Electric vehicle power path planning method compatible with energy storage charging piles

Abstract

The present invention discloses a method for planning the power path of an electric vehicle compatible with an energy storage charging pile, comprising the following steps: 1) the charging piles of the entire network submit the status information of the pile to the dispatching system platform, and the electric vehicle applies for a reservation from the dispatching system platform before departure; 2) finding the shortest path from the departure point to the destination; 3) the dispatching system platform determines whether the reserved allocated power of the electric vehicle at one or more charging piles along the path meets the endurance requirement of driving to the destination; 4) if it meets, a full reservation plan is generated; 5) if it does not meet, the shortest path is excluded, and the shortest path is found in the remaining paths, and the execution is repeated from step 3) until all paths are traversed. The method of the present invention can realize the full-course power path planning of electric vehicles, and realize the integrated use of energy storage charging piles and power grid direct supply charging piles by using arrival time matching. At the same time, the charging dispatch of the vehicle is performed through the dispatching system platform, so as to realize the full use of the charging pile resources of the entire network, especially the power of the energy storage piles.

Description

Technical Field

[0001] The present invention belongs to the field of electric vehicle power path planning methods, and in particular relates to an electric vehicle power path planning method that is compatible with energy storage charging piles. Background Art

[0002] At present, electric vehicles based on new energy sources, such as electric vehicles, electric boats, and drones, have been widely used. There are many existing methods for charging route planning of electric vehicle power, but they are basically only applicable to charging piles or charging stations directly supplied by the power grid. In addition, the existing charging route planning of electric vehicles is mostly based on detecting the remaining power of the current electric vehicle power battery to find the next rechargeable charging station for users to choose. For long-distance vehicles that must be charged multiple times to reach the destination, there is no reasonable and effective full-course power route planning method. Energy storage charging piles have the advantages of slow storage and fast discharge, but because the energy storage of energy storage charging piles or charging stations is limited, idle periods are not equivalent to effective charging periods with sufficient energy storage, and there is currently no effective reservation method. Furthermore, for road networks that include energy storage charging piles or charging stations, how to realize the integrated use of energy storage charging piles and power grid charging piles in the entire network, and even to realize the full use of charging pile resources in the entire network, especially the energy storage power of energy storage piles, to serve more electric vehicles, is also a problem that has not yet been solved. Summary of the invention

[0003] In view of the problems existing in the above-mentioned prior art, the present invention provides a method for planning the power path of an electric vehicle compatible with an energy storage charging pile, which realizes the integrated use of energy storage charging piles and power grid charging piles by using arrival time matching and energy time differentiation, and at the same time, performs charging scheduling for the vehicle through the scheduling system platform, so as to realize the full utilization of the charging pile resources of the whole network, especially the energy storage power of the energy storage charging pile. Another object of the present invention is to provide a method for booking the power of an energy storage charging pile, so as to realize multi-user booking of the power of the energy storage charging pile.

[0004] The present invention adopts the following technical solutions to solve the above technical problems:

[0005] A method for planning a power path for an electric vehicle compatible with an energy storage charging pile, wherein the energy storage charging pile is powered by renewable energy generation or complementary energy storage purchased from a power grid, comprising the following steps:

[0006] 1) All charging piles in the entire network submit their own pile status information to the dispatching system platform respectively. Before departure, electric vehicle users apply for a power reservation from the departure point O to the destination D through a network connection to the dispatching system platform. The power reservation application includes the following information: electric vehicle model, vehicle load mass, departure time, departure point O, destination D and the remaining power of the electric vehicle power battery at the departure time;

[0007] 2) The dispatching system platform searches for the shortest path l from the departure point O to the destination D on the existing map z , z = 1;

[0008] 3) The dispatching system platform determines when the electric vehicle chooses to charge on the shortest path l according to the status information of each charging pile submitted by the charging pile and the power reservation application submitted by the electric vehicle user. z One or more charging piles along the way are reserved for charging, and whether the reserved allocated power at each reserved charging pile meets the endurance requirement of the electric vehicle from the departure point O to the destination D; if "yes", execute step 4); if "no", go to step 5);

[0009] 4) The dispatching system platform generates a full-trip reservation plan for the electric vehicle, and the full-trip reservation plan includes assigning the shortest path l to the electric vehicle. z The scheduling system platform guides the electric vehicle to travel and charge according to the full-time reservation plan.

[0010] 5) The dispatching system platform excludes the shortest path l z , z = z + 1, and then find a new shortest path l from the remaining path from the departure point O to the destination D z , if a new shortest path l is found z Then loop through steps 3) to 5). If no new shortest path l can be found, z Then, the reservation failure information is returned to the electric car user.

[0011] In the step 3), the electric vehicle selects the shortest path l z One or more charging stations along the way are reserved for charging. The selection method is as follows: Assume the shortest path l z There are n charging piles distributed along the way, and the combination of charging piles that the electric car can choose to charge is You can choose any combination of charging piles or make an appointment to use the charging pile combination with the least number of charging piles for charging.

[0012] In the step 3), it is determined that when the electric vehicle is on the shortest path l z One or more charging piles along the way are reserved for charging. Whether the reserved allocated power at each reserved charging pile meets the endurance requirement of the electric vehicle from the departure point O to the destination D is determined by the following specific method:

[0013] Assume that the electric car is on the shortest path l zThe combination of charging piles that are scheduled to charge in sequence along the way is (j x1 , j x2 , …j xk ) T , judge each charging pile j in sequence w , whether the corresponding reserved allocated power satisfies inequality group 2-1-1. If they all satisfy, then the shortest path l z meets the endurance requirement of the electric vehicle from the departure point O to the destination D; otherwise, the shortest path l z The electric vehicle does not meet the endurance requirement for traveling from the departure point O to the destination D;

[0014]

[0015] In inequality group 2-1-1, RE i (t w ) is the estimated time for electric vehicles to reach the charging station j w Time t w The remaining power, TP w Indicates that electric vehicles are on charging piles w The reserved power allocation, EC w，w+1 It indicates the estimated electric vehicle charging from the current charging pile j w Go to the next charging station w+1 Energy consumption, if the charging pile j w is the shortest path l z The last charging station, EC w，w+1 It indicates the estimated electric vehicle charging from the current charging pile j w Energy consumption to destination D; bat_cap str is the initial remaining power of the power battery at the start time t0 of the electric vehicle; Indicates the electric vehicle charging pile combination (j x1 , j x2 , …j xk ) T The total amount of electricity allocated for all reserved charging piles in EC 0，n+1 It indicates the estimated shortest path l from the starting point O to the electric vehicle z The total energy consumption to reach destination D.

[0016] The electric vehicle arrives at the charging station j w Time t w , estimated according to formula 6-1:

[0017] t w =t0+the sum of the previous scheduled charging time+the sum of the previous waiting time for charging+t 0，w 6-1

[0018] In Formula 6-1, t0 represents the departure time of the electric vehicle; t 0，w It indicates the estimated shortest path l from the starting point O to the electric vehicle. z Arrive at the charging station w The total of the previously scheduled charging time refers to the estimated shortest path l from the starting point O to the electric vehicle. z Arrive at the charging station w The total time of the reserved charging time of other charging piles along the way is the estimated time of the electric vehicle from the starting point O along the shortest path l z Arrive at the charging station w The accumulated waiting time for charging at other charging piles along the way.

[0019] The electric vehicle reaches the charging pile w Time t w Remaining power RE i (t w ), according to the estimation of formula 7-1:

[0020] RE i (t w ) = bat_cap str +Total electricity allocated by prior reservation -EC 0，w 7-1

[0021] In formula 7-1, bat_cap str is the initial remaining power of the electric vehicle when it sets out; the sum of the previously reserved power allocations refers to the sum of the power allocated by the electric vehicle from the starting point O along the shortest path l z Arrive at the charging station w Time t w , the cumulative value of the reserved power allocation reserved at other charging piles along the way; EC 0，w It indicates the estimated shortest path l from the starting point O to the electric vehicle. z Drive to the charging station w energy consumption.

[0022] The electric vehicle is charged at a charging station w The reserved power allocation TP w , when the charging pile w For energy storage charging piles, reserve and allocate power TP w The specific steps of the estimation method are as follows:

[0023] (10-1-1), assuming that the electric vehicle is electric vehicle i, firstly, it is assumed that electric vehicle i arrives at charging station j. w The time t w The subsequent queue waiting time limit σ, σ is a custom time value;

[0024] (10-1-2), according to the charging pile j w For a list of appointment services, please visit t w to w +σ between charging piles j w If the idle time period types found are all energy storage time periods, then charging pile j w It is not possible to allow electric vehicles i to make reservations for charging, i.e., to make reservations for the allocation of power TP w =0; if the idle time period type found is an allocatable power idle time period, then go to step (10-1-3);

[0025] (10-1-3) Check the charging pile w Booking service list, if in t w to w +σ between charging piles j w The idle time period is Indicated in After that, no car has made an appointment to charge. is the idle period of allocable power and is infinite; if at t w to w +σ between charging piles j w If the idle time period is not infinite, go to step (10-1-4); if the front vehicle i1 is already Time period appointment charging, including t1, They correspond to the scheduled charging start time and the scheduled charging end time of the preceding vehicle i1, E(t1), One-to-one correspondence is estimated at t1, Charging station at all times w The remaining power of the front vehicle i1 is

[0026] Electric car i at charging station j w Scheduled charging start time According to the following formula 10-1, it is estimated:

[0027]

[0028] Charging pile w exist Distributable power within Estimate according to the following equation group 10-2:

[0029]

[0030] The constraints of equation 10-2 are as follows:

[0031]

[0032] Electric car i at charging station j w of The reserved power allocation TP w According to formula 10-3, it is estimated:

[0033]

[0034] Electric car i at charging station j w Scheduled charging time According to formula 10-4, it is estimated:

[0035]

[0036] Charging pile w Corresponding to the scheduled charging start time The remaining power is Charging pile w Corresponding to the scheduled charging end time The remaining power is

[0037] Step (10-1-3) The variables in the above formulas are uniformly defined as follows: For electric vehicles i at charging pile j w The scheduled charging start time; t w To estimate the time it takes for electric vehicle i to reach charging station j w moment; For charging pile w exist Distributable power within The scheduled charging end time for the preceding vehicle i1 Charging pile w The remaining power; 蓄 (t) is the predicted charging pile j at time t w The energy storage power is obtained by the existing technical prediction method; For charging pile w Constant output power; E 额 For charging pile w Rated capacity of the energy storage battery; t 额 For Internal charging station w Energy storage reaches rated capacity E 额 moment; bat_cap i is the rated capacity of the electric vehicle’s power battery, RE i (t w ) is the estimated time for electric vehicle i to reach charging station j w Time t w The remaining power; TP wFor electric vehicles i at charging pile j w of The reserved power allocation within For electric vehicles i at charging pile j w The scheduled charging time;

[0038] (10-1-4), if at t w to w +σ between charging piles j w The idle time period is the allocable power idle time period and is of finite length. Assume that the front vehicle i1 is already Time period at charging station w Schedule charging, scheduled power allocation is There is a car ahead i2 already Time period at charging station w Schedule charging, scheduled power allocation is Among them, t1, They correspond to the scheduled charging start time and the scheduled charging end time of the preceding vehicle i1, t2, They are respectively the scheduled charging start time and the scheduled charging end time of the front vehicle i2; E(t1), , E(t2), One-to-one correspondence is estimated at t1, t2, Charging station at all times w The remaining power; is the idle period of available power, charging pile j w During the idle period of available power The prerequisite for allowing electric vehicles to jump the queue for charging reservations is that they cannot affect those who have already made reservations in that time period. The scheduled power allocation and scheduled charging start and end time of other vehicles in front of the charging vehicle, that is, first of all, it is necessary to ensure that the front vehicle i2 is in the scheduled charging period The reserved allocated power TP2 remains unchanged, that is, the following formula 10-5 must be satisfied:

[0039]

