\mathrm{<span><span>V</span>V</span>}<span><span>\&CenterDot;</span>\&CenterDot;</span><span><span>(</span>(</span>\mathrm{<span><span>1.1</span>1.1</span>}<span><span>\&CenterDot;</span>\&Center\; Dot;</span>\mathrm{<span><span>a</span>a</span>}<span><span>+</span>+</span>\mathrm{<span><span>0.132</span>0.132</span>}<span><span>)</span>)</span><span><span>+</span>+</span>\mathrm{<span><span>0.000302</span>0.000302</span>}<span><span>\&CenterDot;</span>\&Center\; Dot;</span>{\mathrm{<span><span>V</span>V</span>}}^{\mathrm{<span><span>3</span>3</span>}}\end{array}$

其中，V为电动汽车瞬时速度，km/h；a为电动汽车瞬时加速度，m/s²；g为重力加速度，取9.81m/s²；grade为道路坡度，无量纲；C_R——滚动阻力系数，无量纲，取0.0135；ρ_σ为空气密度，20℃时取1.207kg/m³；C_D为风阻系数，无量纲；S为车辆前横截面积，m²；m为车重，kg，其中(C_D×S)/m整体取为0.0005。Among them, V is the instantaneous velocity of the electric vehicle, km/h; a is the instantaneous acceleration of the electric vehicle, m/s² ; g is the acceleration of gravity, taken as 9.81m/s² ; grade is the road gradient, dimensionless; C_R —— rolling Drag coefficient, dimensionless, 0.0135;_ρσ is air density, 1.207kg/m³ at 20°C; C_D is drag coefficient, dimensionless; S is front cross-sectional area of vehicle, m² ; m is vehicle weight, kg, where (C_D ×S)/m is taken as 0.0005 as a whole.

2）基于基础数据库，以1kw/t划分VSP-Bin值，计算VSP所对应的VSP-Bin值：如果VSP∈[n,n+1)，那么对应的VSP-Bin值为nkw/t。并统计各VSP-Bin对应的平均每秒的电量消耗率{I₁,I₂,I₃,…,I_j}，单位是C/s；2) Based on the basic database, divide the VSP-Bin value by 1kw/t, and calculate the VSP-Bin value corresponding to the VSP: if VSP∈[n,n+1), then the corresponding VSP-Bin value is nkw/t. And count the average power consumption rate per second corresponding to each VSP-Bin {I₁ , I₂ , I₃ ,...,I_j }, the unit is C/s;

3）以30s为间隔划分行驶片段，统计每个片段的平均速度。3) Divide the driving segments at intervals of 30s, and count the average speed of each segment .

4）将平均速度以3.6km/h为间隔划分为不同的速度区间，将各行驶片段归入相应的速度区间内，统计各速度区间内的VSP-Bin分布规律，并按照下式计算得到平均每秒的电量消耗率。4) Convert the average speed Divide it into different speed intervals at intervals of 3.6km/h, classify each driving segment into the corresponding speed interval, count the VSP-Bin distribution law in each speed interval, and calculate the average power consumption per second according to the following formula Rate.

${\stackrel{<span><span>\&OverBar;</span>\&OverBar;</span>}{\mathrm{<span><span>I</span>I</span>}}}_{\mathrm{<span><span>i</span>i</span>}}<span><span>=</span>=</span>\underset{\mathrm{<span><span>j</span>j</span>}}{\mathrm{<span><span>\&Sigma;</span>\&Sigma;</span>}}{\mathrm{<span><span>I</span>I</span>}}_{\mathrm{<span><span>j</span>j</span>}}<span><span>\&times;</span>\&times;</span>{\mathrm{<span><span>D</span>D.</span>}}_{\mathrm{<span><span>ij</span>ij</span>}}$

其中，为平均速度区间i下平均每秒的电量消耗率，A；I_j为第j个VSP-Bin下平均每秒的电量消耗率，A；D_ij为平均速度区间i下第j个VSP-Bin所占的百分比，%。in, is the average power consumption rate per second under the average speed range i, A; I_j is the average power consumption rate per second under the jth VSP-Bin, A; D_ij is the jth VSP-Bin under the average speed range i Percentage, %.

同时，利用下式将平均每秒的电量消耗率转化为平均每公里的电量消耗率，即电量消耗因子q。At the same time, use the following formula to convert the average power consumption rate per second into an average power consumption rate per kilometer, that is, the power consumption factor q.

