A joint optimization method for fuel economy and delay during vehicle startup

Abstract

The present invention relates to the field of intelligent transportation vehicle control technology, and in particular to a method for jointly optimizing fuel economy and delay during the vehicle startup phase. Based on the current vehicle startup scenario, the present invention constructs a multi-objective optimization function for the vehicle startup phase of the fuel consumption and delay model, and sets a multi-objective optimization function for the vehicle startup phase, including: fuel consumption minimization and delay minimization objective functions; normalizes the multi-objective optimization function; sets constraint conditions for objective optimization according to the vehicle startup scenario; solves the fuel consumption and delay model based on the constraint conditions of the fuel consumption and delay model of the current vehicle startup scenario, and solves the optimal acceleration of the vehicle at different times during the vehicle startup phase. The present invention focuses on the startup phase that has a significant impact on the vehicle's fuel economy and delay, and studies a method for achieving dual improvements in fuel economy and startup delay in this process, thereby improving the control effect of vehicle startup.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent traffic vehicle control, and in particular to a method for jointly optimizing fuel economy and delay during a vehicle startup phase. Background Art

[0002] With the acceleration of urbanization, residents' travel needs are increasing, resulting in a sharp increase in the number of vehicles in cities. Fuel consumption and traffic delays have become the focus of social attention. Therefore, how to effectively manage urban transportation systems and reduce fuel consumption and traffic delays has become an important research topic.

[0003] In urban traffic, the vehicle startup phase is a key factor affecting fuel efficiency and traffic flow. This phase often results in higher fuel consumption and traffic delays. When the vehicle starts, the engine requires additional fuel to overcome inertia and start cooling, especially during cold starts. When the engine is cold, additional fuel is needed to raise its operating temperature, thereby improving its efficiency. Furthermore, frequent short-distance starts and stops disrupt the normal rhythm of traffic flow, causing congestion waves to spread. The cumulative effect of these traffic delays can lead to severe traffic jams, further extending travel times. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the present invention is to overcome the problems of high fuel consumption and long traffic delays when starting a vehicle.

[0005] To solve the above technical problems, the present invention provides a method for jointly optimizing fuel economy and delay during the vehicle startup phase, comprising the following steps:

[0006] Step S1: Divide the vehicle starting scenario into two scenarios, namely, a single vehicle starting scenario and a vehicle queue starting scenario;

[0007] Step S2: Determine the fuel consumption and delay model and set the multi-objective optimization function for the vehicle startup phase, including: fuel consumption minimization and delay minimization objective functions;

[0008] Step S3: Perform normalization processing to convert the multi-objective function of step S2 into a single objective function;

[0009] Step S4: Setting target optimization constraints based on the vehicle start scenario. The single vehicle start scenario includes: acceleration constraints and road speed limit constraints; the queue start scenario includes: acceleration constraints, road speed limit constraints, and the preceding vehicle safe distance constraint.

[0010] Step S5: Solve the model of step S2 according to the constraints and draw a vehicle trajectory diagram.

[0011] Preferably, if the vehicle startup scenario is a single vehicle startup scenario, a single vehicle fuel consumption minimization objective function and a single vehicle delay minimization objective function are constructed based on the road speed limit, vehicle startup time, fuel consumption during the startup phase, instantaneous speed and acceleration of the vehicle, and the initial and end positions of the startup phase;

[0012] If the vehicle startup scenario is queued, the multi-vehicle fuel consumption minimization objective function and the multi-vehicle delay minimization objective function are constructed based on the road speed limit, the current total number of vehicles, the startup time of each vehicle, the fuel consumption during the startup phase, the instantaneous speed and acceleration, the initial position and the end position of the startup phase.

[0013] Preferably, the objective function for minimizing the fuel consumption of a single vehicle is:

[0014]

[0015] Among them, F1 is the objective function for minimizing the fuel consumption of a single vehicle, MOE e is the fuel consumption of the vehicle during Δt time, MOE e Calculated by the VT-micro vehicle fuel consumption model, T is the vehicle startup time, Δt is the preset time interval, e is a natural constant, v t is the speed of the vehicle at time t, a t is the acceleration of the vehicle at time t, v t The jth power of for a t kth power, L j,k for a t ≥0, the coefficient of the VT-micro vehicle fuel consumption model, M j,k for a t <0, the coefficient of the VT-micro vehicle fuel consumption model.