[0040] The constraints of formula 10-5 are:

[0041] From formula 10-5 and its constraints, we can infer that charging pile j w The latest charging end time for electric vehicle i when electric vehicle i is allowed to jump the queue for charging Then the charging pile j w During the idle period of the allocatable power Distributable power Estimated according to the following equation 10-6:

[0042]

[0043] In the above formulas 10-5 and 10-6, electric vehicle i is charged at charging station j. w Scheduled charging start time Estimate according to formula 10-7:

[0044]

[0045] According to formula 10-6 Electric car i at charging station j w of The reserved power allocation TP w Estimate according to formula 10-8:

[0046]

[0047] TP obtained from formula 10-8 w , electric vehicle i at charging station j w Scheduled charging time Estimate according to formula 10-9:

[0048]

[0049] If there is another vehicle ahead of electric car i that arrives at charging station j earlier than electric car i w Schedule charging, but the scheduled charging time is within the scheduled charging time of the front vehicle i2 After that, the charging pile j w During the idle period of available power The prerequisite for allowing electric car i to jump the queue and make a reservation for charging is that the front car i2 must be in the scheduled charging time. The scheduled allocated power TP2 of the vehicle remains unchanged, and the scheduled start and end time and scheduled allocated power of all other preceding vehicles remain unchanged. The specific method is as follows:

[0050] If there are other cars before i4, please book in The time period charging, the scheduled allocation of power is TP4, where TP w The following formula 10-10 must also be satisfied:

[0051]

[0052] If TP w If formula 10-10 is not satisfied, reduce TP w , corresponding According to formula 10-9, it also decreases until formula 10-10 is satisfied;

[0053] If the i4 in front has a scheduled charging time Then there are other cars i5, i6, etc., which are ahead of electric car i and arrive at charging station j. w For scheduled charging, the same method as the previous car i4 is used; until TP w It can ensure that the scheduled start and end times and the scheduled allocated power of all other preceding vehicles remain unchanged; if TP w reduced to the preset threshold, but it cannot guarantee that the scheduled start and end time and the scheduled allocated power of all the other preceding vehicles remain unchanged, then the charging pile j w Electric vehicles are not allowed to be used during idle time Jump in line to make an appointment for charging, that is, make an appointment to allocate power TP w =0;

[0054] If the final TP w ≠0, then charging pile j w Corresponding to the scheduled charging start time The remaining power is Charging pile w Corresponding to the scheduled charging end time The remaining power is

[0055] Step (10-1-4) The variables in the above formulas are uniformly defined as follows: TP2 is the time period of the preceding vehicle i2 during the scheduled charging period. The reserved power allocation; The scheduled charging end time for the preceding vehicle i1 Charging pile w The remaining power; 蓄 (t) is the predicted charging pile j at time t w The energy storage power is obtained by the existing technical prediction method; For charging pile w Constant output power; For electric vehicles i at charging pile j w The scheduled charging start time; t w To estimate the time it takes for electric vehicle i to reach charging station j w The moment; E 额 For charging pile w Rated capacity of the energy storage battery; For charging pile w The latest charging end time of electric vehicle i when electric vehicle i is allowed to jump the queue for charging reservation; To estimate the charging pile j w exist Distributable power within; t额 For the estimated Internal charging station w Energy storage reaches rated capacity E 额 moment; bat_cap i is the rated capacity of the electric vehicle’s power battery, RE i (t w ) is the estimated time for electric vehicle i to reach charging station j w Time t w The remaining power; TP w For electric vehicles i at charging pile j w of The reserved power allocation within For electric vehicles i at charging pile j w TP4 is the scheduled charging time of the front car i4 The reserved electricity is allocated in time periods.

[0056] The step (10-1-5) is also included: after each Δt period, the dispatching system platform updates the charging pile j according to the updated w The reservation service list is executed from step (10-1-2) to step (10-1-4), and the reservation allocation power TP is re-estimated. w .

[0057] The electric vehicle is charged at a charging station w The reserved power allocation TP w , when the charging pile w When the charging pile is directly supplied by the power grid, reserve the power allocation TP w The specific steps of the estimation method are as follows:

[0058] (10-2-1), assuming that the electric vehicle is electric vehicle i, first set the electric vehicle i to reach charging station j w The time t w The subsequent queue waiting time limit σ, σ is a custom time value;

[0059] (10-2-2), according to the charging pile j w The reservation service list finds the electric car i that arrives at the charging station j w The time t w to w +σ, whether there is an idle time period; if there is no idle time period, then estimate the charging pile j w The distributable power Q that can be provided to electric vehicle i w (i)=0; Electric vehicle i is at charging station j w The reserved power allocation TP w =0; if there is an idle time period, go to step (10-2-3);

[0060] (10-2-3) If the idle time period is infinite, record it as in The corresponding time is the scheduled charging end time of the preceding vehicle i1. After that, there is no other vehicle ahead to make a reservation for charging; then electric vehicle i is at charging station j w The reserved power allocation TP w According to formula 10-11, it is estimated:

[0061] TP w =bat_cap i -RE i (t w ) 10-11

[0062] In formula 10-11, bat_cap i is the rated capacity of the electric vehicle’s power battery, RE i (t w ) is the estimated time for electric vehicle i to reach charging station j w Time t w The remaining power;

[0063] Electric car i at charging station j w Scheduled charging start time where t w To estimate the time when electric vehicle i reaches charging station j w time;

[0064] TP obtained from formula 10-11 w , book charging time in For charging pile w Constant output power;

[0065] (10-2-4) If the idle time period is of finite length, that is, assume that the preceding vehicle i1 is already Time period at charging station w Make an appointment to charge; the i2 in front is already Time period at charging station w Scheduled charging; t1, They correspond to the scheduled charging start time and the scheduled charging end time of the preceding vehicle i1, t2, They are respectively the scheduled charging start time and the scheduled charging end time of the front vehicle i2; The following formula 10-12 is used to estimate the charging station j of electric vehicle i. w The reserved power allocation TP w :

[0066]

[0067] In formula 10-12, bat_cap i is the rated capacity of the electric vehicle’s power battery, RE i (t w ) is the estimated time for electric vehicle i to reach charging station j w Time t w The remaining power; For charging pile w Constant output power; For electric vehicles i at charging pile j w The scheduled charging start time,

[0068] Electric car i at charging station j w Scheduled charging time

[0069] The electric vehicle reaches the charging pile w Time t w , use t w -θ or t w +θ, where θ is a custom duration value.

[0070] The method for planning the power path of an electric vehicle compatible with an energy storage charging pile also includes a method for adjusting the preceding vehicle as follows:

[0071] Assume that before electric vehicle i makes a reservation, the preceding vehicles have made reservations for charging and have generated their own full-trip reservation plans; when electric vehicle i makes a reservation for charging according to the electric vehicle power path planning method compatible with energy storage charging piles, when the selected path set L from the departure point O to the destination D = {l1, ..., l a The shortest path l in z If the full-trip range requirement is not met, the full-trip reservation plan of the preceding vehicle is adjusted, including canceling or reducing the reserved power allocation of the preceding vehicle at one or more shared piles, and then the shortest path l of electric vehicle i is calculated respectively. z The paths of the original full-trip reservation plan of the front vehicle are used to determine whether they meet the full-trip endurance requirements of electric vehicle i and the front vehicle respectively. If both meet the requirements, the scheduling system platform generates a full-trip reservation plan for the electric vehicle i and a new full-trip reservation plan for the front vehicle, and the adjustment is successful. If any vehicle does not meet the full-trip endurance requirements, the front vehicle cannot be adjusted and the original full-trip reservation plan of the front vehicle is restored.

[0072] The method for booking the power of an energy storage charging pile includes the following steps:

[0073] (1) The energy storage charging pile establishes and stores a reservation service list for the pile. The fields in the reservation service list include the electric vehicle user name, electric vehicle brand number, vehicle model, scheduled charging start time and the remaining power of the charging pile corresponding to this time, scheduled charging end time and the remaining power of the charging pile corresponding to this time, scheduled allocated power, scheduled charging duration, type of idle time period and the corresponding allocable power;

[0074] (2) The energy storage charging pile shall announce the type of each idle time period and the corresponding allocable power of the charging pile without affecting the time period and the allocated power of the preceding vehicle already reserved for charging at the charging pile;

[0075] (3) The electric vehicle onboard terminal connects to the energy storage charging pile through a wireless network to obtain the type of idle time period announced in step (2) and the corresponding allocable power. The electric vehicle user selects a suitable idle time period according to needs and makes an appointment to charge the energy storage charging pile through the electric vehicle onboard terminal;

[0076] (4) After the electric vehicle makes a reservation, the energy storage charging pile updates the reservation service list of the pile according to the reservation result of step (3).

[0077] In step (2), the energy storage charging pile announces the type of each idle time period of the pile and the corresponding allocable power, and the specific method is as follows:

[0078] The idle time period is divided into energy storage charging pile j w There are two types: energy storage period and distributable power idle period; find energy storage charging pile j w List of appointment services with available time slots There are cars ahead and behind that have already made reservations for charging. If the car ahead i1 is already The time period is reserved for charging, and the reserved power allocation is There is a car ahead i2 already The time period is reserved for charging, and the reserved power allocation is Among them, t1, They correspond to the scheduled charging start time and the scheduled charging end time of the preceding vehicle i1, t2, are respectively the scheduled charging start time and the scheduled charging end time corresponding to the preceding vehicle i2; One-to-one correspondence is estimated at t1, t2, Energy storage charging pile w The remaining power;

[0079] (A) Idle time The type of the published method is as follows:

[0080] When the following formula 9-1 is satisfied, the For energy storage charging pile w The energy storage period;

[0081]

[0082] In formula 9-1, E 额 For energy storage charging pile w Rated capacity of the energy storage battery; p 蓄 (t) is the predicted energy storage charging pile j at time t w The energy storage power is predicted by the existing technical method;

[0083] Energy storage charging pile w The energy storage period can only be used for energy storage in this pile, that is, the corresponding distributable power is 0;

[0084] (B) Energy storage charging pile w The method for publishing the allocatable power idle time period is as follows:

[0085] In the energy storage charging pile w In all idle time periods, exclude the energy storage charging pile j published in step (A) w After the energy storage period, the remaining is the energy storage charging pile j w The idle period of allocatable power;

[0086] The idle time period of allocable power is divided into time points according to a fixed time length ρ, ρ is a custom constant, and the idle time period is The idle time period for allocating power can be divided into At a certain time point, let the scheduled charging start time of the electric vehicle in the idle period of allocable power be time point; then the energy storage charging pile j w The allocatable power idle period must satisfy the following formula 9-2:

[0087]

[0088] The constraints of formula 9-2 are:

[0089] In formula 9-2 and its constraints, p 蓄 (t) is the predicted energy storage charging pile j at time t w The energy storage power is predicted by the existing technical method; For energy storage charging pile w The constant output power, E 额 For energy storage charging pile w Rated capacity of the energy storage battery; The latest charging completion time for electric vehicles;

[0090] The latest charging end time of electric vehicles can be obtained from formula 9-2 and its constraints: For energy storage charging pile w Energy storage period;

[0091] Energy storage charging pile w During the idle time period of available power Inside The corresponding allocable power Q at the time point w (t) is estimated according to the following equation group 9-3:

[0092]

[0093] In equation group 9-3, t 额 If the energy storage charging pile j w When the energy storage reaches the rated capacity, the definitions of the remaining variables are the same as those in equation 9-2 and its constraints;

[0094] In the energy storage charging pile w The available power idle time period is published in the reservation service list Inside The corresponding allocable power Q at the time point w (t); other time points compared Time to be announced.

[0095] During the idle time period The type publication method also includes: after each Δt period, the scheduling system platform re-estimates the charging pile j in formula 9-1 w Comprehensive energy storage capacity And recalculate and publish according to formula 9-1, update the charging pile j w List of appointment services.

