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Shared electric vehicle path planning method fusing hierarchical planning and A* algorithm

A technology of electric vehicles and hierarchical planning, applied in the direction of motor vehicles, non-electric variable control, vehicle position/route/height control, etc., can solve problems such as long solution time, large memory space, and reduced efficiency, and achieve high flexibility , Accurate battery life, and the effect of shortening the time

Active Publication Date: 2021-06-01
SHANGHAI UNIVERSITY OF ELECTRIC POWER
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AI Technical Summary

Problems solved by technology

Many algorithms have the problems of occupying a lot of memory space and taking a long time to solve when they are applied. When applied to large-scale path planning, the increase in the number of nodes will lead to a significant decrease in efficiency

Method used

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  • Shared electric vehicle path planning method fusing hierarchical planning and A* algorithm
  • Shared electric vehicle path planning method fusing hierarchical planning and A* algorithm
  • Shared electric vehicle path planning method fusing hierarchical planning and A* algorithm

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Embodiment

[0215] The present invention proposes a shared electric vehicle exchange and charging path planning method that combines layered planning and A* algorithm. Firstly, combining the current car rental charging method and taking into account the charging characteristics of shared electric vehicles, the minimum comprehensive cost and time are constructed. The shortest objective function; then, according to the connectivity of the road and the effectiveness of the route optimization search direction, the route selection constraints are established, and then considering factors such as traffic flow, road slope and air-conditioning energy consumption, the battery life of the electric vehicle Accurate evaluation is carried out, and then a vehicle replacement and charging path planning model that meets the travel needs of shared electric vehicles is formed.

[0216] Then, according to the high-dimensional complexity of the built model, the combination of hierarchical programming and A* a...

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Abstract

The invention relates to a shared electric vehicle path planning method fusing hierarchical planning and an A * algorithm. The method comprises the following steps of: 1) dividing a road network into a high-level road network and a high-rise road network; 2) searching by adopting the A * algorithm to obtain an entrance node o and an exit node d of the high-rise road network; (3) obtaining a sectional optimal path under corresponding planning objectives by using the A* algorithm;(4) obtaining the residual electric quantity corresponding to the optimal path, judging whether the battery electric quantity of a shared electric vehicle driven by a user is sufficient or not according to the residual electric quantity, if the battery electric quantity is sufficient, using the optimal path as the final optimal path to complete the current driving, and if the battery electric quantity is insufficient, providing a vehicle changing or charging service according to the position of a service station, and updating the residual electric quantity corresponding to the optimal path until the battery electric quantity is sufficient. Compared with the prior art, the method has the advantages of rapidness, accuracy, high search efficiency, wide application range and the like.

Description

technical field [0001] The invention relates to the field of path planning for electric vehicles, in particular to a path planning method for shared electric vehicles that combines hierarchical planning and A* algorithm. Background technique [0002] As a new means of transportation, shared electric vehicles have improved the efficiency of car use, reduced the number of private cars, and effectively alleviated problems such as traffic congestion and parking difficulties through the circular sharing model, and thus have received widespread attention. However, compared with traditional cars, shared electric vehicles face new challenges such as short cruising range, lack of service station information, and various charging methods. The existing vehicle navigation system cannot be directly applied to the path planning of shared electric vehicles. Therefore, in On the basis of considering the user's travel needs, how to reduce the user's mileage anxiety and reasonably plan the be...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0221G05D1/0276
Inventor 葛晓琳符杨何鈜博米阳黄玲玲
Owner SHANGHAI UNIVERSITY OF ELECTRIC POWER
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