[0016] Preferably, the objective function for minimizing the delay of a single vehicle is:

[0017]

[0018] Among them, F2 is the objective function for minimizing the delay of a single vehicle, T is the vehicle start time, v max is the road speed limit, x T is the position at the end of the vehicle startup phase, and x0 is the initial position of the vehicle startup phase.

[0019] Preferably, the multi-vehicle fuel consumption minimization objective function is:

[0020]

[0021] Among them, F1′ is the objective function for minimizing fuel consumption of multiple vehicles, n is the total number of vehicles in the queue, T is the vehicle start time, Δt is the preset time interval, MOE e ′ is the fuel consumption of the vehicle during Δt time, MOE e ′ is calculated by the VT-micro vehicle fuel consumption model, e is a natural constant, v i,t is the speed of the i-th vehicle at time t, a i,t is the acceleration of the i-th vehicle at time t, v i,t The jth power of for a i,t k-th power L j,k for a t ≥0, the coefficient of the VT-micro vehicle fuel consumption model, M j,k for a t <0, the coefficient of the VT-micro vehicle fuel consumption model.

[0022] Preferably, the multi-vehicle delay minimization objective function is:

[0023]

[0024] Among them, F2′ is the multi-vehicle delay minimization objective function, n is the total number of vehicles in the queue, T is the vehicle start time, v max is the road speed limit, v i,t is the speed of the i-th vehicle at time t, a i,t is the acceleration of the i-th vehicle at time t, x i,T is the position of the i-th vehicle at the end of the vehicle startup phase, x i,0 is the position of the i-th vehicle at the beginning of the vehicle startup phase.

[0025] Preferably, if the vehicle startup scenario is a single vehicle startup scenario, the fuel consumption and delay model of single vehicle startup is:

[0026]

[0027] If the vehicle start scenario is a queue start scenario, the fuel consumption and delay model of the queue start is:

[0028]

[0029] Among them, MinF is the objective function of the fuel consumption and delay model of a single vehicle start, MinF′ is the objective function of the fuel consumption and delay model of a queue start, F1 is the objective function for minimizing fuel consumption of a single vehicle, F2 is the objective function for minimizing delay of a single vehicle, F1′ is the objective function for minimizing fuel consumption of multiple vehicles, F2′ is the objective function for minimizing delay of multiple vehicles, and F 1MAXis the maximum value of the objective function of minimizing the fuel consumption of a single vehicle, F1′ MAX is the maximum value of the objective function of minimizing fuel consumption of multiple vehicles, F 2MAX is the maximum value of the objective function of minimizing the delay of a single vehicle, F2′ MAX is the maximum value of the multi-vehicle delay minimization objective function, α and β are the weight coefficients of the fuel consumption minimization objective function and the delay minimization objective function, respectively, α≥0, β≥0.

[0030] Preferably, if the vehicle startup scenario is a single vehicle startup scenario, constraints are set for the fuel consumption and delay model of the single vehicle startup, including:

[0031] Acceleration constraints:

[0032] a min ≤a t ≤a max ,

[0033] Road speed limit constraints:

[0034] 0≤v t ≤v max , kinematic equation constraints:

[0035]

[0036] v t+1 -v t =a t ×Δt,

[0037] Minimum starting distance constraint:

[0038] x T -x0≥s,

[0039] Among them, a min is the minimum acceleration of the vehicle, a t is the acceleration of the vehicle at time t, a max is the maximum acceleration of the vehicle, v t is the speed of the vehicle at time t, v max is the road speed limit, x t is the position of the vehicle at time t, Δt is the preset time interval, x T is the position of the vehicle at the end of the vehicle starting phase, x0 is the initial position of the vehicle during the vehicle starting phase, and s is the minimum starting distance.