[0096] In the energy storage charging pile j w The method for publishing the idle time period of allocable power also includes: after each Δt period, the dispatching system platform re-estimates the number of charging piles j in formula 9-2 w Comprehensive energy storage capacity and And re-estimate and publish according to formula 9-2 and its constraints, formula 9-3, and update the charging pile j w List of appointment services.

[0097] Beneficial effects of the present invention:

[0098] 1. Realize the whole-course power path planning of the vehicle. The shortest feasible path planned meets the requirements of energy saving, user needs and low-carbon social needs.

[0099] 2. Based on the energy storage prediction of the energy storage charging pile, unified calculation is achieved on the multi-user charging behavior and the discharging behavior of the energy storage charging pile in the time dimension, and multi-user reservation of the energy storage charging pile power is realized.

[0100] 3. The arrival time matching and energy time differentiation are used to realize the integrated use of energy storage charging piles and power grid charging piles, which improves the integrity of the charging pile network and lays the foundation for the fast charging network.

[0101] 4. The charging of vehicles is scheduled through the dispatching system platform, and the original disorderly reservation based on the charging pile position designated by the user is upgraded to a unified planning and allocation by the dispatching platform based on the energy demand of users in the entire network and the charging pile resources, and the users are dispatched in a directive manner, so as to maximize the utilization of resources and meet the driving needs of more vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0102] Figure 1 1 is a schematic diagram of announcing the idle time period of the energy storage charging pile as the energy storage time period of the energy storage charging pile according to method nine in embodiment 5 of the present invention. In the figure, the vertical axis E represents the remaining power of the energy storage charging pile, and the horizontal axis t represents time; t1, They correspond to the scheduled charging start time and the scheduled charging end time of the preceding vehicle i1, t2, TP2 is the scheduled charging start time and the scheduled charging end time corresponding to the preceding vehicle i2; TP3 is the charging start time and the charging end time corresponding to the preceding vehicle i2; The reserved power allocation for the time period reserved charging; 额 is the rated capacity of the energy storage battery of the energy storage charging pile; E(t1), E(t2) corresponds to the time at t1, Energy storage charging pile j at time t2 w remaining power.

[0103] Figure 2 The present invention is a second embodiment of the method 10 when the charging pile j w During the idle period with limited allocatable power Schematic diagram of allowing electric car i to jump the queue and make an appointment for charging; in the figure, the vertical axis E represents the remaining power of the energy storage charging pile, and the horizontal axis t represents time, t1, They correspond to the scheduled charging start time and the scheduled charging end time of the preceding vehicle i1, t2, are the scheduled charging start time and the scheduled charging end time of the front vehicle i2, respectively, t w To estimate the time it takes for electric vehicle i to reach charging station j w moment, For charging pile w When electric vehicle i is allowed to jump the queue for scheduled charging, when the latest charging time of electric vehicle i is completed, t4, The scheduled charging start time and the scheduled charging end time of the preceding vehicle i4 are respectively corresponding to E 额 It is the rated capacity of the energy storage battery of the energy storage charging pile. DETAILED DESCRIPTION

[0104] The technical solution of the present invention is described in detail below in conjunction with specific embodiments and drawings, but does not constitute a limitation on the protection scope of the claims of the present invention.

[0105] Before describing the specific embodiments, methods 1 to 10 involved in the specific embodiments of the present invention are described as follows.

[0106] Method 1: How to obtain segmented path distance:

[0107] The dispatching system platform obtains the path l according to the received location coordinates of the charging pile z All charging piles distributed along the way, assuming there are n charging piles, the n charging piles are connected from the starting point O along the path l z The directed sequence matrix of is represented as (j1, j2, …j n ) T . Use (j0, j1, ..., j n , j n+1 ) T Indicates path l z The segmentation point directed sequence matrix is ​​composed of the departure point O, the n charging piles distributed along the way, and the destination D as the segmentation points, where j0 corresponds to the departure point O, j n+1 The corresponding destination is D.

[0108] The dispatching system platform obtains (j0, j1, ..., j n , j n+1 ) T The path distance between two adjacent segment points is obtained by using the directed sequence matrix (dist 0，1 , dist 1，2 , …dist n-1，n , dist n，n+1 ) T Indicates that dist 0，1 represents the path distance from the starting point O to the first charging station j1, dist 1，2 represents the path distance from the first charging pile j1 to the second charging pile j2, and so on. n，n+1 Indicates that the nth charging station j n The path distance to destination D.

[0109] Method 2: Method for estimating the segmented route travel time of electric vehicle i:

[0110] According to formula 2-1, the segmented route travel time t of electric vehicle i is estimated w-1，w :

[0111]

[0112] In formula 2-1, dist w-1，w represents the value obtained from segment point j by method 1 w-1 To segment point j w The path distance, Indicates that electric vehicle i starts from segment point j w-1 To segment point j w The average speed, It can be extracted from the traffic history big data, the number of times electric vehicle i passed through dist in the historical statistical time period w-1，w The average speed of the traffic, or the average speed of the traffic from the historical big data through the dist w-1，w The average speed of all vehicles in the historical statistics time period is customized.

[0113] The segmented route travel time t of electric vehicle i w-1，w It can also be obtained directly from existing GIS maps.

[0114] Method 3: A method for estimating the energy consumption of electric vehicle i on a segmented path can be one of the following two methods:

[0115] Method 1: Estimate the segmented path energy consumption of electric vehicle i according to the following formula 3-1:

[0116]

[0117] In formula 3-1, EC w-1，w It indicates the estimated value of electric vehicle i from segment point j w-1 To segment point j w Energy consumption, segment point j w-1 and segment point j w Obtained by method 1, dist w-1，w The definition is the same as that of formula 2-1, where Aver is the power consumption per unit mileage of electric vehicle i.

[0118] The power consumption per unit mileage Aver is calculated according to formula 3-2:

[0119]

[0120] In formula 3-2, m 车 is the body mass of electric vehicle i, m 负 is the vehicle mass of electric vehicle i. If the model of electric vehicle i is not the first model booked on the dispatching system platform, then The dispatching system platform extracts the historical specific energy consumption coefficient of electric vehicle i from the historical traffic big data; if it is the first reservation model, the specific energy consumption coefficient is calculated according to formula 3-3

[0121]

[0122] In formula 3-3, S max Provide manufacturers with the maximum range of electric vehicle models, bat_cap i is the rated capacity of the power battery of electric vehicle i, m 车 The definition is the same as formula 3-2.

[0123] Method 2: Estimate the segmented path energy consumption EC of electric vehicle i according to the following formula 3-4: w-1，w :

[0124]

[0125] In formula 3-4, EC w-1，w The definition is the same as in formula 3-1, dist w-1，w The definition is the same as that of formula 2-1, kWh is the power consumption per 100 kilometers of electric vehicle i, and the power consumption per 100 kilometers can be obtained from factory parameters or from historical traffic big data.

[0126] Method 4: Use the following formula 4-1 to estimate the charging time of electric vehicle i at charging station j w Charging time

[0127]

[0128] In formula 4-1, Indicates charging pile j w The constant output power, TP w The estimated value of electric vehicle i at charging station j by method 10 w The reserved electricity allocation.

[0129] Method 5: Use the following formula 5-1 to estimate the charging time of electric vehicle i at charging station j w Waiting time for charging

[0130]

[0131] In formula 5-1, is the scheduled charging start time estimated by method 10, t w The estimated arrival time of electric vehicle i at charging station j using method 6 w moment.

[0132] Method 6: Use the following formula 6-1 to estimate the time it takes for electric vehicle i to reach charging station j w The time t w :

[0133] t w = t0 + the sum of the previous scheduled charging time + the sum of the previous waiting time for charging

[0134] In formula 6-1, t0 represents the departure time of electric vehicle i, t 0，w It indicates that electric vehicle i starts from the starting point O along the path l z Arrive at the charging station w The driving time, t 0，w To use method 2 to estimate the z To the charging station w The total time of each segmented route is then accumulated; the sum of the previously scheduled charging time refers to the total time of the electric vehicle i from the starting point O along the route l z Arrive at the charging station w The total charging time of other charging piles along the way is the total time of the electric vehicle i from the starting point O along the path l. z Arrive at the charging station w When the charging time is 100%, the total waiting time for charging at other charging piles along the way is calculated by using method five.

[0135] Method 7: Use the following formula 7-1 to estimate the time it takes for electric vehicle i to reach charging station j. w Time t w Remaining power RE i (t w ):

[0136] RE i (t w ) = bat_cap str +Total amount of electricity allocated by prior reservation

[0137] In formula 7-1, bat_cap str is the initial remaining power of electric vehicle i; the total power allocated in the previous reservation refers to the power of electric vehicle i from the starting point O along the path l z Arrive at the charging station w The total amount of electricity that has been reserved and allocated at other charging piles along the way is estimated using method 10; EC 0，w It means that electric vehicle i starts from the starting point O along the path l z Arrive at the charging stationw Energy consumption, EC 0，w The energy consumption of electric vehicle i in each segment is estimated by using method three and then accumulated.

[0138] Method 8: Estimating Charging Pile j w The comprehensive energy storage capacity E(t2-t1):

[0139] If the charging pile of the present invention is an energy storage charging pile, the power supply source of the energy storage charging pile is Crescent Energy Power Generation, including one or more of solar power generation and wind power generation, and may also include complementary energy storage by purchasing electricity from the power grid.

[0140] Charging pile w The comprehensive energy storage capacity E(t2-t1) is expressed by the following formula 8-1:

[0141]

[0142] The constraint condition of formula 8-1: E(t2-t1)≤E 额 ; where E 额 For charging pile w The rated capacity of the energy storage battery; t1 is the start time of energy storage; t2 is the end time of energy storage; p 蓄 (t) is the predicted energy storage charging pile j at time t w If the energy storage charging pile is powered by solar power, then p 蓄 (t) is the predicted output power of solar power generation at time t, which is obtained by the existing technical method; if the power supply source of the energy storage charging pile is wind power generation, then p 蓄 (t) is the predicted output power of wind power generation at time t, which is obtained by the existing technical method; if the power supply source of the energy storage charging pile is complementary energy storage purchased from the power grid, then p 蓄 (t) is the constant output power of the power grid; if the power supply source of the energy storage charging pile is solar power generation, wind power generation or the combined power generation of multiple power supply sources in the complementary energy storage that purchases electricity from the power grid, then p 蓄 (t) is the output power of the combined power generation.

[0143] Since solar or wind power generation is closely related to factors such as weather and light, in order to improve the accuracy of the prediction, the scheduling system platform re-estimates the charging pile j every Δt. w The comprehensive energy storage capacity E(t2-t1).

[0144] Method 9: Publish energy storage charging piles w The type of idle time period and the corresponding method for allocating power are as follows:

[0145] (9.1), energy storage charging pilew Establish and store a reservation service list, the fields of which include the electric vehicle user name, electric vehicle brand number, vehicle model, scheduled charging start time and the remaining power of the charging pile corresponding to this time, scheduled charging end time and the remaining power of the charging pile corresponding to this time, scheduled allocated power, charging duration, type of idle time period and the corresponding allocatable power;

[0146] (9.2) Idle time periods are divided into energy storage charging piles j w There are two types of energy storage time periods and allocable power idle time periods. The type of idle time period and the corresponding allocable power are announced according to step (9.3) or step (9.4) respectively.