${\mathrm{<span><span>q</span>q</span>}}_{\mathrm{<span><span>i</span>i</span>}}<span><span>=</span>=</span>\frac{{\stackrel{<span><span>\&OverBar;</span>\&OverBar;</span>}{\mathrm{<span><span>I</span>I</span>}}}_{\mathrm{<span><span>i</span>i</span>}}\underset{\mathrm{<span><span>k</span>k</span>}<span><span>=</span>=</span>\mathrm{<span><span>1</span>1</span>}}{\overset{\mathrm{<span><span>n</span>no</span>}}{\mathrm{<span><span>\&Sigma;</span>\&Sigma;</span>}}}{\mathrm{<span><span>T</span>T</span>}}_{\mathrm{<span><span>k</span>k</span>}}<span><span>/</span>/</span>\mathrm{<span><span>3600</span>3600</span>}}{\underset{\mathrm{<span><span>k</span>k</span>}<span><span>=</span>=</span>\mathrm{<span><span>1</span>1</span>}}{\overset{\mathrm{<span><span>n</span>no</span>}}{\mathrm{<span><span>\&Sigma;</span>\&Sigma;</span>}}}{\mathrm{<span><span>L</span>L</span>}}_{\mathrm{<span><span>k</span>k</span>}}}$

其中，q_i为平均速度区间i下的电量消耗因子，C/km；T_k为平均速度区间i下片段k的行驶时间，s；L_k为平均速度区间i下片段k的行驶里程。Among them, q_i is the power consumption factor under the average speed interval i, C/km; T_k is the driving time of segment k under the average speed interval i, s; L_k is the mileage of segment k under the average speed interval i.

5）根据统计得到的平均速度和电量消耗因子，运用回归模型，确定最终的基于平均速度的电动汽车电量消耗因子模型，具体如下式所示。5) According to the average speed and power consumption factor obtained by statistics, use the regression model to determine the final electric vehicle power consumption factor model based on the average speed, as shown in the following formula.

$\mathrm{<span><span>q</span>q</span>}<span><span>=</span>=</span>\mathrm{<span><span>a</span>a</span>}<span><span>/</span>/</span>\stackrel{<span><span>\&OverBar;</span>\&OverBar;</span>}{\mathrm{<span><span>V</span>V</span>}}<span><span>+</span>+</span>\mathrm{<span><span>b</span>b</span>}<span><span>\&CenterDot;</span>\&CenterDot;</span>\stackrel{<span><span>\&OverBar;</span>\&OverBar;</span>}{\mathrm{<span><span>V</span>V</span>}}<span><span>+</span>+</span>\mathrm{<span><span>c</span>c</span>}<span><span>\&CenterDot;</span>\&CenterDot;</span>{\stackrel{<span><span>\&OverBar;</span>\&OverBar;</span>}{\mathrm{<span><span>V</span>V</span>}}}^{\mathrm{<span><span>2</span>2</span>}}<span><span>+</span>+</span>\mathrm{<span><span>d</span>d</span>}<span><span>=</span>=</span>\mathrm{<span><span>12511.049</span>12511.049</span>}<span><span>/</span>/</span>\stackrel{<span><span>\&OverBar;</span>\&OverBar;</span>}{\mathrm{<span><span>V</span>V</span>}}<span><span>-</span>-</span>\mathrm{<span><span>18.066</span>18.066</span>}<span><span>\&CenterDot;</span>\&CenterDot;</span>\stackrel{<span><span>\&OverBar;</span>\&OverBar;</span>}{\mathrm{<span><span>V</span>V</span>}}<span><span>+</span>+</span>\mathrm{<span><span>0.159</span>0.159</span>}<span><span>\&CenterDot;</span>\&CenterDot;</span>{\stackrel{<span><span>\&OverBar;</span>\&OverBar;</span>}{\mathrm{<span><span>V</span>V</span>}}}^{\mathrm{<span><span>2</span>2</span>}}<span><span>+</span>+</span>\mathrm{<span><span>1846.27</span>1846.27</span>}<span><span>.</span>.</span>$

虽然以上描述了本发明的具体实施方式，但是本领域的技术人员应当理解，这些具体实施方式仅是举例说明，本领域的技术人员在不脱离本发明的原理和实质的情况下，可以对上述方法和系统的细节进行各种省略、替换和改变。例如，合并上述方法步骤，从而按照实质相同的方法执行实质相同的功能以实现实质相同的结果则属于本发明的范围。因此，本发明的范围仅由所附权利要求书限定。Although the specific embodiments of the present invention have been described above, those skilled in the art should understand that these specific embodiments are only for illustration, and those skilled in the art can make the above-mentioned Various omissions, substitutions, and changes were made in the details of the methods and systems. For example, it is within the scope of the present invention to combine the above method steps so as to perform substantially the same function in substantially the same way to achieve substantially the same result. Accordingly, the scope of the invention is limited only by the appended claims.