[0040] Preferably, if the vehicle start scenario is queue start, constraints are set for the fuel consumption and delay model of queue start, including:

[0041] Acceleration constraints:

[0042] a min ≤ai,t ≤a max ,

[0043] Road speed limit constraints:

[0044] 0≤v i,t ≤v max , kinematic equation constraints:

[0045]

[0046] v i,t+1 -v i,t =a i,t ×Δt,

[0047] Minimum starting distance constraint:

[0048] x i,T -x i,0 ≥s,

[0049] Safety distance constraint for the vehicle ahead:

[0050] x i-1,t -x i,t ≥h min

[0051] x i-1,t -x i,t ≥g min ×v i,t ,

[0052] Among them, a min is the minimum acceleration of the vehicle, a i,t is the acceleration of the i-th vehicle at time t, a max is the maximum acceleration of the vehicle, v i,t is the speed of the i-th vehicle at time t, v max is the road speed limit, a i,t is the acceleration of the i-th vehicle at time t, x i,t is the position of the i-th vehicle at time t, Δt is the preset time interval, x i,T is the position of the i-th vehicle at the end of the vehicle startup phase, x i,0 is the initial position of the i-th vehicle in the vehicle starting phase, s is the minimum starting distance, h min is the minimum headway, g min is the minimum headway, when g min ×v i,t Less than h min When g min ×v i,t Greater than h min When , the vehicle complies with the minimum headway constraint.

[0053] Preferably, based on the constraints of the fuel consumption and delay model of the current vehicle startup scenario, a sequential least squares quadratic programming algorithm is used to solve the fuel consumption and delay model of the current vehicle startup scenario to obtain the optimal acceleration of the vehicle at different times during the vehicle startup phase.

[0054] The above technical solution of the present invention has the following beneficial effects compared with the prior art:

[0055] The present invention provides a joint optimization method for fuel economy and delay in the vehicle startup phase, which takes into account two startup scenarios: single-vehicle startup and vehicle queuing. If the vehicle startup scenario is single-vehicle startup, a single-vehicle fuel consumption minimization objective function and a single-vehicle delay minimization objective function are constructed based on the road speed limit, vehicle startup time, fuel consumption in the startup phase, the vehicle's instantaneous speed and acceleration, and the initial and end positions of the startup phase. If the vehicle startup scenario is queuing startup, a multi-vehicle fuel consumption minimization objective function and a multi-vehicle delay minimization objective function are constructed based on the road speed limit, the current total number of vehicles, the startup time of each vehicle, fuel consumption in the startup phase, instantaneous speed and acceleration, and the initial and end positions of the startup phase. The two objective functions of the current vehicle startup scenario are normalized to construct a fuel consumption and delay model for the current vehicle startup scenario. The constraint conditions for target optimization are set according to the vehicle startup scenario, and the optimal acceleration of the vehicle at different times in the vehicle startup phase is solved under the premise of satisfying the constraints such as acceleration, road speed limit, kinematic equation, and minimum startup distance constraint. It achieves joint optimization of vehicle fuel economy and start-up delay, which can reduce unnecessary fuel consumption, thereby improving fuel efficiency, reducing vehicle operating costs, enabling vehicles to integrate into traffic flow more smoothly, reducing queuing and waiting time, and improving overall traffic efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments of the present invention in conjunction with the accompanying drawings, wherein:

[0057] Figure 1 It is a flowchart of the steps of the method for jointly optimizing fuel economy and delay during the vehicle startup phase of the present invention.

[0058] Figure 2 These are the trajectory diagrams of different models when the vehicle startup scenario is a single vehicle startup scenario.

[0059] Figure 3 This is a schematic diagram of the optimal acceleration of different models at different times when the vehicle startup scenario is a single vehicle startup scenario.

[0060] Figure 4 This is a trajectory diagram when the vehicle starting scenario is a queue starting scenario.

[0061] Figure 5 This is a schematic diagram of the optimal acceleration of each vehicle at different times when the vehicle starting scenario is a queue starting scenario. DETAILED DESCRIPTION

[0062] The present invention will be further described below with reference to the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it. However, the embodiments are not intended to limit the present invention.

[0063] Reference Figure 1 As shown, the first embodiment of the present invention provides a method for jointly optimizing fuel economy and delay during the vehicle startup phase, comprising the following steps:

[0064] Step S1: Divide the vehicle starting scenario into two scenarios, namely, a single vehicle starting scenario and a vehicle queue starting scenario;

[0065] In this embodiment, the vehicle startup phase is defined as a period from when the vehicle speed increases from 0 m / s to 30 seconds.