[0147] The energy storage charging pile w The energy storage period refers to: in order not to affect the charging amount and scheduled charging start and end time of other vehicles that have reserved charging after the energy storage period, the idle time period cannot be used as the energy storage period of this pile only. w The energy storage period includes the energy storage start time and the energy storage end time;

[0148] The idle period of allocable power is the energy storage charging pile j w The remaining idle time after excluding the energy storage time from all idle time periods in the reservation service list, including the charging start time and charging end time of the electric vehicle during the allocable power idle time period;

[0149] (9.3) Energy storage charging pile w The method for publishing the energy storage period is as follows:

[0150] Find energy storage charging piles w The available time periods for the reservation service list, e.g. Figure 1 As shown, if the idle time period There are cars ahead and behind that have already made reservations for charging. If the car ahead i1 is already The scheduled charging time is TP1; the preceding vehicle i2 is already The scheduled charging time is TP2, where t1, They correspond to the scheduled charging start time and the scheduled charging end time of the preceding vehicle i1, t2, are respectively the scheduled charging start time and the scheduled charging end time corresponding to the preceding vehicle i2; One-to-one correspondence is estimated at t1, t2, Energy storage charging pile w When the following formula 9-1 is satisfied, the remaining power is announced. For energy storage charging pile wDuring the energy storage period, no vehicle can be scheduled to charge or recharge. For energy storage charging pile w The energy storage start time, t2 is the energy storage charging pile j w The energy storage end time.

[0151]

[0152] In formula 9-1, E 额 For energy storage charging pile w Rated capacity of the energy storage battery; p 蓄 (t) is the predicted energy storage charging pile j at time t w The energy storage power is obtained by prediction by the prior art method as in method eight;

[0153] Every time Δt passes, the scheduling system platform re-estimates the charging pile j in formula 9-1 w Comprehensive energy storage capacity And recalculate and publish according to formula 9-1, update the charging pile j w List of appointment services.

[0154] (9.4) Energy storage charging pile w The method for publishing the idle time period of allocable power is as follows:

[0155] First, find the energy storage charging pile j w All the idle time periods in the reservation service list, excluding the energy storage time periods announced in step (9.3), the remaining idle time periods are the allocatable power idle time periods.

[0156] Secondly, the allocable power idle period is divided into time points according to a fixed duration ρ, where ρ is a user-defined constant. For example, if the allocable power idle period is 9:00-10:15, and ρ is user-defined for 30 minutes, then the period can be divided into four time points: 9:00, 9:30, 10:00, and 10:15. The latest charging end time and allocable power of electric vehicles at each time point are announced respectively. The announcement method is as follows:

[0157] Assume that the idle period of allocable power is Can be divided into Several time points. Suppose the scheduled charging start time of the electric vehicle in the idle period of allocable power is Time point, if the idle time period can be allocated There are cars ahead and behind that have already made reservations for charging. If the car ahead i1 is already The time period is reserved for charging, and the reserved power allocation is There is another car ahead i2 already The time period is reserved for charging, and the reserved power allocation is Among them, t1, They correspond to the scheduled charging start time and the scheduled charging end time of the preceding vehicle i1, t2, are respectively the scheduled charging start time and the scheduled charging end time corresponding to the other preceding vehicle i2; One-to-one correspondence is estimated at t1, t2, Energy storage charging pile w The remaining power of the energy storage charging pile j w The published allocatable idle time period must satisfy the following formula 9-2:

[0158]

[0159] The constraints of formula 9-2 are:

[0160] In formula 9-2 and its constraints, p 蓄 (t) is the predicted energy storage charging pile j at time t w The energy storage power is obtained by prediction by the prior art method as in method eight; For energy storage charging pile w The constant output power, E 额 For energy storage charging pile w Rated capacity of the energy storage battery.

[0161] The latest charging end time of electric vehicles can be obtained from formula 9-2 and its constraints: For energy storage charging pile w Energy storage period.

[0162] Energy storage charging pile w During the idle time period of available power Inside The corresponding allocable power Q at the time point w (t) is estimated according to the following equation group 9-3:

[0163]

[0164] In equation group 9-3, t 额 If the energy storage charging pile j w When the energy storage reaches the rated capacity, the definitions of the remaining variables are the same as those in Formula 9-2 and its constraints.

[0165] In the energy storage charging pile w The available power idle time period is published in the reservation service list Inside The corresponding allocable power Q at the time point w (t). Compare with other time points The timing of publication method is announced.

[0166] Every time Δt passes, the dispatching system platform re-estimates the charging pile j in formula 9-2. w Comprehensive energy storage capacity and According to formula 9-2 and its constraints, formula 9-3 is re-estimated and published, and the charging pile j is updated. w List of appointment services.

[0167] Method 10: Estimate the number of charging piles j w The distributable power Q that can be provided to electric vehicle i w (i) Electric vehicle i at charging station j w Scheduled charging start time Electric car i at charging station j w Scheduled charging time and electric car i at charging station j w The reserved power allocation TP w :

[0168] Estimation method 1: When the charging pile w When it is an energy storage charging pile, the specific steps of the estimation method are as follows:

[0169] (10-1-1) First, set the electric car i to reach the charging station j w The time t w The subsequent queue waiting time limit σ, σ is a custom time value;

[0170] (10-1-2) Check the charging pile w The reservation service list is at t w to w +σ between charging piles j w According to the idle time period types published in method 9, if the idle time period types found are all energy storage time periods, then the charging pile j w The distributable power Q that can be provided to electric vehicle i w (i) = 0, charging station j w It is not possible to allow electric vehicles to reserve charging, that is, to reserve the allocation of power, i.e. TP w =0; if the idle time period type found is an allocatable power idle time period, then go to step (10-1-3);

[0171] (10-1-3) Find charging pile j wIn the scheduled service list, there is an available idle time period for allocating electricity. Suppose that the preceding vehicle i1 is already in the idle time period for allocating electricity. Time period appointment charging, including t1, They correspond to the scheduled charging start time and the scheduled charging end time of the preceding vehicle i1, E(t1), One-to-one correspondence is at t1, Charging station at all times w The remaining power of the front vehicle i1 is exist After that, no car has reserved charging, that is, the idle period of allocable power is infinite, recorded as If it is not infinitely long, go to step (10-1-4).

[0172] Electric car i at charging station j w Scheduled charging start time According to the following formula 10-1, it is estimated:

[0173]

[0174] Charging pile w During the idle period of available power Distributable power within Estimate according to the following equation group 10-2:

[0175]

[0176] The constraints of equation 10-2 are as follows:

[0177]

[0178] Electric car i at charging station j w Time The reserved power allocation TP w According to formula 10-3, it is estimated:

[0179]

[0180] Electric car i at charging station j w Scheduled charging time According to formula 10-4, it is estimated:

[0181]

[0182] Charging pile w Corresponding to the scheduled charging start time The remaining power is Charging pile w Corresponding to the scheduled charging end time The remaining power is

[0183] Step (10-1-3) The variables in the above formulas are uniformly defined as follows: For electric vehicles i at charging pile j w The scheduled charging start time; t w To estimate the time it takes for electric vehicle i to reach charging station j w moment; To estimate the charging pile j w exist Distributable power within To estimate the scheduled charging end time of the preceding vehicle i1 Charging pile w The remaining power; 蓄 (t) is the predicted charging pile j at time t w The energy storage power is obtained by the prior art prediction method as in method eight; Indicates that the method 8 predicts the charging pile j w In time period The comprehensive energy storage capacity; For charging pile w Constant output power; E 额 For charging pile w Rated capacity of the energy storage battery; t 额 For Internal charging station w Energy storage reaches rated capacity E 额 moment; bat_cap i is the rated capacity of the electric vehicle’s power battery, RE i (t w ) is the estimated time for electric vehicle i to reach charging station j w Time t w The remaining power; TP w For electric vehicles i at charging pile j w of The reserved power allocation within For electric vehicles i at charging pile j w The scheduled charging time.

[0184] (10-1-4), such as Figure 2 As shown, the front vehicle i1 is already Time period at charging station w Scheduled charging, scheduled power allocation is TP1; the preceding vehicle i2 is already Time period at charging station w Scheduled charging, scheduled power allocation is TP2; where t1, They correspond to the scheduled charging start time and the scheduled charging end time of the preceding vehicle i1, t2, They correspond to the scheduled charging start time and the scheduled charging end time of the preceding vehicle i2 respectively; One-to-one correspondence is estimated at t1, t2, Charging station at all times w The remaining power is checked by the charging pile w Get the reservation service list. Charging station w During the idle period of available power The prerequisite for allowing electric vehicles to jump the queue for charging reservations is that they cannot affect those who have already made reservations in that time period. The scheduled allocated power and scheduled charging start and end time of other vehicles in front of the charging station; refer to method 9, that is, charging pile j w During scheduled charging time The charging and discharging must first satisfy the following formula 10-5:

[0185]

[0186] The constraints of formula 10-5 are:

[0187] From formula 10-5 and its constraints, it can be deduced that when the charging pile j w Allow electric vehicle i to use the available power during the idle period When making a reservation to charge in the queue, the latest charging end time for electric vehicle i

[0188] Then the charging pile j w During the idle period of the allocatable power Distributable power Estimated according to the following equation 10-6:

[0189]

[0190] In the above formulas 10-5 and 10-6, electric vehicle i is charged at charging station j. w Scheduled charging start time Estimate according to formula 10-7:

[0191]

[0192] According to formula 10-6 Electric car i at charging station j w of The reserved power allocation TP w Estimate according to formula 10-8:

[0193]

[0194] TP obtained from formula 10-8 w , electric vehicle i at charging station j w Scheduled charging time Estimate according to formula 10-9:

[0195]

[0196] If there is another vehicle ahead of electric car i that arrives at charging station j earlier than electric car i w Schedule charging, but the scheduled charging time is within the scheduled charging time of the front vehicle i2 After that, the charging pile j w Allow electric vehicle i to use the available power during the idle period The conditions for queue-jumping and charging reservations include ensuring that the i2 in front of you is in the scheduled charging time. The scheduled allocated power TP2 of the vehicle remains unchanged, and the scheduled start and end time and scheduled allocated power of all other preceding vehicles remain unchanged. The specific method is as follows:

[0197] If there are other cars before i4, please book in Time period charging, t4, They correspond to the scheduled charging start time and the scheduled charging end time of the front vehicle i4, and the scheduled allocated power is TP4, where TP w The following formula 10-10 must also be satisfied:

[0198]

[0199] If TP w If formula 10-10 is not satisfied, reduce TP w , corresponding According to formula 10-9, it also reduces Keep it unchanged until equation 10-10 is satisfied;

[0200] If the i4 in front has a scheduled charging time Then there are other cars i5, i6, etc., which are ahead of electric car i and arrive at charging station j. w For scheduled charging, the same method as the previous car i4 is used. w It can ensure that the reserved power allocation of all other preceding vehicles i2, i4, i5, i6, etc. remains unchanged. w The reserved power of all the other preceding vehicles cannot be guaranteed to remain unchanged. w Electric vehicles are not allowed to be used during idle time Jump in line to make an appointment for charging, that is, make an appointment to allocate power TP w =0.

[0201] If the final TP w ≠0, then charging pile j w Corresponding to the scheduled charging start time The remaining power is Charging pile w Corresponding to the scheduled charging end time The remaining power is

[0202] Step (10-1-4) The variables in the above formulas are uniformly defined as follows: TP2 is the time period of the preceding vehicle i2 during the scheduled charging period. The reserved power allocation; The scheduled charging end time for the preceding vehicle i1 Charging pile w The remaining power; 蓄 (t) is the predicted charging pile j at time t w The energy storage power is obtained by the existing technical prediction method; For charging pile w Constant output power; For electric vehicles i at charging pile j w The scheduled charging start time; t w To estimate the time it takes for electric vehicle i to reach charging station j w The moment; E 额 For charging pile w Rated capacity of the energy storage battery; For charging pile w The latest charging end time of electric vehicle i when electric vehicle i is allowed to jump the queue for charging reservation; To estimate the charging pile j w exist Distributable power within; t 额 For the estimated Internal charging station w Energy storage reaches rated capacity E 额 moment; bat_cap i is the rated capacity of the electric vehicle’s power battery, RE i (t w ) is the estimated time for electric vehicle i to reach charging station j w Time t w The remaining power; TP w For electric vehicles i at charging pile j w of The reserved power allocation within For electric vehicles i at charging pile j w TP4 is the scheduled charging time of the front car i4 The reserved electricity is allocated in time periods.

