Vehicle path planning method and device based on fuel consumption management

Abstract

The invention relates to a vehicle path planning method and device based on fuel consumption management, and belongs to the technical field of intelligent driving, and the vehicle path planning method based on fuel consumption management comprises the steps that a first number of reachable paths are determined based on a path starting point and a path end point, and each reachable path comprises a plurality of road sections; determining the fuel consumption value of the vehicle on each reachable path based on the average speed of the vehicle on each road section in each reachable path; and based on the fuel consumption value of the vehicle on each reachable path, sorting the first number of reachable paths from low to high according to the fuel consumption value of the vehicle, and determining the first second number of reachable paths as candidate paths. According to the method, the oil consumption value of the reachable path is calculated according to the road sections, the accuracy of oil consumption value calculation is improved, the path selection with the lowest oil consumption is provided for the vehicle, and the vehicle use cost can be effectively reduced.

Description

Technical Field

[0001] The present invention relates to the field of intelligent driving technology, and in particular to a vehicle path planning method and device based on fuel consumption management. Background Art

[0002] In terms of reducing fuel consumption, currently, starting from the vehicle itself, multi-valve technology, lean-burn technology and other solutions to improve fuel economy are being developed and researched. However, in addition to the vehicle and the fuel itself, the factors affecting vehicle fuel consumption are also closely related to traffic conditions such as road congestion, traffic light timing and the driver's driving habits.

[0003] Current navigation software can take into account most road conditions and provide users with personalized route options such as shortest distance, shortest time, and no highways. However, it does not consider the fuel consumption and emissions of cars under factors such as road conditions, traffic light cycles, and different vehicle types, making it difficult to provide fuel vehicles with the route with the least fuel consumption.

[0004] Therefore, how to further reduce the fuel consumption of fuel vehicles during driving has become a technical problem that needs to be solved urgently. Summary of the invention

[0005] In view of this, it is necessary to provide a vehicle path planning method and device based on fuel consumption management to solve the problem that the current vehicle path planning method is difficult to provide the vehicle with a path with the least fuel consumption.

[0006] In order to solve the above problems, the present invention provides a vehicle path planning method based on fuel consumption management, comprising: Based on the path starting point and the path end point, determining a first number of reachable paths, each reachable path including a plurality of road segments; Determine the fuel consumption value of the vehicle on each accessible path based on the average speed of the vehicle on each road segment in each accessible path; Based on the fuel consumption value of the vehicle on each accessible path, the first number of accessible paths are sorted from low to high according to the fuel consumption value of the vehicle, and the first second number of accessible paths are determined as candidate paths.

[0007] In a possible implementation, determining the fuel consumption value of the vehicle on each accessible path based on the average speed of the vehicle on each road section in each accessible path includes: Determine a unit fuel consumption factor of the vehicle on each road segment in each accessible path based on an average speed of the vehicle on each road segment in each accessible path; Based on the unit fuel consumption factor of the vehicle on each road segment in each accessible path and the length of each road segment in each accessible path, the fuel consumption value of the vehicle on each accessible path is determined.

[0008] In a possible implementation, the unit fuel consumption factor of the vehicle on each road segment in each achievable path is determined based on the following formula:

[0009] The fuel consumption value of the vehicle on each achievable path is determined based on the following formula:

[0010] in, Indicates that the vehicle is on the road The unit fuel consumption factor on and represents the regression parameter, Indicates that the vehicle is on the road segment The vehicle specific power is determined by the average speed on Indicates that the vehicle is on a reachable path The fuel consumption value on Represents a reachable path The number of road sections in Indicates road segment Length.

[0011] In a possible implementation, the method further includes: After a path is selected from the candidate paths as the vehicle driving path, a vehicle speed suggestion reminder is made based on the real-time speed of the vehicle on the current road section.

[0012] In a possible implementation, the vehicle speed suggestion reminder based on the real-time speed of the vehicle on the current road section includes: When the real-time speed of the vehicle on the current road section is greater than the first speed threshold, a vehicle deceleration reminder is issued; When the real-time speed of the vehicle on the current road section is less than the second speed threshold, a vehicle acceleration reminder is issued; When the real-time speed of the vehicle on the current road section is less than or equal to the first speed threshold and greater than or equal to the second speed threshold, no vehicle speed suggestion reminder is issued; The first speed threshold and the second speed threshold are determined based on a minimum fuel consumption value and a deviation threshold of the vehicle on a current road section.

[0013] In a possible implementation manner, the first speed threshold and the second speed threshold are determined based on the following formula:

[0014] in, and represents the regression parameter, represents the first speed threshold, represents the second speed threshold, represents the deviation threshold, Indicates that the vehicle is on the road The minimum fuel consumption value, Indicates road segment Length.