[0066] Step S2: Determine the fuel consumption and delay model and set the multi-objective optimization function for the vehicle startup phase, including: fuel consumption minimization and delay minimization objective functions;

[0067] In this embodiment, preferably, if the vehicle startup scenario is a single vehicle startup scenario, a single vehicle fuel consumption minimization objective function and a single vehicle delay minimization objective function are constructed based on the road speed limit, vehicle startup time, fuel consumption during the startup phase, instantaneous speed and acceleration of the vehicle, and the initial and end positions of the startup phase;

[0068] In this embodiment, preferably, the objective function for minimizing the fuel consumption of a single vehicle is:

[0069]

[0070] Among them, F1 is the objective function for minimizing the fuel consumption of a single vehicle, MOE e is the fuel consumption of the vehicle during Δt time, MOE e Calculated by the VT-micro vehicle fuel consumption model, T is the vehicle startup time, Δt is the preset time interval, e is a natural constant, and based on the preset time interval Δt, the vehicle speed v at multiple times t is obtained within the vehicle startup time T. t and acceleration a t , v t is the speed of the vehicle at time t, a t is the acceleration of the vehicle at time t, v t The jth power of for a tkth power, L j,k for a t ≥0, the coefficient of the VT-micro vehicle fuel consumption model, M j,k for a t <0, the coefficient of the VT-micro vehicle fuel consumption model.

[0071] In this embodiment, preferably, the objective function for minimizing the delay of a single vehicle is:

[0072]

[0073] Among them, F2 is the objective function for minimizing the delay of a single vehicle, T is the vehicle start time, v max is the road speed limit, x T is the position at the end of the vehicle startup phase, and x0 is the initial position of the vehicle startup phase.

[0074] In this embodiment, preferably, if the vehicle startup scenario is queued for startup, a multi-vehicle fuel consumption minimization objective function and a multi-vehicle delay minimization objective function are constructed based on the road speed limit value, the current total number of vehicles, the startup time of each vehicle, the fuel consumption during the startup phase, the instantaneous speed and acceleration, the initial position and the end position of the startup phase.

[0075] In this embodiment, preferably, the multi-vehicle fuel consumption minimization objective function is:

[0076]

[0077] Among them, F1′ is the objective function for minimizing fuel consumption of multiple vehicles, n is the total number of vehicles in the queue, T is the vehicle start time, Δt is the preset time interval, MOE e ′ is the fuel consumption of the vehicle during Δt time, MOE e ′ is calculated by VT-micro vehicle fuel consumption model, L j,k and M j,k is the coefficient of the VT-micro vehicle fuel consumption model, e is a natural constant, v i,t is the speed of the i-th vehicle at time t, a i,t is the acceleration of the i-th vehicle at time t.

[0078] In this embodiment, preferably, the multi-vehicle delay minimization objective function is:

[0079]

[0080] Among them, F2′ is the multi-vehicle delay minimization objective function, n is the total number of vehicles in the queue, T is the vehicle start time, v max is the road speed limit, v i,tis the speed of the i-th vehicle at time t, a i,t is the acceleration of the i-th vehicle at time t, x i,T is the position of the i-th vehicle at the end of the vehicle startup phase, x i,0 is the position of the i-th vehicle at the beginning of the vehicle startup phase.

[0081] L j,k and M j,k is the coefficient of the VT-micro vehicle fuel consumption model. Its value is determined by the positive or negative acceleration and the values ​​of j and k. The specific values ​​are shown in Table 1:

[0082] Table 1

[0083]

[0084] Step S3: Perform normalization processing to convert the multi-objective function of step S2 into a single objective function;

[0085] Step S4: Setting target optimization constraints based on the vehicle start scenario. The single vehicle start scenario includes: acceleration constraints and road speed limit constraints; the queue start scenario includes: acceleration constraints, road speed limit constraints, and the preceding vehicle safe distance constraint.

[0086] In this embodiment, preferably, if the vehicle startup scenario is a single vehicle startup scenario, the fuel consumption and delay model of the single vehicle startup is:

[0087]

[0088] Among them, MinF is the objective function of the fuel consumption and delay model of a single vehicle start, F1 is the objective function for minimizing fuel consumption of a single vehicle, F2 is the objective function for minimizing delay of a single vehicle, and F 1MAX is the maximum value of the objective function of minimizing the fuel consumption of a single vehicle, F 2MAX is the maximum value of the single vehicle delay minimization objective function, α and β are the weight coefficients of the fuel consumption minimization objective function and the delay minimization objective function, respectively, α≥0, β≥0.