[0203] (10-1-5) After every Δt period, the dispatching system platform calculates the number of charging piles j. w The updated reservation service list is executed from step (10-1-2) to step (10-1-4), and the reservation allocation power TP is re-estimated w .

[0204] Estimation method 2: When the charging pile w When the charging pile is directly supplied by the power grid, the specific estimation method is as follows:

[0205] (10-2-1) First, set the electric car i to reach the charging station j w The time t w The subsequent queue waiting time limit σ, σ is a custom time value; the definitions of the following variables in estimation method 2 are the same as those in estimation method 1.

[0206] (10-2-2), according to the charging pile j w The reservation service list finds the electric car i that arrives at the charging station j w The time t w to w +σ, whether there is an idle time period; if there is no idle time period, then estimate the charging pile j w The distributable power Q that can be provided to electric vehicle i w (i)=0; Electric vehicle i is at charging station j w The reserved power allocation TP w = 0. If there is an idle time period, go to step (10-2-3).

[0207] (10-2-3) If the idle time period is infinitely long as in step (10-1-3), it is recorded as in The corresponding time is the scheduled charging end time of the preceding vehicle i1. There are no other vehicles ahead to reserve charging. Estimated number of charging piles w The distributable power Q that can be provided to electric vehicle i w (i) Infinite.

[0208] Then electric vehicle i is at charging station j w The reserved power allocation TP w According to formula 10-11, it is estimated:

[0209] TP w =bat_cap i -RE i (t w ) 10-11

[0210] In formula 10-11, bat_cap iis the rated capacity of the electric vehicle’s power battery, RE i (t w ) is the estimated time for electric vehicle i to reach charging station j w Time t w The remaining power;

[0211] Electric car i at charging station j w Scheduled charging start time

[0212] Scheduled charging time

[0213] (10-2-4) If the idle time period is of limited length That is, the preceding vehicle i1 is already Time period at charging station w Scheduled charging, scheduled power allocation is TP1; the preceding vehicle i2 is already Time period at charging station w Scheduled charging, scheduled power allocation is TP2; where t1, They correspond to the scheduled charging start time and the scheduled charging end time of the preceding vehicle i1, t2, They are respectively the scheduled charging start time and the scheduled charging end time of the front vehicle i2; The idle time periods of the direct-supply charging piles are the time periods when electric vehicles can be charged, so the charging piles w The distributable power Q that can be provided to electric vehicle i w (i) Using a charging station w Charging time period replace.

[0214] The following formula 10-12 is used to estimate the charging station j of electric vehicle i. w The reserved power allocation TP w :

[0215]

[0216] In formula 10-12, bat_cap i is the rated capacity of the electric vehicle’s power battery, RE i (t w ) is the estimated time for electric vehicle i to reach charging station j w Time t w The remaining power; For charging pile w Constant output power; For electric vehicles i at charging pile j w The scheduled charging start time.

[0217] Electric car i at charging station j w Scheduled charging time

[0218] For charging piles directly supplied by the power grid, the reservation service list can exclude the charging piles. w The remaining power corresponding to each moment.

[0219] This method utilizes arrival time matching and energy time differentiation to realize the integrated use of energy storage charging piles and grid-direct charging piles, improves the integrity of the charging pile network, and lays the foundation for a fast charging network.

[0220] Example 1

[0221] The types of charging piles in the entire road network of this embodiment include existing energy storage charging piles, and may also include existing power grid direct supply charging piles that are directly provided by the power grid to electric vehicles for charging. The power supply source of the energy storage charging pile can be one or more of new energy power generation or complementary energy storage purchased from the power grid, and new energy power generation includes solar power generation and wind power generation. DC charging of electric vehicles through energy storage charging piles is referred to as fast charging; there is a control module for automatically switching the working mode inside the energy storage charging pile. When an electric vehicle is connected to the charging pile for charging, the control module controls the switch to the charging pile discharge working mode; when no electric vehicle is connected for charging, the control module controls the automatic switch to the charging pile energy storage working mode.

[0222] A method for planning a power path for an electric vehicle compatible with an energy storage charging pile, wherein the electric vehicle in this embodiment is an electric vehicle, comprises the following steps:

[0223] 1) All charging piles in the whole network are connected to the dispatching system platform through wireless communication network or wired communication network, and submit the status information of the pile to the dispatching system platform, including: the location of the charging pile, the type of the pile, the rated power E of the energy storage battery of the charging pile 额 , if it is an energy storage charging pile, submit the real-time energy storage capacity and real-time occupancy status of the charging pile. Before the electric car user sets out, he connects to the dispatching system platform through a wireless communication network or a wired communication network, and submits an application for a reservation of the power from the departure point O to the destination D to the dispatching system platform. The application for a reservation of the power includes the following information: the model of the electric car, the departure time t0, the departure point O, the destination D, and the initial remaining power bat_cap of the electric car's power battery at the departure time str 、Rated capacity of electric vehicle i power battery bat_cap i .

[0224] 2) The dispatching system platform searches for the shortest path l from the departure point O to the destination D on an existing map such as GIS z , z = 1;

[0225] 3) The dispatching system platform determines when the electric vehicle chooses to charge on the shortest path l according to the status information of each charging pile submitted by the charging pile and the power reservation application submitted by the electric vehicle user. z One or more charging piles along the way are reserved for charging, and whether the reserved allocated power at each reserved charging pile meets the endurance requirement of the electric vehicle from the departure point O to the destination D; if "yes", execute step 4); if "no", go to step 5);

[0226] 4) The dispatching system platform generates a full-trip reservation plan for the electric vehicle, and the full-trip reservation plan includes assigning the shortest path l to the electric vehicle. z The scheduling system platform guides the electric vehicle to travel and charge according to the full-time reservation plan.

[0227] 5) The dispatching system platform excludes the shortest path l z , z = z + 1, and then find a new shortest path l from the remaining path from the departure point O to the destination D z , if the new shortest path l is found z Then loop through steps 3) to 5). If no new shortest path l can be found, z Then, the reservation failure information is returned to the electric car user.

[0228] As a variation of Example 1, in step 3), if the reserved allocated power of each reserved charging pile along the path cannot meet the endurance requirement of the electric vehicle from the departure point O to the destination D, a mobile charging vehicle is sent to the path to replenish the reserved allocated power of the electric vehicle until the endurance requirement of the electric vehicle from the departure point O to the destination D is met.

[0229] In addition to obtaining the shortest path from an electronic map, the method of finding the shortest path can also be calculated using a variety of traditional algorithms such as the Dijkstra algorithm. Current electronic navigation maps also provide the fastest path after considering road conditions, and the present invention can also be used as an alternative to the shortest path for verification.

[0230] The shortest path planned by the method of this embodiment meets the requirements of energy consumption saving, and also meets the needs of users and a low-carbon society.

[0231] Example 2

[0232] The charging piles of the entire road network in this embodiment are the same as those in Embodiment 1.

[0233] A method for planning a power path for an electric vehicle compatible with an energy storage charging pile, wherein the electric vehicle in this embodiment is an electric vehicle, comprises the following steps:

[0234] 1) All charging piles in the road network are connected to the dispatching system platform through wireless communication networks or wired communication networks, and electric vehicle clients are connected to the dispatching system platform through wireless communication networks or wired communication networks;

[0235] All charging piles in the road network submit their own pile status information to the dispatching system platform, including: the location of the charging pile, the type of the charging pile, the rated power E of the energy storage battery of the charging pile, and the 额 , the real-time occupancy status of the charging pile, and if it is an energy storage charging pile, the real-time energy storage capacity of the charging pile is submitted. Before the departure of electric vehicle i, the electric vehicle client of electric vehicle i submits a reservation application to the dispatching system platform. The reservation application includes the following information: electric vehicle user name, electric vehicle brand, vehicle model, departure time t0, departure place O, destination D and the initial remaining capacity bat_cap of the electric vehicle power battery at the departure time str 、Rated capacity of electric vehicle i power battery bat_cap i The dispatching system platform establishes and stores a reservation service list for each charging pile. The fields of the reservation service list include the electric vehicle user name, electric vehicle brand, vehicle model, scheduled charging start time and the corresponding charging pile remaining power, scheduled charging end time and the corresponding charging pile remaining power, scheduled allocation power, charging time, idle time period type and the corresponding allocable power;

[0236] 2) Find the shortest path l z :The dispatching system platform obtains a set of paths L from the departure point O to the destination D through an existing map such as GIS = {l1, ..., l a The shortest path l in} z , z=1,

[0237] 3) By the above method, we can get path l z The directed sequence matrix of charging piles distributed along the route (j1, j2, ...j n ) T , then the charging pile combinations that electric vehicle i can choose to charge are Choose any combination of charging piles from them, assuming that (j x1 , j x2 , …j xk ) T , electric vehicle i in (j x1 , j x2 , …j xk ) T Each charging station is reserved for charging.

[0238] 4) For the selected charging pile combination (j x1 , j x2 , …j xk ) T , using (j x0 , j x1 , j x2 , …j xk , j xk+1 ) T Indicates path l z The segment point directed sequence matrix of x0 Corresponding to the departure point O, j xk+1 The corresponding destination is D, and the others are (j x1 , j x2 , …j xk ) T Charging piles in the.

[0239] Assume that electric vehicle i starts from the starting point O along the path l z Arrive in order (j x0 , j x1 , j x2 , …j xk , j xk+1 ) T At each segment point in the equation, estimate the energy consumption of the segmented path of electric vehicle i according to the above method three; x0 , j x1 , j x2 , …j xk , j xk+1 ) T Each charging pile w , , respectively estimate the arrival time of electric vehicle i at charging station j according to the above methods w The time t w , respectively according to the above methods 7 to estimate the time when electric vehicle i reaches charging station j w Time t w Remaining power RE i (t w ); respectively estimate the electric vehicle i at charging station j according to the above method w The reserved power allocation TP w 、Electric vehicle i at charging station j w Charging time Electric car i at charging station j w Scheduled charging start time And the remaining power of the corresponding charging pile Schedule charging end time And the remaining power of the corresponding charging pile

[0240] 5) If the charging pile combination (j x1 , j x2 , …j xk ) T Each charging pile in w , the energy consumption EC of electric vehicle i from the current segment point to the next segment point obtained in step 4) w，w+1 、Electric vehicle i reaches charging station j w The time t w 、Electric vehicle i reaches charging station j w Time t w Remaining power RE i (t w ), electric vehicle i at charging station j w The reserved power allocation TP w All satisfy the following inequality group 2-1-1, then the charging pile combination (j x1 , j x2 , …j xk ) T The shortest path l z The full range requirement of electric vehicle i is met, otherwise go to step 6).

[0241]

[0242] In inequality group 2-1-1, bat_cap str is the initial remaining power of the power battery of electric vehicle i at the departure time t0;

[0243] Indicates the number of electric vehicles i in the charging pile combination (j x1 , j x2 , …j xk ) T The total amount of electricity allocated for all reserved charging piles in EC 0，n+1 It indicates that electric car i takes the shortest path l from the starting point O z The total energy consumption to reach the destination D is obtained by accumulating the energy consumption of the segmented path of electric vehicle i estimated by the above method three.

[0244] When the shortest path l z If the full-trip endurance requirement is met, a full-trip reservation plan is generated and the reservation is terminated; the full-trip reservation plan includes assigning the shortest path l z Charging pile combination along the way (j x1 , j x2 , …j xk ) T The electric vehicle i is charged in sequence, and the corresponding power allocation is (TP x1,TP x2 ,…TP xk ) T , and the scheduled charging start and end times of each scheduled charging pile. And update (j) according to the full reservation plan and step 4) x1 , j x2 , …j xk ) T Each charging pile in w When the electric vehicle departs from the departure place O, the dispatching system platform guides the electric vehicle to travel and charge according to the full reservation plan.