[0015] In a possible implementation, the minimum fuel consumption value of the vehicle on the current road section is obtained by solving the fuel consumption value equation of the vehicle on the current road section with the speed constraint of the current road section as a constraint condition.

[0016] The present invention also provides a vehicle path planning device based on fuel consumption management, comprising: A first determination module, configured to determine a first number of reachable paths based on a path start point and a path end point, each reachable path including a plurality of road segments; A second determination module is used to determine the fuel consumption value of the vehicle on each accessible path based on the average speed of the vehicle on each road section in each accessible path; The third determination module is used to sort the first number of reachable paths from low to high according to the fuel consumption value of the vehicle on each reachable path, and determine the first second number of reachable paths as candidate paths.

[0017] The present invention also provides an electronic device, including a memory and a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the vehicle path planning method based on fuel consumption management as described above is implemented.

[0018] The present invention also provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the vehicle path planning method based on fuel consumption management as described above is implemented.

[0019] The beneficial effects of the present invention are as follows: the vehicle path planning method and device based on fuel consumption management provided by the present invention first determine a first number of reachable paths based on the path starting point and the path end point, each reachable path includes multiple road sections, thereby improving the accuracy of subsequent fuel consumption calculations, and then can determine the fuel consumption value of the vehicle on each reachable path based on the average speed of the vehicle on each road section in each reachable path, and then determine a second number of reachable paths with the least fuel consumption values ​​from the first number of reachable paths as candidate paths, thereby providing the vehicle with the path selection with the lowest fuel consumption. The present invention calculates the fuel consumption value of the reachable path by section, thereby improving the accuracy of the fuel consumption value calculation, and provides the vehicle with the path selection with the lowest fuel consumption, which can effectively reduce the cost of using the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A schematic flow chart of an embodiment of a vehicle path planning method based on fuel consumption management provided by the present invention; Figure 2 A schematic diagram of a process flow of an embodiment of a vehicle path planning and speed recommendation process provided by the present invention; Figure 3 A schematic diagram of an embodiment of the speed distribution and time distribution of vehicles on a road section provided by the present invention; Figure 4 A schematic diagram of an embodiment of the time distribution of vehicles at an intersection provided by the present invention; Figure 5 A schematic diagram of the structure of an embodiment of a vehicle path planning device based on fuel consumption management provided by the present invention; Figure 6 A schematic structural diagram of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0021] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.

[0022] In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0023] In the description of the present invention, reference to an "embodiment" means that a particular feature, structure, or characteristic described in conjunction with the embodiment may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive of other embodiments. It is explicitly and implicitly understood by those skilled in the art that the described embodiments may be combined with other embodiments.

[0024] In terms of reducing fuel consumption, currently, starting from the vehicle itself, multi-valve technology, lean-burn technology and other solutions to improve fuel economy are being developed and researched. However, in addition to the vehicle and the fuel itself, the factors affecting vehicle fuel consumption are also closely related to traffic conditions such as road congestion, traffic light timing and the driver's driving habits.

[0025] Current navigation software can take into account most road conditions and provide users with personalized route options such as shortest distance, shortest time, and no highways. However, it does not consider the fuel consumption and emissions of cars under factors such as road conditions, traffic light cycles, and different vehicle types, making it difficult to provide fuel vehicles with the route with the least fuel consumption.

[0026] In order to provide a vehicle with a route with the least fuel consumption, the present invention provides a vehicle route planning method based on fuel consumption management.

[0027] The specific embodiments are described in detail below: A specific embodiment of the present invention discloses a vehicle path planning method based on fuel consumption management, combined with Figure 1 Come and see, Figure 1 A schematic flow chart of an embodiment of a vehicle path planning method based on fuel consumption management provided by the present invention includes steps S101 to S103, wherein: In step S101, based on the path starting point and the path end point, a first number of reachable paths are determined, each reachable path including a plurality of road segments; In step S102, based on the average speed of the vehicle on each road section in each accessible path, the fuel consumption value of the vehicle on each accessible path is determined; In step S103, based on the fuel consumption value of the vehicle on each accessible path, the first number of accessible paths are sorted from low to high according to the fuel consumption value of the vehicle, and the first second number of accessible paths are determined as candidate paths.

[0028] During implementation, a first number of reachable paths may be determined based on the path start point and the path end point. The path start point and the path end point may be input by the driver, such as text input or voice input. Each reachable path determined may also include multiple road sections, and dividing the reachable path into multiple road sections may improve the accuracy of subsequent fuel consumption calculation.