[0089] The fuel consumption and delay model for a single vehicle start is configured with vehicle acceleration constraints, road speed limit constraints, kinematic equation constraints, and minimum start distance constraints, including:

[0090] Acceleration constraints:

[0091] a min ≤a t ≤a max ,

[0092] Road speed limit constraints:

[0093] 0≤v t ≤vmax , kinematic equation constraints:

[0094]

[0095] v t+1 -v t =a t ×Δt,

[0096] Minimum starting distance constraint:

[0097] x T -x0≥s,

[0098] Among them, a min is the minimum acceleration of the vehicle, a t is the acceleration of the vehicle at time t, a max is the maximum acceleration of the vehicle, v t is the speed of the vehicle at time t, v max is the road speed limit, x t is the position of the vehicle at time t, Δt is the preset time interval, x T is the position of the vehicle at the end of the vehicle starting phase, x0 is the initial position of the vehicle during the vehicle starting phase, and s is the minimum starting distance.

[0099] In this embodiment, preferably, if the vehicle start scenario is a queue start scenario, the fuel consumption and delay model of the queue start is:

[0100]

[0101] Among them, MinF′ is the objective function of the fuel consumption and delay model of queue start, F1′ is the objective function for minimizing fuel consumption of multiple vehicles, F2′ is the objective function for minimizing delay of multiple vehicles, and F1′ is the objective function for minimizing the fuel consumption of multiple vehicles. MAX is the maximum value of the objective function of minimizing fuel consumption of multiple vehicles, F2′ MAX is the maximum value of the multi-vehicle delay minimization objective function, α and β are the weight coefficients of the fuel consumption minimization objective function and the delay minimization objective function, respectively, α≥0, β≥0.

[0102] The fuel consumption and delay model for queued start sets acceleration constraints, road speed limit constraints, kinematic equation constraints, and minimum start distance constraints for each vehicle, and adds a safety distance constraint for the preceding vehicle, including:

[0103] Acceleration constraints:

[0104] a min ≤a i,t ≤a max ,

[0105] Road speed limit constraints:

[0106] 0≤vi,t ≤v max , kinematic equation constraints:

[0107]

[0108] v i,t+1 -v i,t =a i,t ×Δt, minimum starting distance constraint:

[0109] x i,T -x i,0 ≥s, front vehicle safety distance constraint:

[0110] x i-1,t -x i,t ≥h min

[0111] x i-1,t -x i,t ≥g min ×v i,t ,

[0112] Among them, a min is the minimum acceleration of the vehicle, a i,t is the acceleration of the i-th vehicle at time t, a max is the maximum acceleration of the vehicle, v i,t is the speed of the i-th vehicle at time t, v max is the road speed limit, a i,t is the acceleration of the i-th vehicle at time t, x i,t is the position of the i-th vehicle at time t, Δt is the preset time interval, x i,T is the position of the i-th vehicle at the end of the vehicle startup phase, x i,0 is the initial position of the i-th vehicle in the vehicle starting phase, s is the minimum starting distance, h min is the minimum headway, g min is the minimum headway, when g min ×v i,t Less than h min When g min ×v i,t Greater than h min When , the vehicle complies with the minimum headway constraint.

[0113] Step S5: Solve the model of step S2 according to the constraints and draw a vehicle trajectory diagram.

[0114] In this embodiment, preferably, based on the constraints of the fuel consumption and delay model for the current vehicle startup scenario, a sequential least squares quadratic programming algorithm is used to solve the fuel consumption and delay model for the current vehicle startup scenario, thereby obtaining the optimal acceleration of the vehicle at different times during the vehicle startup phase. Using the sequential least squares quadratic programming algorithm to solve the fuel consumption and delay model leverages its advantages in nonlinear and multi-constrained optimization, effectively converging to an optimal solution and thereby obtaining the optimal acceleration of the vehicle at different times during the vehicle startup phase.