[0245] 6) If the charging pile combination (j x1 , j x2 , …j xk ) T Cannot make path l z To meet the full range requirements of electric vehicle i, the The charging pile combination (j) is excluded from the charging pile combination that electric vehicle i can choose to charge x1 , j x2 , …j xk ) T If step 3) If all the charging pile combinations that electric vehicle i can choose to charge have been eliminated, it means that path l z If the full range requirement is not met, go to step 7); otherwise, The charging pile combination that electric vehicle i can choose to charge excludes the charging pile combination (j x1 , j x2 , …j xk ) T Select another combination from the remaining combinations, go to step 4) and loop to step 6).

[0246] 7) From the path set L = {l1, ..., l a}Exclude path z , if the path set L = {l1,…,l a} has been excluded to become an empty set, then return the customer's reservation failure information and end the reservation; if the path in the path set L has not been excluded to become an empty set, then z = z + 1, and find a new shortest path l from the remaining path set L z , go to step 3) and start looping to step 6).

[0247] As another variation of this embodiment, considering the influence of actual factors such as road conditions and the driving conditions of the car user, the electric car i may arrive at the reserved charging station j earlier or later. wIn order not to affect the reservation, it is estimated that electric vehicle i will arrive at charging station j w The time t w You can use t w -θ or t w +θ, where θ is the custom duration value. The rest of the methods and steps remain unchanged.

[0248] As another variation of this embodiment, if Among the charging pile combinations that electric vehicle i can choose to charge, there are N combinations that can make path l z To meet the full range requirement of electric vehicle i, a combination with the least number of scheduled charging times, i.e., the least number of scheduled charging piles, is selected to generate a full-time reservation plan. The remaining methods and steps remain unchanged.

[0249] As another variation of this embodiment, considering the driver's driving fatigue, charging on the way is a rest stop, and the charging pile can be selected at several equal time points. The combination of the charging piles that include the required scheduled charging is selected as the replacement, and the other methods and steps remain unchanged.

[0250] As another variation of this embodiment, considering that the logistics electric vehicle has a designated operation point, and the designated operation point has a charging pile as the charging pile for the logistics electric vehicle to be charged by appointment, then in step (2), only the path containing the charging pile for the mandatory charging appointment can be selected, and in step (3) Only the combination including the required charging piles for scheduled charging can be selected as a replacement, and the other methods and steps remain unchanged.

[0251] As another variation of this embodiment, every time Δt passes, the scheduling system platform republishes the charging pile combination (j x1 , j x2 , …j xk ) T Each energy storage charging pile w The idle time period type and the corresponding allocatable power are updated for each energy storage charging pile j w Re-estimate the reservation service list for each energy storage charging pile according to method 10 w The reserved power allocation TP w , according to method 6, re-estimate the time when electric vehicle i reaches charging station j w The time t w , and then loop from step 4) to step 6) to replan the electric vehicle power path.

[0252] As another variation of this embodiment, if it is a charging station including multiple charging piles, it is only necessary to set the distance between the charging piles in the charging station to a minimum value, such as 1 meter, and the method of the above-mentioned embodiment 2 is also applied to perform charging path planning, so that electric vehicle i can make reservations for charging at different charging piles in one charging station.

[0253] In the prior art, the connection structure between some DC charging piles and power supply is as follows: the AC power generated by the wind turbine is converted into DC after rectification and transmitted to the common DC bus, the DC power generated by photovoltaic power generation is transmitted to the common DC bus through a transformer, or it also includes that the mains is converted into DC after rectification and transmitted to the common DC bus, and the DC power generated by the energy storage battery of the charging pile is transmitted to the common DC bus through a transformer, and the common DC bus is connected to the electric vehicle. When the energy storage battery of the charging pile is insufficient, photovoltaic power generation, wind power generation or mains power can charge the energy storage battery and the electric vehicle at the same time. At this time, the electric vehicle is slow charged, which is equivalent to a direct-supply charging pile from the power grid; when the energy storage battery of the charging pile has sufficient power, the electric vehicle is charged by the energy storage battery of the charging pile. At this time, the electric vehicle is fast charged, which is equivalent to an energy storage charging pile. The same applies to the method of this embodiment.

[0254] Example 3

[0255] The charging piles of the entire road network in this embodiment are the same as those in Embodiment 1.

[0256] The method for planning the power path of an electric vehicle compatible with an energy storage charging pile, in which the electric vehicle in this embodiment is an electric vehicle, also includes a method for adjusting the preceding vehicle, the steps of which are as follows:

[0257] 1. Assume that before the electric vehicle i makes a reservation, the preceding vehicle has made a reservation for the charging route according to the method of Example 2, and generates its own full-trip reservation plan. The preceding vehicle in this embodiment refers to: a charging pile with which the electric vehicle i has at least one reservation for charging, referred to as a shared pile, including vehicles that have made a reservation but have not yet departed when the electric vehicle i is expected to arrive at the shared pile; and also includes vehicles that have departed after making a reservation but have not yet driven to the shared pile when the electric vehicle i is expected to arrive at the shared pile.

[0258] 2. Electric vehicle i makes a reservation according to the method of embodiment 2, starting from step 1) of embodiment 2. Step 2) selects a path set L from the departure point O to the destination D = {l1, ..., l a The shortest path l in} z , when executing to step 6), it is concluded that the shortest path is l z If the full range requirement is not met, adjust the vehicle ahead by performing the following step 3;

[0259] 3. According to step 3 of embodiment 2), on the shortest path l z Electric vehicles can choose to charge the following charging pile combinations: From these, select any combination of charging piles to make an appointment for charging. Assume that (j x1 , j x2 , …j xk ) T , when executing step 5) electric vehicle i is at charging station j w When the reserved power cannot meet the formula 2-1-1, that is, electric vehicle i is at charging station j w Reserve power but cannot drive to the next segment point j w+1 , j w and j w+1 Both (j x0 , j x1 , j x2 , …j xk , j xk+1 ) T The whole journey reservation plan of the preceding vehicle can be adjusted for any one or more shared piles. The adjustment methods include but are not limited to the following:

[0260] Adjustment method 1) cancels the reserved power allocation of the preceding vehicle at one or more shared charging piles, and the canceled reserved power allocation is re-incorporated into the remaining power of the corresponding charging piles, and then the shortest path l of the electric vehicle i is adjusted according to the method of steps 3) to 6) of embodiment 2. z , and the path of the original full-trip reservation plan of the preceding vehicle to determine whether they meet the endurance requirements of the electric vehicle i and the preceding vehicle respectively. If so, the dispatching system platform generates a full-trip reservation plan for the electric vehicle i and a new full-trip reservation plan for the preceding vehicle, and the adjustment is successful. If the endurance requirements of the electric vehicle i or the preceding vehicle are not met, the preceding vehicle cannot be adjusted and the original full-trip reservation plan of the preceding vehicle is restored.

[0261] Adjustment method 2) Reduce the reserved allocated power of the preceding vehicle at one or more shared charging piles, and the total amount of reserved allocated power reduced by the preceding vehicle is greater than or equal to the amount of power allocated to the electric vehicle i at charging pile j. w After reserving the power, drive to the next segment point j w+1 Estimated amount of power missing ΔTP i , ΔTP i According to the following formula 3-1-1, it is estimated:

[0262] ΔTP i =EC w，w+1 -RE i (t w )-TP w 3-1-1

[0263] Among them: EC w，w+1 Indicates that electric vehicle i is charged from current charging station jw Energy consumption to the next segment point, t w To estimate the time it takes for electric vehicle i to reach charging station j w The moment, RE i (t w ) is the estimated time for electric vehicle i to reach charging station j w Time t w Remaining power, TP w For electric vehicles i at charging pile j w The reserved electricity allocation.

[0264] The reserved power allocations reduced by each shared pile are recombined and counted into their respective remaining power, and then the shortest path l of electric vehicle i is calculated according to the method of steps 3) to 6) of embodiment 2. z , and the path of the original full-trip reservation plan of the preceding vehicle to determine whether they respectively meet the endurance requirements of the electric vehicle i and the preceding vehicle. If both are satisfied, the dispatching system platform generates a full-trip reservation plan for the electric vehicle i and a new full-trip reservation plan for the preceding vehicle, and the adjustment is successful. If the endurance requirements of the electric vehicle i or the preceding vehicle are not met, the preceding vehicle cannot be adjusted and the original full-trip reservation plan of the preceding vehicle is restored.

[0265] Charging of vehicles is scheduled through the dispatching system platform, which improves the original disorderly reservation based on the charging pile position designated by the users to a unified planning and allocation by the dispatching platform based on the energy demand of users across the entire network and the charging pile resources, and conducts directive dispatch of users, thus maximizing resource utilization and meeting the driving needs of more vehicles.

[0266] Example 4

[0267] The charging piles of the entire road network in this embodiment are the same as those in Embodiment 1.

[0268] The method for planning the power path of an electric vehicle compatible with an energy storage charging pile, in this embodiment, the electric vehicle is an electric vehicle, and also includes a correction method as follows:

[0269] The electric vehicle generates a full-trip reservation plan according to the electric vehicle power path planning method compatible with the energy storage charging pile in Example 2 or 3.

[0270] Since the full-trip reservation plan for electric vehicles is reserved in advance, in order to avoid the actual vehicle parameters or charging pile parameters at or after departure from the reservation, which may affect the smooth travel and charging of electric vehicles according to the full-trip reservation plan, the following correction methods are used to correct the full-trip reservation plan for electric vehicles:

[0271] Correction method 1: If the electric vehicle is before departure, the parameters to be determined include departure time, vehicle mass m 负If the initial remaining power of the electric vehicle power battery is different from the information submitted when applying for the reservation, the information is submitted to the dispatch system platform again according to the determined parameters. The dispatch system platform regenerates the full-trip reservation plan using the power path planning method of Example 2 or Example 3 according to the determined parameters. When the electric vehicle departs from the departure point O, the dispatch system platform guides the electric vehicle to travel and charge according to the new full-trip reservation plan. If the new full-trip reservation plan cannot be generated according to the power path planning method of Example 2 or Example 3, the reservation fails.

[0272] Correction method 2: After the electric vehicle sets off, after driving for a period of time or distance, the electric vehicle calculates the average driving speed, average energy consumption and vehicle load according to the actual driving parameters including the remaining power of the electric vehicle power battery and the change in mileage, and submits them to the dispatching system platform again. The dispatching system platform regenerates the full-trip reservation plan according to the actual parameters using the power path planning method of embodiment 2 or embodiment 3 to guide the electric vehicle to travel and charge. The actual parameters can be obtained through the electric vehicle's own detection and reported to the dispatching system platform through a wireless network or the driver's phone or the vehicle-mounted terminal voice, or the driver can estimate and report to the dispatching system platform based on the experience value.

[0273] Correction method 3: Whenever the dispatching system platform generates a full-trip reservation plan for an electric vehicle, or the electric vehicle implements charging according to the full-trip reservation plan, the dispatching system platform will update the service list content of the corresponding reserved charging pile.

[0274] Correction method 4:

[0275] It is known that the full-trip reservation plan for electric vehicles includes the estimated arrival time at the charging station j w The time is t w , Estimated electric vehicle charging station w The reserved power allocation TP w 、Electric vehicles at charging piles w Charging time Electric car charging station w Scheduled charging start time And the remaining power of the corresponding charging pile Schedule charging end time And the remaining power of the corresponding charging pile

[0276] After the electric car is on the road, the map software on the car provides the current location P in real time while driving. a , current time t a , and the nearest reserved charging station w The distance D aw , from P a tow The travel time t aw ;

[0277] Electric vehicle timing judgment if |(t a +t aw )-t w |>θ, where θ is the custom duration value, then the electric vehicle user applies to the dispatch system platform to modify the time at the charging pile j w Reservation, dispatching system platform query charging pile j w The reservation service list, if (t a +t aw ) after the time when there is an idle time period ≥ charging time And the available power for this idle time period is ≥ the scheduled power TP w , then allocate the idle time period to the electric vehicle and modify the estimated arrival time at the charging station j w The time and scheduled charging start time are both (t a +t aw ), at the charging station w The scheduled charging time and the scheduled allocated power remain unchanged, and the full-trip reservation plan for electric vehicles is updated; at the same time, the reservation plan for electric vehicles at charging piles is cancelled. w The original reservation, then update the charging pile j w List of appointment services.