[0029] After determining the first number of reachable paths, the fuel consumption value of the vehicle on each reachable path can be determined based on the average speed of the vehicle on each road section in each reachable path. The average speed of the vehicle on each road section in each reachable path can be obtained based on the recorded historical trajectory of the vehicle, or by the average speed of other vehicles on the road section, which is not specifically limited in the present invention. The fuel consumption value of the vehicle on each reachable path can be obtained by accumulating the fuel consumption value of the vehicle on each road section in the reachable path.

[0030] Finally, after determining the fuel consumption value of the vehicle on each accessible path, a second number of accessible paths with the lowest fuel consumption values ​​can be selected as candidate paths, and the driver can select one of them as the final driving path according to needs.

[0031] The vehicle path planning method based on fuel consumption management provided by the present invention can be applied to the path planning scenarios of fuel vehicles, and can also be applied to the path planning scenarios of hybrid vehicles, and the present invention does not make specific limitations on this.

[0032] Compared with the prior art, the vehicle path planning method based on fuel consumption management provided in this embodiment first determines a first number of reachable paths based on the path starting point and the path end point, each reachable path includes multiple road sections, thereby improving the accuracy of subsequent fuel consumption calculations, and then can determine the fuel consumption value of the vehicle on each reachable path based on the average speed of the vehicle on each road section in each reachable path, and then determine a second number of reachable paths with the least fuel consumption values ​​from the first number of reachable paths as candidate paths, thereby providing the vehicle with the path selection with the lowest fuel consumption. The present invention calculates the fuel consumption value of the reachable path by section, improves the accuracy of the fuel consumption value calculation, and provides the vehicle with the path selection with the lowest fuel consumption, which can effectively reduce the cost of using the vehicle.

[0033] Exemplarily, determining the fuel consumption value of the vehicle on each accessible path based on the average speed of the vehicle on each road section in each accessible path includes: Determine a unit fuel consumption factor of the vehicle on each road segment in each accessible path based on an average speed of the vehicle on each road segment in each accessible path; Based on the unit fuel consumption factor of the vehicle on each road segment in each accessible path and the length of each road segment in each accessible path, the fuel consumption value of the vehicle on each accessible path is determined.

[0034] Specifically, when determining the fuel consumption value of the vehicle on each accessible path according to the average speed of the vehicle on each road section in each accessible path, the unit fuel consumption factor of the vehicle on each road section in each accessible path can be determined according to the average speed of the vehicle on each road section in each accessible path. First, the vehicle specific power (VSP) can be calculated according to the speed of the vehicle on the road section, and then the unit fuel consumption factor of the vehicle on the road section can be calculated according to the VSP of the vehicle on the road section.

[0035] After determining the unit fuel consumption factor of the vehicle on each section in each accessible path, the fuel consumption value of the vehicle on each accessible path can be determined based on the unit fuel consumption factor of the vehicle on each section in each accessible path and the length of each section in each accessible path, thereby achieving accurate calculation of the fuel consumption value of the vehicle on each accessible path.

[0036] Exemplarily, the unit fuel consumption factor of the vehicle on each road section in each achievable path is determined based on the following formula:

[0037] The fuel consumption value of the vehicle on each achievable path is determined based on the following formula:

[0038] in, Indicates that the vehicle is on the road The unit fuel consumption factor on and represents the regression parameter, Indicates that the vehicle is on the road segment The vehicle specific power is determined by the average speed on Indicates that the vehicle is on a reachable path The fuel consumption value on Represents a reachable path The number of road sections in Indicates road segment Length.

[0039] Specifically, the unit fuel consumption factor of the vehicle on each section in each accessible path and the fuel consumption value of the vehicle on each accessible path can be calculated according to the above formula, wherein the regression parameters used to calculate the unit fuel consumption factor can be obtained through regression simulation based on historical fuel consumption records, and different road grades correspond to different regression parameters.

[0040] Exemplarily, the method further includes: After a path is selected from the candidate paths as the vehicle driving path, a vehicle speed suggestion reminder is made based on the real-time speed of the vehicle on the current road section.

[0041] Specifically, after the driver selects a path from the determined candidate paths as the vehicle's driving path, the driver can also receive a vehicle speed suggestion reminder based on the vehicle's real-time speed on the current road section, thereby further reducing vehicle fuel consumption.

[0042] Exemplarily, the vehicle speed suggestion reminder based on the real-time speed of the vehicle on the current road section includes: When the real-time speed of the vehicle on the current road section is greater than the first speed threshold, a vehicle deceleration reminder is issued; When the real-time speed of the vehicle on the current road section is less than the second speed threshold, a vehicle acceleration reminder is issued; When the real-time speed of the vehicle on the current road section is less than or equal to the first speed threshold and greater than or equal to the second speed threshold, no vehicle speed suggestion reminder is issued; The first speed threshold and the second speed threshold are determined based on a minimum fuel consumption value and a deviation threshold of the vehicle on a current road section.