[0115] In this embodiment, the vehicle startup scenario is selected as a single vehicle startup scenario, and the setting parameters are shown in Table 2:

[0116] Table 2

[0117]

[0118] The fuel consumption and delay model weight coefficients α=0, β=1 are used as a single fuel consumption optimization model, and the fuel consumption and delay model weight coefficients α=1, β=0 are used as a single delay optimization model, and the results are compared. The vehicle trajectory curve is drawn according to the results, such as Figure 2 、 3 As shown, Figure 2 Trajectory diagrams of different models when the vehicle startup scenario is a bicycle startup scenario. Figure 3 Schematic diagram of the optimal acceleration of different models at different times when the vehicle startup scenario is a single vehicle startup scenario.

[0119] The numerical comparison of different optimization models is shown in Table 3:

[0120] Table 3

[0121]

[0122] From the results, it can be analyzed that the fuel consumption and delay model proposed in the present invention achieves the best balance between total delay and fuel consumption, showing a lower total delay time and fuel consumption per 100 kilometers. Compared with the delay optimization model and the fuel consumption optimization model, this model has better comprehensive performance and is suitable for scenarios with high requirements for fuel economy and traffic delays, and has higher application value.

[0123] In this embodiment, the vehicle start scenario is selected as the queue start scenario, and the setting parameters are shown in Table 4:

[0124] Table 4

[0125]

[0126] Draw the vehicle trajectory curve as Figure 4 As shown, Figure 4 This is the trajectory diagram when the vehicle startup scenario is a queue startup scenario. Figure 5 As shown, Figure 5 This is a schematic diagram of the optimal acceleration of each vehicle at different times when the vehicle starting scenario is a queue starting scenario.

[0127] Under the premise of satisfying constraints such as acceleration, road speed limit, kinematic equations, and minimum starting distance constraints, the present invention determines the optimal balance point between vehicle fuel economy and delay, obtains the optimal acceleration of the vehicle at different times during the vehicle starting phase in a vehicle starting scenario, and realizes the joint optimization of vehicle fuel economy and starting delay, which can reduce unnecessary fuel consumption, thereby improving fuel efficiency, reducing vehicle operating costs, enabling vehicles to integrate into traffic flow more smoothly, reducing queuing and waiting time, and improving overall traffic efficiency.

[0128] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0129] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0130] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0131] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0132] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will appreciate that other variations or modifications can be made based on the above description. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. A joint optimization method for fuel economy and delay during vehicle startup, characterized in that: The following steps are involved: Step S1: Divide the vehicle starting scenario into two scenarios, namely, a single vehicle starting scenario and a vehicle queue starting scenario; Step S2: Determine the fuel consumption and delay model and set the multi-objective optimization function for the vehicle startup phase, including: fuel consumption minimization and delay minimization objective functions; If the vehicle startup scenario is a single vehicle startup scenario, the objective function of minimizing the fuel consumption of a single vehicle and minimizing the delay of a single vehicle are constructed based on the road speed limit, vehicle startup time, fuel consumption during the startup phase, instantaneous speed and acceleration of the vehicle, and the initial and final positions of the startup phase; If the vehicle startup scenario is queued, the multi-vehicle fuel consumption minimization objective function and the multi-vehicle delay minimization objective function are constructed based on the road speed limit, the total number of vehicles currently in the startup phase, the startup time of each vehicle, the fuel consumption during the startup phase, the instantaneous speed and acceleration, and the initial and final positions of the startup phase. Step S3: Perform normalization processing to convert the multi-objective function of step S2 into a single objective function; If the vehicle startup scenario is a single vehicle startup scenario, the fuel consumption and delay model of a single vehicle startup is: ， If the vehicle start scenario is a queue start scenario, the fuel consumption and delay model of the queue start is: ， in, is the objective function of the fuel consumption and delay model for a single vehicle start, is the objective function of the fuel consumption and delay model for queue start, is the objective function for minimizing the fuel consumption of a single vehicle, is the objective function for minimizing bicycle delay, is the objective function for minimizing fuel consumption of multiple vehicles, The objective function for minimizing multi-vehicle delay is: is the maximum value of the objective function of minimizing the fuel consumption of a single vehicle, is the maximum value of the objective function of minimizing fuel consumption of multiple vehicles, is the maximum value of the objective function of minimizing the delay of a single vehicle, The maximum value of the objective function for minimizing multi-vehicle delay, 、 are the weight coefficients of the fuel consumption minimization objective function and the delay minimization objective function, ; Step S4: Setting target optimization constraints based on the vehicle start scenario. The single vehicle start scenario includes: acceleration constraints and road speed limit constraints; the queue start scenario includes: acceleration constraints, road speed limit constraints, and the preceding vehicle safe distance constraint. Step S5: Solving the model of step S2 according to the constraints and drawing a vehicle trajectory diagram, including: solving the fuel consumption and delay model of the current vehicle startup scenario based on the constraints of the fuel consumption and delay model of the current vehicle startup scenario using a sequential least squares quadratic programming algorithm to obtain the optimal acceleration of the vehicle at different times during the vehicle startup phase.