Claims (2)

Translated fromChinese

1.一种电动汽车续驶里程估算方法，其特征在于，包括以下步骤：1. A method for estimating the mileage of an electric vehicle, is characterized in that, comprises the following steps:1)根据预先获得的规划路径以及路网未来的交通状态，提取得到规划路径相应路段的平均速度其中，规划路径是在不考虑中途充电的情况下由路径规划算法计算得到；路段未来的平均速度可通过短时交通预测方法计算得到；1) According to the pre-obtained planning path and the future traffic status of the road network, extract the average speed of the corresponding section of the planning path Among them, the planned path is calculated by the path planning algorithm without considering the midway charging; the future average speed of the road section can be calculated by the short-term traffic prediction method;2)建立电动汽车电量消耗因子模型；所述模型的建立包括以下步骤：2) set up electric vehicle electricity consumption factor model; The establishment of described model comprises the following steps:21)引入综合变量，基于预先得到的电动汽车瞬时速度与加速度，计算每秒的综合变量值，结合对应的每秒电量消耗率形成基础数据库；所述综合变量为机动车比功率VSP，所述机动车比功率VSP为：21) Introduce a comprehensive variable, calculate the comprehensive variable value per second based on the pre-obtained instantaneous speed and acceleration of the electric vehicle, and form a basic database in combination with the corresponding power consumption rate per second; the comprehensive variable is the specific power VSP of the motor vehicle, and the The vehicle specific power VSP is:$\begin{array}{c}\mathrm{<span><span>V</span>V</span>}\mathrm{<span><span>S</span>S</span>}\mathrm{<span><span>P</span>P</span>}<span><span>=</span>=</span>\mathrm{<span><span>V</span>V</span>}<span><span>\&CenterDot;</span>\&CenterDot;</span><span><span>\&lsqb;</span>\&lsqb;</span>\mathrm{<span><span>a</span>a</span>}<span><span>+</span>+</span>\mathrm{<span><span>g</span>g</span>}<span><span>\&CenterDot;</span>\&CenterDot;</span>\mathrm{<span><span>g</span>g</span>}\mathrm{<span><span>r</span>r</span>}\mathrm{<span><span>a</span>a</span>}\mathrm{<span><span>d</span>d</span>}\mathrm{<span><span>e</span>e</span>}<span><span>+</span>+</span>\mathrm{<span><span>g</span>g</span>}<span><span>\&CenterDot;</span>\&CenterDot;</span>{\mathrm{<span><span>C</span>C</span>}}_{\mathrm{<span><span>R</span>R</span>}}<span><span>\&rsqb;</span>\&rsqb;</span><span><span>+</span>+</span>\frac{\mathrm{<span><span>1</span>1</span>}}{\mathrm{<span><span>2</span>2</span>}}{\mathrm{<span><span>\&rho;</span>\&rho;</span>}}_{\mathrm{<span><span>\&sigma;</span>\&sigma;</span>}}\frac{{\mathrm{<span><span>C</span>C</span>}}_{\mathrm{<span><span>D</span>D.</span>}}<span><span>\&CenterDot;</span>\&CenterDot;</span>\mathrm{<span><span>S</span>S</span>}}{\mathrm{<span><span>m</span>m</span>}}{\mathrm{<span><span>V</span>V</span>}}^{\mathrm{<span><span>3</span>3</span>}}\\ <span><span>=</span>=</span>\mathrm{<span><span>V</span>V</span>}<span><span>\&CenterDot;</span>\&CenterDot;</span><span><span>(</span>(</span>\mathrm{<span><span>1.1</span>1.1</span>}<span><span>\&CenterDot;</span>\&CenterDot;</span>\mathrm{<span><span>a</span>a</span>}<span><span>+</span>+</span>\mathrm{<span><span>0.132</span>0.132</span>}<span><span>)</span>)</span><span><span>+</span>+</span>\mathrm{<span><span>0.000302</span>0.000302</span>}<span><span>\&CenterDot;</span>\&CenterDot;</span>{\mathrm{<span><span>V</span>V</span>}}^{\mathrm{<span><span>3</span>3</span>}}\end{array}$其中，V为电动汽车瞬时速度，单位为km/h；a为电动汽车瞬时加速度，单位为m/s²；g为重力加速度，取9.81m/s²；grade为道路坡度，无量纲；C_R为滚动阻力系数，无量纲，取0.0135；ρ_σ为空气密度，20℃时取1.207kg/m³；C_D为风阻系数，无量纲；S为车辆前横截面积，单位为m²；m为车重，单位为kg；Among