[0043] Specifically, when the vehicle speed suggestion reminder is made according to the real-time speed of the vehicle on the current road section, the first speed threshold and the second speed threshold can be determined first according to the minimum fuel consumption value and the deviation threshold of the vehicle on the current road section.

[0044] If the real-time speed of the vehicle in the current section is greater than the first speed threshold, a reminder to slow down the vehicle can be issued; if the real-time speed of the vehicle in the current section is less than the second speed threshold, a reminder to accelerate the vehicle can be issued; if the real-time speed of the vehicle in the current section is less than or equal to the first speed threshold, and greater than or equal to the second speed threshold, no vehicle speed recommendation reminder will be issued.

[0045] Exemplarily, the first speed threshold and the second speed threshold are determined based on the following formula:

[0046] in, and represents the regression parameter, represents the first speed threshold, represents the second speed threshold, represents the deviation threshold, Indicates that the vehicle is on the road The minimum fuel consumption value, Indicates road segment Length.

[0047] Specifically, the first speed threshold and the second speed threshold can be calculated according to the above formula.

[0048] Exemplarily, the minimum fuel consumption value of the vehicle on the current road section is obtained by solving the fuel consumption value equation of the vehicle on the current road section with the speed constraint of the current road section as a constraint condition.

[0049] Specifically, the minimum fuel consumption value of the vehicle on the current road section can be obtained by solving the fuel consumption value equation of the vehicle on the current road section by taking the speed constraint of the current road section as a constraint condition.

[0050] The following is a specific application scenario to better illustrate the technical solution of the present invention: Different paths for motor vehicles will correspond to different congestion conditions, waiting conditions at traffic lights, etc., thus affecting the fuel consumption of motor vehicles. The present invention mainly establishes a fuel consumption prediction model based on the road network, considers the fuel consumption factor when selecting a path, provides a path planning with the least estimated fuel consumption, and improves the personalized selection of users.

[0051] The main purposes of the present invention are twofold: 1. Provide drivers with the route with the least fuel consumption.

[0052] 2. Provide drivers with real-time speed optimization suggestions to reduce fuel consumption.

[0053] Combination Figure 2 Come and see, Figure 2 This is a flow chart of an embodiment of a vehicle path planning and speed recommendation process provided by the present invention. The specific steps of the process are as follows: After the user enters the starting point and end point through the mobile phone software, the path planning will be performed on the cloud server to obtain the potential path. Then, the estimated fuel consumption of each potential path is calculated through the path fuel consumption calculation algorithm based on the VSP model, and multiple green paths with lower fuel consumption are displayed on the mobile phone for users to choose. After the user selects the path, during the driving process, the mobile phone sends relevant instructions to the car's On-Board Diagnostics (OBD) box, and reads the real-time operating data of the motor vehicle through the OBD box, such as speed, acceleration, vehicle model, engine model, vehicle age and other information, and transmits the data to the mobile phone application in real time via Bluetooth. In the mobile phone application, the impact of the current driving speed on fuel consumption is analyzed based on the current VSP status of the motor vehicle.

[0054] The route fuel consumption calculation algorithm based on the VSP model is as follows: Motor vehicles use gasoline to generate work, which propels the vehicle forward. Therefore, when calculating fuel consumption, it is necessary to first calculate the power of the vehicle when it is running. The vehicle specific power (VSP) is usually used to calculate the power output of the engine for every ton of mass (including its own weight) moved, in units of kW / t.

[0055] The relationship between the VSP value and the vehicle speed and acceleration is as follows:

[0056] Since different road conditions and different power ranges have different effects on fuel consumption, the present invention establishes a unit fuel consumption factor (g / km) for each vehicle type at different road grades and speed ranges. The specific calculation formula is as follows:

[0057] Among them, a and b are regression parameters of the model. According to the historical fuel consumption records, the values ​​of a and b for different road grades and different VSP intervals can be simulated by regression.

[0058] Finally, based on the results of the regression of the fuel consumption factor function of different types of vehicles on different types of roads in different VSP intervals, the fuel consumption prediction during path planning can be achieved. When a motor vehicle travels a distance at the same VSP, the fuel consumption calculation formula for this distance is:

[0059] Among them, FC represents the fuel consumption of the current vehicle model when traveling this section of the road, in g. OR is the fuel consumption factor of the current section of the road, in g / km. The VSP interval of the current section can be obtained by the average speed of all vehicles passing through the section in the recent period of time. S is the length of the section, in km.