2. The method for joint optimization of fuel economy and delay during vehicle startup according to claim 1, characterized in that: The objective function for minimizing the fuel consumption of a single vehicle is: ， ， in, is the objective function for minimizing the fuel consumption of a single vehicle, for The fuel consumption of the vehicle during the time period, Calculated by VT-micro vehicle fuel consumption model, The vehicle startup time, For the preset time interval, e is a natural constant, for The speed of the vehicle at that moment, for The vehicle's acceleration at that moment, for of Power, for of Power, for When , the coefficient of the VT-micro vehicle fuel consumption model is, for The coefficient of the VT-micro vehicle fuel consumption model when .

3. The method for joint optimization of fuel economy and delay during vehicle startup according to claim 1, characterized in that: The objective function for minimizing bicycle delay is: ， in, is the objective function for minimizing bicycle delay, The vehicle startup time, is the road speed limit, is the position at the end of the vehicle startup phase, It is the initial position of the vehicle during the startup phase.

4. The method for joint optimization of fuel economy and delay during vehicle startup according to claim 1, characterized in that: The objective function for minimizing multi-vehicle fuel consumption is: ， ， in, is the objective function for minimizing fuel consumption of multiple vehicles, is the total number of vehicles in the queue, The vehicle startup time, For the preset time interval, for The fuel consumption of the vehicle during the time period, Calculated by VT-micro vehicle fuel consumption model, is a natural constant, For the Vehicles in The speed of time, For the Vehicles in The acceleration of time, for of Power, for of Power, for When , the coefficient of the VT-micro vehicle fuel consumption model is, for The coefficient of the VT-micro vehicle fuel consumption model when .

5. The method for joint optimization of fuel economy and delay during vehicle startup according to claim 1, characterized in that: The objective function for minimizing multi-vehicle delay is: ， in, The objective function for minimizing multi-vehicle delay is: is the total number of vehicles in the queue, The vehicle startup time, is the road speed limit, For the Vehicles in The speed of time, For the Vehicles in The acceleration of time, For the The position of each vehicle at the end of the vehicle launch phase, For the The position of each vehicle at the beginning of the vehicle launch phase.

6. The method for joint optimization of fuel economy and delay during vehicle startup according to claim 1, characterized in that: If the vehicle startup scenario is a single vehicle startup scenario, set constraints on the fuel consumption and delay model of the single vehicle startup, including: Acceleration constraints: ， Road speed limit constraints: ， Kinematic equation constraints: ， ， Minimum starting distance constraint: ， in, is the minimum acceleration of the vehicle, for The vehicle's acceleration at that moment, is the maximum acceleration of the vehicle, for The speed of the vehicle at that moment, is the road speed limit, for The vehicle's position at the moment, For the preset time interval, is the position of the vehicle at the end of the vehicle startup phase, is the initial position of the vehicle during the vehicle startup phase, is the minimum starting distance.

7. The method for joint optimization of fuel economy and delay during vehicle startup according to claim 1, characterized in that: If the vehicle start scenario is queue start, set constraints on the fuel consumption and delay model of queue start, including: Acceleration constraints: ， Road speed limit constraints: ， Kinematic equation constraints: ， ， Minimum starting distance constraint: ， Safety distance constraint for the vehicle ahead: ， ， in, is the minimum acceleration of the vehicle, for Moment The acceleration of a vehicle, is the maximum acceleration of the vehicle, for Moment The speed of the vehicle, is the road speed limit, for Moment The position of the vehicle, For the preset time interval, The vehicle starts at the end of the The position of the vehicle, The vehicle starts The initial position of the vehicle, is the minimum starting distance, is the minimum headway, is the minimum headway, when Less than When , the vehicle complies with the minimum headway constraint, Greater than When , the vehicle complies with the minimum headway constraint.

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