[0278] If (t a +t aw ) after the time when there is no idle time period ≥ charging time And the available power for this idle time period is ≥ the scheduled power TP w , then the dispatch system platform notifies the user that the charging pile j w For reservations, the electric vehicle should apply to the dispatching system platform for re-planning a new power path according to the electric vehicle power path planning method compatible with energy storage charging piles in Example 2 or 3 based on the current time and location.

[0279] Example 5

[0280] The method for booking the power of the energy storage charging pile is as follows:

[0281] (1) The energy storage charging pile establishes and stores a reservation service list for the pile. The fields in the reservation service list include the electric vehicle user name, electric vehicle brand number, vehicle model, scheduled charging start time and the remaining power of the charging pile corresponding to this time, scheduled charging end time and the remaining power of the charging pile corresponding to this time, scheduled allocated power, charging duration, idle time period type and the corresponding allocatable power;

[0282] (2) The energy storage charging pile shall announce the type of each idle time period and the corresponding allocable power of the charging pile according to the above method 9, without affecting the time period and the allocable power of the preceding vehicle already reserved for charging at the charging pile;

[0283] (3) The electric vehicle onboard terminal connects to the energy storage charging pile via a wireless network to obtain the idle time period type and the corresponding allocable power published in step (2). The electric vehicle user selects a suitable idle time period according to needs and makes an appointment to charge the energy storage charging pile via the electric vehicle onboard terminal.

[0284] (4) After the electric vehicle makes a reservation, the energy storage charging pile updates the reservation service list of the pile according to the reservation result of step (3).

[0285] As another variation of this embodiment, this energy storage charging pile, without affecting the reservation service list of this pile, is connected to the dispatching system platform by wireless or wired connection, and participates in the overall management of the dispatching system platform according to the power path planning method of embodiment 2, 3 or 4, just like other energy storage charging piles in the whole network. Conversely, the energy storage charging piles in the whole network of embodiment 2, 3 or 4 can provide power reservation for electric vehicles according to the above energy storage charging pile power reservation method of embodiment 5 without affecting their respective reservation service lists.

[0286] This method realizes unified calculation of multi-user charging behavior and discharging behavior of energy storage charging piles in the time dimension based on the energy storage charging pile power prediction, and realizes multi-user reservation of energy storage charging pile power.

[0287] The methods of Embodiments 1 to 5 of the present invention are not only applicable to electric vehicles, but also to electric aircraft or electric ships, and reservations and power path planning are performed after considering the airworthy area and weather conditions.

Claims

1. A method for planning a power path for an electric vehicle compatible with an energy storage charging pile, wherein the power supply source of the energy storage charging pile is a complementary energy storage that generates electricity from new energy or purchases electricity from a power grid, and is characterized by: The following steps are involved: 1) All charging piles in the entire network submit their own pile status information to the dispatching system platform respectively. Before departure, electric vehicle users apply for a power reservation from the departure point O to the destination D through a network connection to the dispatching system platform. The power reservation application includes the following information: electric vehicle model, vehicle load mass, departure time, departure point O, destination D and the remaining power of the electric vehicle power battery at the departure time; 2) The dispatching system platform searches for the shortest path l from the departure point O to the destination D on the existing map z , z = 1; 3) The dispatching system platform determines when the electric vehicle chooses to charge on the shortest path l according to the status information of each charging pile submitted by the charging pile and the power reservation application submitted by the electric vehicle user. z One or more charging piles along the way are reserved for charging, and the reserved allocated power at each reserved charging pile meets the endurance requirement of the electric vehicle from the departure point O to the destination D; if "yes", execute step 4); if "no", go to step 5); 4) The dispatching system platform generates a full-trip reservation plan for the electric vehicle, and the full-trip reservation plan includes assigning the shortest path l to the electric vehicle. z The scheduling system platform guides the electric vehicle to travel and charge according to the full-time reservation plan. 5) The dispatching system platform excludes the shortest path l z , find a new shortest path l from the remaining path from the departure point O to the destination D z′ , if a new shortest path l is found z′ Then the new shortest path l z′ As the shortest path l z Then loop through steps 3) to 5) and if no new shortest path l can be found, z′ Then, information indicating that the reservation has failed is returned to the electric vehicle user; In the step 3), it is determined that when the electric vehicle is on the shortest path l z One or more charging piles along the way are reserved for charging. Whether the reserved allocated power at each reserved charging pile meets the endurance requirement of the electric vehicle from the departure point O to the destination D is determined by the following specific method: Assume that the electric car is on the shortest path l z The combination of charging piles that are scheduled to charge in sequence along the way is (j x1 ,j x2 ,…j xk ) T , judge each charging pile j in sequence w , whether the corresponding reserved allocated power satisfies inequality group 2-1-1. If they all satisfy, then the shortest path l z meets the endurance requirement of the electric vehicle from the departure point O to the destination D; otherwise, the shortest path l z The electric vehicle does not meet the endurance requirement for traveling from the departure point O to the destination D; In inequality group 2-1-1, RE i (t w ) is the estimated time for electric vehicles to reach the charging station j w Time t w The remaining power, TP w Indicates that electric vehicles are on charging piles w The reserved power allocation, EC w,w+1 It is estimated that the electric vehicle will be charged from the current charging pile j w Go to the next charging station w+1 Energy consumption, if the charging pile j w is the shortest path l z The last charging station, EC w,w+1 It is estimated that the electric vehicle will be charged from the current charging pile j w Energy consumption to destination D; bat_cap str is the initial remaining power of the power battery at the start time t0 of the electric vehicle; Indicates the electric vehicle charging pile combination (j x1 ,j x2 ,…j xk ) T The total amount of electricity allocated for all reserved charging piles; EC 0,n+1 It indicates the estimated shortest path l from the starting point O to the electric vehicle z The total energy consumption to reach destination D.

2. The method for planning the power path of an electric vehicle compatible with an energy storage charging pile according to claim 1, characterized in that: In the step 3), the electric vehicle selects the shortest path l z One or more charging stations along the way are reserved for charging. The selection method is as follows: Assume the shortest path l z There are n charging piles distributed along the way, and the combination of charging piles that the electric car can choose to charge is You can choose any combination of charging piles or make an appointment to use the charging pile combination with the least number of charging piles for charging.

3. The method for planning the power path of an electric vehicle compatible with an energy storage charging pile as claimed in claim 1, characterized in that: The electric vehicle arrives at the charging station w Time t w , estimated according to formula 6-1: t w =t0+the sum of the previous scheduled charging time+the sum of the previous waiting time for charging+t 0,w 6-1 In Formula 6-1, t0 represents the departure time of the electric vehicle; t 0,w It indicates the estimated shortest path l from the starting point O to the electric vehicle. z Arrive at the charging station w The total of the previously scheduled charging time refers to the estimated shortest path l from the starting point O to the electric vehicle. z Arrive at the charging station w The total time of the reserved charging time of other charging piles along the way is the estimated time of the electric vehicle from the starting point O along the shortest path l z Arrive at the charging station w The accumulated waiting time for charging at other charging piles along the way.

4. The method for planning the power path of an electric vehicle compatible with an energy storage charging pile as claimed in claim 1, characterized in that: The electric vehicle reaches the charging pile w Time t w Remaining power RE i (t w ), according to the estimation of formula 7-1: RE i (t w ) = bat_cap str +Total electricity allocated by prior reservation -EC 0,w 7-1 In formula 7-1, bat_cap str is the initial remaining power of the electric vehicle when it sets out; the sum of the previously reserved power allocations refers to the sum of the power allocated by the electric vehicle from the starting point O along the shortest path l z Arrive at the charging station w Time t w , the cumulative value of the reserved power allocation reserved at other charging piles along the way; EC 0,w It indicates the estimated shortest path l from the starting point O to the electric vehicle. z Drive to the charging station w energy consumption.

5. The method for planning the power path of an electric vehicle compatible with an energy storage charging pile as claimed in claim 1, characterized in that: The electric vehicle is charged at a charging station w The reserved power allocation TP w , when the charging pile w For energy storage charging piles, reserve and allocate power TP w The specific steps of the estimation method are as follows: (10-1-1), assuming that the electric vehicle is electric vehicle i, firstly, it is assumed that electric vehicle i arrives at charging station j. w The time t w The subsequent queue waiting time limit σ, σ is a custom time value; (10-1-2), according to the charging pile j w For a list of appointment services, please visit t w to w +σ between charging piles j w If the idle time period types found are all energy storage time periods, then charging pile j w It is not possible to allow electric vehicles i to make reservations for charging, i.e., to make reservations for the allocation of power TP w =0; if the idle time period type found is an allocatable power idle time period, then go to step (10-1-3); (10-1-3) Check the charging pile w Booking service list, if in t w to w +σ between charging piles j w The idle time period is Indicated in After that, no car has made an appointment to charge. is the idle period of allocable power and is infinite; if at t w to w +σ between charging piles j w If the idle time period is not infinite, go to step (10-1-4); if the front vehicle i1 is already Time period appointment charging, including t1, They correspond to the scheduled charging start time and the scheduled charging end time of the preceding vehicle i1, E(t1), One-to-one correspondence is estimated at t1, Charging station at all times w The remaining power of the front vehicle i1 is Electric car i at charging station j w Scheduled charging start time According to the following formula 10-1, it is estimated: Charging pile w exist Distributable power within Estimate according to the following equation group 10-2: The constraints of equation 10-2 are as follows: Electric car i at charging station j w of The reserved power allocation TP w According to formula 10-3, it is estimated: Electric car i at charging station j w Scheduled charging time According to formula 10-4, it is estimated: Charging pile w Corresponding to the scheduled charging start time The remaining power is Charging pile w Corresponding to the scheduled charging end time The remaining power is Step (10-1-3) The variables in the above formulas are uniformly defined as follows: For electric car i at charging station j w The scheduled charging start time; t w To estimate the time it takes for electric vehicle i to reach charging station j w moment; For charging pile w exist Distributable power within The scheduled charging end time for the preceding vehicle i1 Charging pile w The remaining power; 蓄 (t) is the predicted charging pile j at time t w The energy storage power is obtained by the existing technical prediction method; For charging pile w Constant output power; E 额 For charging pile w Rated capacity of the energy storage battery; t 额 For Internal charging station w Energy storage reaches rated capacity E 额 moment; bat_cap i is the rated capacity of the electric vehicle’s power battery, RE i (t w ) is the estimated time for electric vehicle i to reach charging station j w Time t w The remaining power; TP w For electric car i at charging station j w of The reserved power allocation within For electric car i at charging station j w The scheduled charging time; (10-1-4), if at t w to w +σ between charging piles j w The idle time period is the allocable power idle time period and is of finite length. Assume that the front vehicle i1 is already Time period at charging station w Schedule charging, scheduled power allocation is The i2 in front is already Time period at charging station w Schedule charging, scheduled power allocation is Among them, t1, They correspond to the scheduled charging start time and the scheduled charging end time of the preceding vehicle i1, t2, They are respectively the scheduled charging start time and the scheduled charging end time of the front vehicle i2; E(t1), E(t2), One-to-one correspondence is estimated at t1, t2, Charging station at all times w The remaining power; is the idle period of available power, charging pile j w During the idle period of available power The prerequisite for allowing electric vehicles to jump the queue for charging reservations is that they cannot affect those who have already made reservations in that time period. The scheduled power allocation and scheduled charging start and end time of other vehicles in front of the charging vehicle, that is, first of all, it is necessary to ensure that the front vehicle i2 is in the scheduled charging period The reserved allocated power TP2 remains unchanged, that is, the following formula 10-5 must be satisfied: The constraints of formula 10-5 are: From formula 10-5 and its constraints, we can infer that charging pile j w The latest charging end time for electric vehicle i when electric vehicle i is allowed to jump the queue for charging Then the charging pile j w During the idle period of the allocatable power Distributable power Estimated according to the following equation 10-6: In the above formulas 10-5 and 10-6, electric vehicle i is charged at charging station j. w Scheduled charging start time Estimate according to formula 10-7: According to formula 10-6 Electric car i at charging station j w of The reserved power allocation TP w Estimate according to formula 10-8: TP obtained from formula 10-8 w , electric vehicle i at charging station j w Scheduled charging time Estimate according to formula 10-9: If there is another vehicle ahead of electric car i that arrives at charging station j earlier than electric car i w Schedule charging, but the scheduled charging time is within the scheduled charging time of the front vehicle i2 After that, the charging pile j w During the idle period of available power The prerequisite for allowing electric car i to jump the queue and make a reservation for charging is that the front car i2 must be in the scheduled charging time. The scheduled allocated power TP2 of the vehicle remains unchanged, and the scheduled start and end time and scheduled allocated power of all other preceding vehicles remain unchanged. The specific method is as follows: If there are other cars before i4, please book in The time period charging, the scheduled allocation of power is TP4, where TP w The following formula 10-10 must also be satisfied: If TP w If formula 10-10 is not satisfied, reduce TP w , corresponding According to formula 10-9, it also decreases until formula 10-10 is satisfied; If the i4 in front has a scheduled charging time Then there are other cars i5, i6, etc., which are ahead of electric car i and arrive at charging station j. w For scheduled charging, the same method as the previous car i4 is used; until TP w It can ensure that the scheduled start and end times and the scheduled allocated power of all other preceding vehicles remain unchanged; If TP w The preset threshold is reduced, but it cannot guarantee that the scheduled start and end time and the scheduled allocated power of all other preceding vehicles remain unchanged. w Electric vehicles are not allowed to be used during idle time Jump in line to make an appointment for charging, that is, make an appointment to allocate power TP w =0; If the final TP w ≠0, then charging pile j w Corresponding to the scheduled charging start time The remaining power is Charging pile w Corresponding to the scheduled charging end time The remaining power is Step (10-1-4) The variables in the above formulas are uniformly defined as follows: TP2 is the time period of the preceding vehicle i2 during the scheduled charging period. The reserved power allocation; The scheduled charging end time for the preceding vehicle i1 Charging pile w The remaining power; 蓄 (t) is the predicted charging pile j at time t w The energy storage power is obtained by the existing technical prediction method; For charging pile w Constant output power; For electric car i at charging station j w The scheduled charging start time; t w To estimate the time it takes for electric vehicle i to reach charging station j w The moment; E 额 For charging pile w Rated capacity of the energy storage battery; For charging pile w The latest charging end time of electric vehicle i when electric vehicle i is allowed to jump the queue for charging reservation; To estimate the charging pile j w exist Distributable power within; t 额 For the estimated Internal charging station w Energy storage reaches rated capacity E 额 moment; bat_cap i is the rated capacity of the electric vehicle’s power battery, RE i (t w ) is the estimated time for electric vehicle i to reach charging station j w Time t w The remaining power; TP w For electric car i at charging station j w of The reserved power allocation within For electric car i at charging station j w The scheduled charging time; TP4 is the front car i4 The reserved power allocation for the time period.