[0060] After the route planning is completed, the present invention can also provide suggestions or driving speed analysis for the driver on the reasonable speed between different road sections (within the current driving speed range of the road section).

[0061] Combination Figure 3 Come and see, Figure 3 This is a schematic diagram of an embodiment of the speed distribution and time distribution of vehicles on a road section provided by the present invention. The process of a motor vehicle from normal driving to idling and then re-accelerating will have a great impact on fuel consumption. When a motor vehicle encounters a red light on the road, it must be in an idling state. Therefore, the decision variable of the present invention is the time when the motor vehicle arrives at the i-th intersection By simply controlling the time when a motor vehicle arrives at an intersection, its idling conditions at the end of the section and when it goes to the next section, its departure time, etc. will also change accordingly.

[0062] The path R is defined to consist of multiple consecutive segments, expressed as: .

[0063] Set entry section The time is , arrive at the road section The end time is . Assume that Time to arrive at the section The green light time interval is ,in refers to the green light duration for entering the current road section. The following conditions must be met:

[0064] If you arrive at the road The end moment Not on the next section If the vehicle is within the green light section, the vehicle will slow down and wait for the green light section to arrive.

[0065] Fuel consumption in acceleration zone: Assume that the time to reach the end of the previous section is .like If the vehicle is within the green light time interval of the current road section, then the time to enter the current road section .otherwise, .in, The departure time of the current section The nearest green light start time.

[0066] When the previous section ends When the light is green, , there is no acceleration stage, and the corresponding acceleration zone fuel consumption is 0.

[0067] When a red light is encountered at the end of the previous road section, a period of acceleration is required when joining the next road section. Suppose the average acceleration of the motor vehicle in the current road section is acc, and the driving speed of the road section is , then the distance traveled during the acceleration phase is:

[0068] The average speed during the acceleration period is The fuel consumption during acceleration is: .

[0069] Fuel consumption in deceleration zone: If the previous section End time When the vehicle is in the red light section, it will go through an acceleration phase when entering the next road section. The average speed is In the acceleration phase, the acceleration time required is , the distance travelled is Otherwise, if the end time of the previous section is When in the green light zone, =0, =0; Assuming that after the acceleration phase, the vehicle will continue to move at a constant speed If you maintain a constant speed and reach the end of the road section at a red light interval, you need to slow down, which takes time , the deceleration distance is Otherwise, when the time of reaching the end of the road section is within the green light interval, =0, =0. Then, the time spent in the uniform speed interval is , so the time to reach the end of the section is .

[0070] When you are about to exit the current road section When the light is green, =0, no deceleration will occur, and the corresponding fuel consumption in the deceleration zone is 0.

[0071] When you are about to exit the current road section When the traffic light turns red, the speed needs to be reduced to 0. Assume that the acceleration in the deceleration zone is -acc, and the average speed during the deceleration period is still . Path traveled during deceleration = The deceleration phase is calculated , and then the fuel consumption during deceleration is obtained as: .

[0072] Fuel consumption in uniform speed zone: The speed during uniform speed is , the acceleration is 0, and the uniform speed period can be calculated The distance traveled at a constant speed is the length of the current section minus , minus ,Right now

[0073] The fuel consumption in the uniform speed zone is: .

[0074] In summary, the actual fuel consumption of a motor vehicle on a road section consists of three parts, namely the sum of the fuel consumption in the acceleration area, the fuel consumption in the uniform speed area and the fuel consumption in the deceleration area.

[0075] Combination Figure 4 Come and see, Figure 4 This is a schematic diagram of an embodiment of the time distribution of vehicles at an intersection provided by the present invention, assuming that the vehicle entering the road section The time is , the time to arrive at section i is . Assume that the current time is x, the driving speed of the motor vehicle is v, and the current road section The distance traveled is Assuming that the vehicle maintains the current speed until the end of the road section, the remaining time is:

[0076] The time when the current segment ends :If the motor vehicle keeps moving at a constant speed and encounters a green light at the end of the road section, the motor vehicle will keep moving at the current speed. The time to reach the end of the road section is Otherwise, the vehicle will slow down and wait for the red light to turn green. This state takes a , the distance to be travelled is At the same time, the time required to move forward at a constant speed before deceleration is , then the time to reach the end of the section is + .