them, V is the instantaneous velocity of the electric vehicle, the unit is km/h; a is the instantaneous acceleration of the electric vehicle, the unit is m/s² ; g is the acceleration of gravity, taken as 9.81m/s² ; grade is the road gradient, dimensionless; C_R is rolling resistance coefficient, dimensionless, 0.0135;_ρσ is air density, 1.207kg/m³ at 20°C; C_D is drag coefficient, dimensionless; S is front cross-sectional area of vehicle, unit is m² ; m is the weight of the vehicle, in kg;22)按照一定的时间间隔划分行驶片段，统计每个片段的平均速度；22) Divide the driving segments according to a certain time interval, and count the average speed of each segment;将相同平均速度的行驶片段下的综合变量值合并，统计其分布规律，并计算其平均每公里的电量消耗率，即电量消耗因子；Combine the comprehensive variable values under the driving segments with the same average speed, count their distribution rules, and calculate their average power consumption rate per kilometer, that is, the power consumption factor;23)根据步骤22)统计得到的平均速度和电量消耗因子，运用数理统计的方法，确定最终的基于平均速度的电动汽车电量消耗因子模型；23) According to the average speed and power consumption factor obtained by statistics in step 22), use the method of mathematical statistics to determine the final electric vehicle power consumption factor model based on the average speed;3)将路段的平均速度代入步骤2)建立好的电动汽车电量消耗因子模型，计算得到电量消耗因子q；其中：3) Substituting the average speed of the road section into the electric vehicle power consumption factor model established in step 2), and calculating the power consumption factor q; where:$\mathrm{<span><span>q</span>q</span>}<span><span>=</span>=</span>\mathrm{<span><span>12511.049</span>12511.049</span>}<span><span>/</span>/</span>\stackrel{<span><span>\&OverBar;</span>\&OverBar;</span>}{\mathrm{<span><span>V</span>V</span>}}<span><span>-</span>-</span>\mathrm{<span><span>18.066</span>18.066</span>}<span><span>\&CenterDot;</span>\&CenterDot;</span>\stackrel{<span><span>\&OverBar;</span>\&OverBar;</span>}{\mathrm{<span><span>V</span>V</span>}}<span><span>+</span>+</span>\mathrm{<span><span>0.159</span>0.159</span>}<span><span>\&CenterDot;</span>\&CenterDot;</span>{\stackrel{<span><span>\&OverBar;</span>\&OverBar;</span>}{\mathrm{<span><span>V</span>V</span>}}}^{\mathrm{<span><span>2</span>2</span>}}<span><span>+</span>+</span>\mathrm{<span><span>1846.27</span>1846.27</span>}<span><span>;</span>;</span>$4)获取当前电池的剩余电量SOC_r，结合电量消耗因子q，经过循环计算得到剩余里程S；具体计算方法为：4) Obtain the remaining power SOC_r of the current battery, combine the power consumption factor q, and obtain the remaining mileage S through cyclic calculation; the specific calculation method is:S41、获得电动汽车剩余电量SOC_r，S41. Obtaining the remaining power SOC_r of the electric vehicle,S42、按照起点至终点的方向，对规划路径中的路段进行编号k(k＝1,2,3…)，并令初始k＝1，S＝0；S42. According to the direction from the start point to the end point, number k (k=1, 2, 3...) of the road sections in the planned route, and make the initial k=1, S=0;S43、提取第k条路段的长度L_k及其未来的平均速度代入步骤2)建立好的电量消耗因子模型，计算每公里的电量消耗；S43, extracting the length L_k of the kth road section and its future average speed into step 2) establishing a good power consumption factor model to calculate the power consumption per kilometer;S43、计算第k条路段消耗的总电量Q_k＝q·L_k；S43. Calculate the total power consumption Q_k =q·L_k of the k-th road section;S44、判断是否SOC_r>Q_k；如果是,则执行S45，然后跳转到S43；否则执行S46；S44, judging whether SOC_r >Q_k ; if yes, execute S45, and then jump to S43; otherwise, execute S46;S45、SOC_r＝SOC_r-Q_k，S＝S+L_k，k＝k+1；S45. SOC_r =SOC_r -Q_k , S=S+L_k , k=k+1;S46、续驶里程S＝S+SOC_r/q_k。