6. The method for planning the power path of an electric vehicle compatible with an energy storage charging pile as claimed in claim 5, characterized in that: The step (10-1-5) is also included: after each Δt period, the dispatching system platform updates the charging pile j according to the updated w The reservation service list is executed from step (10-1-2) to step (10-1-4), and the reservation allocation power TP is re-estimated. w .

7. The method for planning the power path of an electric vehicle compatible with an energy storage charging pile as claimed in claim 1, characterized in that: The electric vehicle is charged at a charging station w The reserved power allocation TP w , when the charging pile w When the charging pile is directly supplied by the power grid, reserve the power allocation TP w The specific steps of the estimation method are as follows: (10-2-1), assuming that the electric vehicle is electric vehicle i, first set the electric vehicle i to reach charging station j w The time t w The subsequent queue waiting time limit σ, σ is a custom time value; (10-2-2), according to the charging pile j w The reservation service list finds the electric car i that arrives at the charging station j w The time t w to w +σ, whether there is an idle time period; if there is no idle time period, then estimate the charging pile j w The distributable power Q that can be provided to electric vehicle i w (i)=0; Electric vehicle i is at charging station j w The reserved power allocation TP w =0; if there is an idle time period, go to step (10-2-3); (10-2-3) If the idle time period is infinite, record it as in The corresponding time is the scheduled charging end time of the preceding vehicle i1 and After that, there is no other vehicle ahead to make a reservation for charging; then electric vehicle i is at charging station j w The reserved power allocation TP w According to formula 10-11, it is estimated: TP w =bat_cap i -RE i (t w )10-11 In formula 10-11, bat_cap i is the rated capacity of the electric vehicle’s power battery, RE i (t w ) is the estimated time for electric vehicle i to reach charging station j w Time t w The remaining power; Electric car i at charging station j w Scheduled charging start time where t w To estimate the time when electric vehicle i reaches charging station j w time; TP obtained from formula 10-11 w , book charging time in For charging pile w Constant output power; (10-2-4) If the idle time period is of finite length, that is, assume that the preceding vehicle i1 is already Time period at charging station w Make an appointment to charge; the i2 in front is already Time period at charging station w Scheduled charging; t1, They correspond to the scheduled charging start time and the scheduled charging end time of the preceding vehicle i1, t2, They are respectively the scheduled charging start time and the scheduled charging end time of the front vehicle i2; The following formula 10-12 is used to estimate the charging station j of electric vehicle i. w The reserved power allocation TP w : In formula 10-12, bat_cap i is the rated capacity of the electric vehicle’s power battery, RE i (t w ) is the estimated time for electric vehicle i to reach charging station j w Time t w The remaining power; For charging pile w Constant output power; For electric car i at charging station j w The scheduled charging start time, Electric car i at charging station j w Scheduled charging time 8. The method for planning the power path of an electric vehicle compatible with an energy storage charging pile as claimed in claim 5 or 7, characterized in that: The electric vehicle reaches the charging pile w Time t w , use t w -θ or t w +θ, where θ is a custom duration value.

9. The method for planning the power path of an electric vehicle compatible with an energy storage charging pile according to any one of claims 1 to 7, characterized in that: It also includes the following method for adjusting the front vehicle: Assume that before electric vehicle i makes an appointment, the preceding vehicles have made their own appointments for charging and have generated their own full-trip appointment plans; when electric vehicle i makes an appointment for charging according to the electric vehicle power path planning method compatible with energy storage charging piles, when the selected path set L from the departure point O to the destination D = {l1,…,l a The shortest path l in z If the full-trip range requirement is not met, the full-trip reservation plan of the preceding vehicle is adjusted, including canceling or reducing the reserved power allocation of the preceding vehicle at one or more shared piles, and then the shortest path l of electric vehicle i is calculated respectively. z The paths of the original full-trip reservation plan of the front vehicle are used to determine whether they meet the full-trip endurance requirements of electric vehicle i and the front vehicle respectively. If both meet the requirements, the scheduling system platform generates a full-trip reservation plan for the electric vehicle i and a new full-trip reservation plan for the front vehicle, and the adjustment is successful. If any vehicle does not meet the full-trip endurance requirements, the front vehicle cannot be adjusted and the original full-trip reservation plan of the front vehicle is restored.

10. A method for booking the power of an energy storage charging pile, characterized in that: The following steps are involved: (1) The energy storage charging pile establishes and stores a reservation service list for the pile. The fields in the reservation service list include the electric vehicle user name, electric vehicle brand number, vehicle model, scheduled charging start time and the remaining power of the charging pile corresponding to this time, scheduled charging end time and the remaining power of the charging pile corresponding to this time, scheduled allocated power, scheduled charging duration, type of idle time period and the corresponding allocable power; (2) The energy storage charging pile shall announce the type of each idle time period and the corresponding allocable power of the charging pile without affecting the time period and the allocated power of the preceding vehicle already reserved for charging at the charging pile; (3) The electric vehicle onboard terminal connects to the energy storage charging pile through a wireless network to obtain the type of idle time period announced in step (2) and the corresponding allocable power. The electric vehicle user selects a suitable idle time period according to needs and makes an appointment to charge the energy storage charging pile through the electric vehicle onboard terminal; (4) After the electric vehicle makes a reservation, the energy storage charging pile updates the reservation service list of the pile according to the reservation result of step (3); In step (2), the energy storage charging pile announces the type of each idle time period of the pile and the corresponding allocable power, and the specific method is as follows: The idle time period is divided into energy storage charging pile j w There are two types: energy storage period and distributable power idle period; find energy storage charging pile j w List of appointment services with available time slots There are cars ahead and behind that have already made reservations for charging. If the car ahead i1 is already The time period is reserved for charging, and the reserved power allocation is The i2 in front is already The time period is reserved for charging, and the reserved power allocation is Among them, t1, They correspond to the scheduled charging start time and the scheduled charging end time of the preceding vehicle i1, t2, are respectively the scheduled charging start time and the scheduled charging end time corresponding to the preceding vehicle i2; E(t1), E(t2), One-to-one correspondence is estimated at t1, t2, Energy storage charging pile w The remaining power; (A) Idle time The type of the published method is as follows: When the following formula 9-1 is satisfied, the For energy storage charging pile w The energy storage period; In formula 9-1, E 额 For energy storage charging pile w Rated capacity of the energy storage battery; p 蓄 (t) is the predicted energy storage charging pile j at time t w The energy storage power is predicted by the existing technical method; Energy storage charging pile w The energy storage period can only be used for energy storage in this pile, that is, the corresponding distributable power is 0; (B) Energy storage charging pile w The method for publishing the allocatable power idle time period is as follows: In the energy storage charging pile w In all idle time periods, exclude the energy storage charging pile j published in step (A) w After the energy storage period, the remaining is the energy storage charging pile j w The idle period of allocatable power; The idle time period of allocable power is divided into time points according to a fixed time length ρ, ρ is a custom constant, and the idle time period is The idle time period for allocating power can be divided into ...t2, At a certain time point, let the scheduled charging start time of the electric vehicle in the idle period of allocable power be time point; then the energy storage charging pile j w The allocatable power idle period must satisfy the following formula 9-2: The constraints of formula 9-2 are: In formula 9-2 and its constraints, p 蓄 (t) is the predicted energy storage charging pile j at time t w The energy storage power is predicted by the existing technical method; For energy storage charging pile w The constant output power, E 额 For energy storage charging pile w Rated capacity of the energy storage battery; The latest charging completion time for electric vehicles; The latest charging end time of electric vehicles can be obtained from formula 9-2 and its constraints: For energy storage charging pile w Energy storage period; Energy storage charging pile w During the idle time period of available power Inside The corresponding allocable power Q at the time point w (t) is estimated according to the following equation set 9-3: In equation group 9-3, t 额 If the energy storage charging pile j w When the energy storage reaches the rated capacity, the definitions of the remaining variables are the same as those in equation 9-2 and its constraints; In the energy storage charging pile w The available power idle time period is published in the reservation service list Inside The corresponding allocable power Q at the time point w (t); other time points compared Time to be announced.

11. The method for booking the power of an energy storage charging pile according to claim 10, characterized in that: During the idle time period The type publication method also includes: after each Δt period, the scheduling system platform re-estimates the charging pile j in formula 9-1 w Comprehensive energy storage capacity And recalculate and publish according to formula 9-1, update the charging pile j w List of appointment services.

12. The method for power reservation of an energy storage charging pile according to claim 10, characterized in that: In the energy storage charging pile j w The method for publishing the idle time period of allocable power also includes: after each Δt period, the dispatching system platform re-estimates the number of charging piles j in formula 9-2 w Comprehensive energy storage capacity and And re-estimate and publish according to formula 9-2 and its constraints, formula 9-3, and update the charging pile j w List of appointment services.

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