[0077] It can be deduced that the real-time and predicted fuel consumption of the current road section is:

[0078] use It indicates the amount of fuel consumed by the motor vehicle after passing the first i sections of road, where Then, the real-time fuel consumption prediction calculation formula F of path R is:

[0079] The optimization model that needs to be established in the present invention is to calculate the recommended speed for each road section so that the fuel consumption of the entire route is relatively minimum. The fuel consumption per kilometer of a vehicle is related to the idling fuel consumption. Since the fuel consumption of a vehicle is affected by the driving process, and the driving process is related to the road conditions and the timing of traffic lights. Therefore, motor vehicles must comply with the following constraints: 1. Driving speed restrictions.

[0080] Since the road conditions of each section may change at different times, the motor vehicle must travel at a speed that meets the road condition restrictions. Then establish the speed balance constraint that meets the road condition constraints:

[0081] in, and They respectively represent the minimum driving speed and maximum driving speed of the i-th road section under the current road conditions.

[0082] 2. Traffic light timing constraints.

[0083] There are two types of traffic lights when a motor vehicle arrives at an intersection, namely, the arrival time is when the traffic light is red or green. Therefore, if the arrival time is during the green light cycle, the motor vehicle does not need to idle; if the arrival time is during the red light cycle, the motor vehicle needs to idle until the next green light starts to pass. According to the above analysis, the departure time of the motor vehicle is related to whether it encounters a red light. When the motor vehicle travels at different speeds, it will result in different times when it reaches the end of the road section.

[0084] The present invention firstly exhausts the optimal fuel consumption speed under the current road speed limit. . Then, based on the minimum fuel consumption calculated from the optimal speed, speed optimization suggestions are made.

[0085]

[0086] according to The minimum fuel consumption is When the motor vehicle is driving at the current speed When driving, the fuel consumption is .if With minimum fuel consumption If the deviation is large, it is necessary to provide the driver with speed optimization suggestions. The fuel consumption deviation of the present invention is defined as: .

[0087] Set the deviation threshold to , if the deviation , then the current motor vehicle is in a high fuel consumption speed range and needs to be reminded. Under the current road speed limit, let The speed range is [ ] Then, based on the following three conditions, a speed priority recommendation is made: When the motor vehicle speed is within the optimal speed range, no speed recommendation is made; when the motor vehicle speed is less than the optimal speed range, acceleration recommendation is made; when the motor vehicle speed is higher than the optimal speed range, deceleration recommendation is made.

[0088] The present invention adopts a design method combining software and hardware, designs accurate data measurement hardware based on the OBD interface, transmits accurate data to the mobile phone via Bluetooth, and calculates the predicted fuel consumption of the motor vehicle and displays it intuitively based on the pre-established model. By combining software and hardware, the accuracy of data measurement is guaranteed, and the high efficiency, accuracy and intuitiveness of the software are enjoyed. The fuel consumption calculation model used in the present invention is not a traditional linear regression model, and the result is more accurate. The minimum fuel consumption selection scheme provided by the present invention can provide a new path planning scheme for the navigation system.

[0089] Although the navigation software currently available on the market has realized various personalized travel preference options such as shortest time, shortest distance, no high-speed, and avoiding tolls, there is no route planning solution for saving fuel consumption of motor vehicles. The present invention is based on the fuel consumption algorithm of VSP, and predicts the fuel consumption of all sections that can reach the destination before the motor vehicle travels, and finds the route planning solution with the lowest fuel consumption, which improves the user's preference selection and conforms to the concept of energy conservation and emission reduction. In addition, the present invention establishes a speed optimization model for reducing fuel consumption with the intersection arrival time as the decision variable, and realizes speed optimization suggestions.

[0090] On the basis of providing users with travel planning with minimum fuel consumption, the present invention further considers the economic principle of travel from the driver's personal perspective, and adopts the real-time speed optimization model provided by the present invention to solve the speed state combination of each section with the minimum fuel consumption from the starting point to the end point, that is, the driver's optimal driving speed on each section (the speed is within the current driving speed range of the section), and judges in real time whether the driver's current driving speed meets the fuel saving standard, gives voice reminders, and further helps the driver to standardize driving habits, save fuel consumption, reduce travel costs, and reduce motor vehicle exhaust emissions.

[0091] The embodiment of the present invention also provides a vehicle path planning device based on fuel consumption management, Figure 5 Come and see, Figure 5This is a schematic diagram of the structure of an embodiment of a vehicle path planning device based on fuel consumption management provided by the present invention. The vehicle path planning device based on fuel consumption management 500 includes: A first determination module 501 is used to determine a first number of reachable paths based on the path start point and the path end point, each reachable path including a plurality of road segments; A second determination module 502 is used to determine the fuel consumption value of the vehicle on each accessible path based on the average speed of the vehicle on each road section in each accessible path; The third determination module 503 is used to sort the first number of reachable paths from low to high according to the fuel consumption value of the vehicle on each reachable path, and determine the first second number of reachable paths as candidate paths.