S46. Driving range S=S+SOC_r /q_k .2.根据权利要求1所述的电动汽车续驶里程估算方法，其特征在于，所述步骤22)具体为：2. The method for estimating the driving range of an electric vehicle according to claim 1, wherein the step 22) is specifically:S221)基于基础数据库，以1kw/t划分VSP-Bin值，计算VSP所对应的VSP-Bin值：如果VSP∈[n,n+1)，则对应的VSP-Bin值为nkw/t，并统计各VSP-Bin对应的平均每秒的电量消耗率{I₁,I₂,I₃,…,I_j}，单位是C/s；S221) Based on the basic database, divide the VSP-Bin value by 1kw/t, and calculate the VSP-Bin value corresponding to the VSP: if VSP∈[n,n+1), then the corresponding VSP-Bin value is nkw/t, and Count the average power consumption rate per second corresponding to each VSP-Bin {I₁ , I₂ , I₃ ,…,I_j }, the unit is C/s;S222)将平均速度以3.6km/h为间隔划分为不同的速度区间，将各行驶片段归入相应的速度区间内，统计各速度区间内的VSP-Bin的分布规律，计算得到平均速度区间i下平均每秒的电量消耗率S222) the average speed Divide it into different speed intervals at intervals of 3.6km/h, classify each driving segment into the corresponding speed interval, count the distribution law of VSP-Bin in each speed interval, and calculate the average speed per second under the average speed interval i power consumption rate${\stackrel{<span><span>\&OverBar;</span>\&OverBar;</span>}{\mathrm{<span><span>I</span>I</span>}}}_{\mathrm{<span><span>i</span>i</span>}}<span><span>=</span>=</span>\underset{\mathrm{<span><span>j</span>j</span>}}{<span><span>\&Sigma;</span>\&Sigma;</span>}{\mathrm{<span><span>I</span>I</span>}}_{\mathrm{<span><span>j</span>j</span>}}<span><span>\&times;</span>\&times;</span>{\mathrm{<span><span>D</span>D.</span>}}_{\mathrm{<span><span>i</span>i</span>}\mathrm{<span><span>j</span>j</span>}}$其中，I_j为第j个VSP-Bin下平均每秒的电量消耗率；D_ij为平均速度区间i下第j个VSP-Bin所占的百分比；Among them, I_j is the average power consumption rate per second under the jth VSP-Bin; D_ij is the percentage of the jth VSP-Bin under the average speed interval i;S223)并通过下式将转化为电量消耗因子q_i：S223) and pass the following formula Converted to power consumption factor q_i :${\mathrm{<span><span>q</span>q</span>}}_{\mathrm{<span><span>i</span>i</span>}}<span><span>=</span>=</span>\frac{{\stackrel{<span><span>\&OverBar;</span>\&OverBar;</span>}{\mathrm{<span><span>I</span>I</span>}}}_{\mathrm{<span><span>i</span>i</span>}}\underset{\mathrm{<span><span>k</span>k</span>}<span><span>=</span>=</span>\mathrm{<span><span>1</span>1</span>}}{\overset{\mathrm{<span><span>n</span>no</span>}}{<span><span>\&Sigma;</span>\&Sigma;</span>}}{\mathrm{<span><span>T</span>T</span>}}_{\mathrm{<span><span>k</span>k</span>}}<span><span>/</span>/</span>\mathrm{<span><span>3600</span>3600</span>}}{\underset{\mathrm{<span><span>k</span>k</span>}<span><span>=</span>=</span>\mathrm{<span><span>1</span>1</span>}}{\overset{\mathrm{<span><span>n</span>no</span>}}{<span><span>\&Sigma;</span>\&Sigma;</span>}}{\mathrm{<span><span>L</span>L</span>}}_{\mathrm{<span><span>k</span>k</span>}}}<span><span>;</span>;</span>$其中，q_i为平均速度区间i下的电量消耗因子，单位为C/km；T_k为平均速度区间i下片段k的行驶时间，单位为s；L_k为平均速度区间i下片段k的行驶里程，单位为km。Among them, q_i is the power consumption factor under the average speed interval i, and the unit is C/km; T_k is the driving time of section_k under the average speed interval i, and the unit is s; The mileage, in km.