[0092] The specific implementation methods of each module of the vehicle path planning device based on fuel consumption management can refer to the description of the above-mentioned vehicle path planning method based on fuel consumption management, and have similar beneficial effects, which will not be repeated here.

[0093] It should be noted that the vehicle path planning device based on fuel consumption management can be set on a vehicle-mounted control device or on a driver's handheld terminal such as a mobile phone, and the present invention does not make specific limitations on this.

[0094] The embodiment of the present invention further provides an electronic device, Figure 6 Come and see, Figure 6 This is a structural diagram of an embodiment of an electronic device provided by the present invention. The electronic device 600 includes a processor 601, a memory 602, and a computer program stored in the memory 602 and executable on the processor 601. When the processor 601 executes the program, the vehicle path planning method based on fuel consumption management as described above is implemented.

[0095] As a preferred embodiment, the electronic device 600 further includes a display 603 for displaying that the processor 601 executes the vehicle path planning method based on fuel consumption management as described above.

[0096] Exemplarily, the computer program may be divided into one or more modules / units, one or more modules / units are stored in the memory 602, and executed by the processor 601 to complete the present invention. One or more modules / units may be a series of computer program instruction segments that can complete specific functions, and the instruction segments are used to describe the execution process of the computer program in the electronic device 600. For example, the computer program may be divided into the first determination module 501, the second determination module 502, and the third determination module 503 in the above embodiment, and the specific functions of each module are as described above, and are not repeated here one by one.

[0097] The electronic device 600 may be a desktop computer, a notebook, a PDA or a smart phone with an adjustable camera module.

[0098] Among them, the processor 601 may be an integrated circuit chip with signal processing capabilities. The above-mentioned processor 601 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The disclosed methods, steps and logic block diagrams in the embodiments of the present invention can be implemented or executed. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0099] The memory 602 may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable read-only memory (EEPROM), etc. The memory 602 is used to store programs, and the processor 601 executes the program after receiving an execution instruction. The process definition method disclosed in any of the above embodiments of the present invention can be applied to the processor 601, or implemented by the processor 601.

[0100] The display 603 may be an LCD display screen or an LED display screen, for example, a display screen on a mobile phone.

[0101] Understandably, Figure 6 The structure shown is only a schematic diagram of a structure of the electronic device 600. The electronic device 600 may also include Figure 6 More or fewer components as shown. Figure 6 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0102] The electronic device provided according to the above-mentioned embodiment of the present invention can be implemented with reference to the specific description of the vehicle path planning method based on fuel consumption management as described above according to the present invention, and has similar beneficial effects as the vehicle path planning method based on fuel consumption management as described above, which will not be repeated here.

[0103] An embodiment of the present invention further provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the vehicle path planning method based on fuel consumption management as described above is implemented.

[0104] Generally speaking, the computer instructions for implementing the method of the present invention can be carried by any combination of one or more computer-readable storage media. Non-transitory computer-readable storage media can include any computer-readable media except for the signal itself that is temporarily propagating.

[0105] Computer-readable storage media may be, for example, but not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection having one or more conductors, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium may be any tangible medium that contains or stores a program that may be used by or in conjunction with an instruction execution system, apparatus, or device.

[0106] Computer program codes for performing the operations of the present invention may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages, in particular, Python suitable for neural network computing and platform frameworks based on TensorFlow, PyTorch, etc. may be used. The program code may be executed entirely on the user's computer, partially on the user's computer, as an independent software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0107] Those skilled in the art will appreciate that all or part of the processes of the above-mentioned embodiments can be implemented by instructing related hardware through a computer program, and the program can be stored in a computer-readable storage medium, wherein the computer-readable storage medium is a disk, an optical disk, a read-only storage memory, or a random access memory, etc.

[0108] The present invention discloses a vehicle path planning method and device based on fuel consumption management. First, a first number of reachable paths are determined according to the path starting point and the path end point, and each reachable path includes multiple road sections, so as to improve the accuracy of subsequent fuel consumption calculation. Then, the fuel consumption value of the vehicle on each reachable path can be determined according to the average speed of the vehicle on each road section in each reachable path. Then, a second number of reachable paths with the least fuel consumption values ​​are determined from the first number of reachable paths as candidate paths, so as to provide the vehicle with the path selection with the lowest fuel consumption. The present invention calculates the fuel consumption value of the reachable path by road section, improves the accuracy of the fuel consumption value calculation, and provides the vehicle with the path selection with the lowest fuel consumption, which can effectively reduce the cost of using the vehicle.

[0109] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A vehicle path planning method based on fuel consumption management, characterized in that: include: Based on the path starting point and the path end point, determining a first number of reachable paths, each reachable path including a plurality of road segments; Determine the fuel consumption value of the vehicle on each accessible path based on the average speed of the vehicle on each road segment in each accessible path; Based on the fuel consumption value of the vehicle on each accessible path, sort the first number of accessible paths from low to high according to the fuel consumption value of the vehicle, and determine the first second number of accessible paths as candidate paths; The step of determining the fuel consumption value of the vehicle on each accessible path based on the average speed of the vehicle on each road section in each accessible path includes: Determine a unit fuel consumption factor of the vehicle on each road segment in each accessible path based on an average speed of the vehicle on each road segment in each accessible path; Determine the fuel consumption value of the vehicle on each accessible path based on the unit fuel consumption factor of the vehicle on each road segment in each accessible path and the length of each road segment in each accessible path; The unit fuel consumption factor of the vehicle on each road segment in each achievable path is determined based on the following formula: The fuel consumption value of the vehicle on each achievable path is determined based on the following formula: in, Indicates that the vehicle is on the road The unit fuel consumption factor on and represents the regression parameter, Indicates that the vehicle is on the road segment The vehicle specific power is determined by the average speed on Indicates that the vehicle is on a reachable path The fuel consumption value on Represents a reachable path The number of road sections in Indicates road segment Length.

2. The vehicle path planning method based on fuel consumption management according to claim 1 is characterized in that: The method further comprises: After a path is selected from the candidate paths as the vehicle driving path, a vehicle speed suggestion reminder is made based on the real-time speed of the vehicle on the current road section.

3. The vehicle path planning method based on fuel consumption management according to claim 2 is characterized in that: The vehicle speed suggestion reminder based on the real-time speed of the vehicle on the current road section includes: When the real-time speed of the vehicle on the current road section is greater than the first speed threshold, a vehicle deceleration reminder is issued; When the real-time speed of the vehicle on the current road section is less than the second speed threshold, a vehicle acceleration reminder is issued; When the real-time speed of the vehicle on the current road section is less than or equal to the first speed threshold and greater than or equal to the second speed threshold, no vehicle speed suggestion reminder is issued; The first speed threshold and the second speed threshold are determined based on a minimum fuel consumption value and a deviation threshold of the vehicle on a current road section.

4. The vehicle path planning method based on fuel consumption management according to claim 3 is characterized in that: The first speed threshold and the second speed threshold are determined based on the following formula: in, and represents the regression parameter, represents the first speed threshold, represents the second speed threshold, represents the deviation threshold, Indicates that the vehicle is on the road The minimum fuel consumption value, Indicates road segment Length.

5. The vehicle path planning method based on fuel consumption management according to claim 4 is characterized in that: The minimum fuel consumption value of the vehicle on the current road section is obtained by solving the fuel consumption value equation of the vehicle on the current road section with the speed constraint of the current road section as a constraint condition.

6. A vehicle path planning device based on fuel consumption management, characterized in that: include: A first determination module, configured to determine a first number of reachable paths based on a path start point and a path end point, each reachable path including a plurality of road segments; A second determination module is used to determine the fuel consumption value of the vehicle on each accessible path based on the average speed of the vehicle on each road section in each accessible path; A third determination module is used to sort the first number of reachable paths from low to high according to the fuel consumption value of the vehicle on each reachable path based on the fuel consumption value of the vehicle, and determine the first second number of reachable paths as candidate paths; The step of determining the fuel consumption value of the vehicle on each accessible path based on the average speed of the vehicle on each road section in each accessible path includes: Determine a unit fuel consumption factor of the vehicle on each road segment in each accessible path based on an average speed of the vehicle on each road segment in each accessible path; Determine the fuel consumption value of the vehicle on each accessible path based on the unit fuel consumption factor of the vehicle on each road segment in each accessible path and the length of each road segment in each accessible path; The unit fuel consumption factor of the vehicle on each road segment in each achievable path is determined based on the following formula: The fuel consumption value of the vehicle on each achievable path is determined based on the following formula: in, Indicates that the vehicle is on the road The unit fuel consumption factor on and represents the regression parameter, Indicates that the vehicle is on the road segment The vehicle specific power is determined by the average speed on Indicates that the vehicle is on a reachable path The fuel consumption value on Represents a reachable path The number of road sections in Indicates road segment Length.

7. An electronic device, characterized in that: It includes a memory and a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the vehicle path planning method based on fuel consumption management according to any one of claims 1 to 5 is implemented.

8. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and when the computer program is executed by a processor, the vehicle path planning method based on fuel consumption management as described in any one of claims 1 to 5 is implemented.

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