Path planning method based on Beidou positioning

Abstract

The invention discloses a path planning method based on Beidou positioning, and belongs to the technical field of path planning, and the method specifically comprises the steps: obtaining the vehicle path planning request information of a current vehicle, and generating a plurality of planned paths; any planned route is selected, all intersections in the planned route are obtained, and the planned route is divided into a plurality of road sections by taking the adjacent intersections as segmentation points; the traffic flow speed of any road section is calculated, the vehicle energy consumption value corresponding to the road section is obtained through calculation, the remaining electric quantity of the current vehicle is obtained, and if the vehicle total energy consumption value corresponding to any planned route is smaller than or equal to the remaining electric quantity, the planned route is calibrated as an undetermined planned route; and road condition scores of all the to-be-planned routes are calculated respectively, the optimal score of each processed planned route is calculated according to the total energy consumption value of the vehicle and the road condition scores, and the planned route with the minimum optimal score is selected as the optimal route.

Description

Technical Field

[0001] The present invention relates to the technical field of path planning, and in particular to a path planning method based on Beidou positioning. Background Art

[0002] "Range anxiety" is a common problem for owners of pure electric vehicles. Therefore, it is particularly important to accurately predict the energy consumption of electric vehicles without increasing the battery capacity. As the number of cars increases, traffic congestion has put tremendous pressure on the urban road network. How to reasonably choose a route will directly affect travel efficiency. It is particularly important to quickly and efficiently select a travel plan that meets the owner's wishes.

[0003] Electric vehicle energy consumption warning is an important part of improving its user experience. Electric vehicle power consumption is greatly affected by vehicle operating conditions. When driving in a complex environment, nonlinear power consumption will affect the driver's judgment and reduce travel reliability. Therefore, in the existing technology, electric vehicle energy consumption warning usually uses an energy consumption model based on power consumption during driving to estimate the mileage that can be driven under the current power. The driver queries the remaining mileage information through the dashboard, but due to the nonlinear characteristics of power consumption due to other factors, the remaining mileage information is not accurate enough, which affects the driver's travel prediction. Summary of the invention

[0004] The purpose of the present invention is to provide a path planning method based on Beidou positioning to solve the following technical problems: Electric vehicle energy consumption warning is an important part of improving its user experience. The power consumption of electric vehicles is greatly affected by the vehicle's operating conditions. When driving in a complex environment, the nonlinear power consumption will affect the driver's judgment and reduce travel reliability. In the existing technology, the energy consumption warning of electric vehicles usually uses an energy consumption model based on the power consumption during driving to estimate the mileage that can be driven under the current power. The driver queries the remaining mileage information through the dashboard, but due to the nonlinear characteristics of power consumption due to other factors, the remaining mileage information is not accurate enough, which affects the driver's travel prediction.

[0005] The purpose of the present invention can be achieved by the following technical solutions: A path planning method based on Beidou positioning, characterized in that it includes the following steps: S1, obtaining vehicle route planning request information of the current vehicle, generating a number of planned routes according to the vehicle route planning request information and marking them as C1, C2, ..., Cn respectively; wherein the vehicle route planning request information includes current vehicle location information and destination location information; S2, select any planned route and obtain all intersections in the planned route, divide the planned route into several road segments with adjacent intersections as dividing points; obtain road information of any road segment and calculate the traffic speed of the road segment, calculate the vehicle energy consumption value corresponding to the road segment according to the traffic speed, and obtain the vehicle energy consumption values ​​corresponding to all road segments; wherein the road information includes the maximum speed limit of the road and the total length of the road; S3, obtain the remaining power D of the current vehicle. If there is any planned route whose corresponding total vehicle energy consumption value is less than or equal to D*(1-α), then mark the planned route as a pending planned route; calculate the road condition scores of all pending planned routes respectively, and calculate the preferred score of each processed planned route based on the total vehicle energy consumption value and the road condition score, and select the planned route with the smallest preferred score as the optimal route.

[0006] As a further solution of the present invention: In S2, the specific process of calculating the vehicle flow speed of the road segment is: Determine the transition section in the road section in advance and obtain the length S of the transition section, obtain all vehicles that leave the section during the time when the traffic light is green in the previous red-green cycle of the intersection and mark them as target vehicles, obtain the total time H1 for any target vehicle to pass through the road section and the time H2 for the target vehicle to stay in the transition section, calculate the travel time (H1-H2) of the target vehicle in the non-transition section, and thus calculate the average travel time T of several vehicles in the non-transition section, and calculate the traffic speed V according to the calculation formula V=(LS) / T, where L is the total length of the road section.

[0007] As a further solution of the present invention: the process of determining the transition section is as follows: Get the maximum speed limit v of the road section and calculate the time t required to decelerate a vehicle with a speed of v to 0 with a preset acceleration a. According to the calculation formula Calculate the distance traveled by the vehicle during the process of decelerating to a stop, select the first intersection in the opposite direction of the planned route and use it as the starting point, select a section of length S from the road and mark it as a transition section.

[0008] As a further solution of the present invention: the S2 also includes calibrating the traffic speed of any road section as the driving speed V of the vehicle in the road section.

[0009] As a further solution of the present invention: in S2, the specific calculation process of the vehicle energy consumption value is: ; Wherein, L is the total length of the road segment, and the unit of L is kilometers, and V is the driving speed of the vehicle.

[0010] As a further solution of the present invention: in S3, the calculation process of the preferred score is: Obtain the current status of traffic lights at all intersections on any planned route j and their predetermined change sequence, calculate the specific time point when the vehicle arrives at the next road segment based on the traffic speed V of the road segment, and determine the state of the traffic lights at the intersection when the vehicle arrives at each road segment in combination with the time point when the vehicle arrives at the intersection of each road segment and the state change sequence of the corresponding traffic lights; wherein the traffic light state is divided into a red light state and a green light state; According to the calculation formula Calculate the optimal score of the planned route; where μ is the preset correction coefficient, Hi is the travel time of the jth planned route, Zj is the number of intersections that the jth planned route needs to pass through, zi is the number of intersections where the traffic light is green when the vehicle on the jth planned route passes through the intersection, E 总 is the total vehicle energy consumption value corresponding to the jth planned route.

[0011] As a further solution of the present invention: In S3, the specific calculation process of the travel time is: ; Among them, hj is the estimated travel time of the j-th planned route, j belongs to n, m is the total number of all road segments in the j-th planned route, Li is the road length of the ith road segment, and Vi is the traffic speed of the ith road segment.

[0012] As a further solution of the present invention: in S3, if the total energy consumption value of the vehicles corresponding to any planned route is greater than D*(1-α), a warning message is issued.

[0013] Beneficial effects of the present invention: The present invention first obtains the vehicle route planning request information of the current vehicle, which is the basis for subsequent analysis, selects any planned route and obtains all intersections in the planned route, divides the planned route into several road segments with adjacent intersections as dividing points, and obtains several road segments corresponding to the planned path. It can be understood that the road congestion conditions of each road segment in the road network are not the same, so the vehicle driving speed is also different under the actual vehicle traffic conditions. It can be understood that different vehicle driving speeds result in different vehicle energy consumption values ​​per unit time. By considering the road degree and road traffic speed of the planned route, the estimated vehicle energy consumption value of the vehicle can be calculated. By obtaining By taking the current remaining power of the vehicle and comparing it with the total energy consumption value of the planned route, those planned routes within the allowable power range can be screened out to ensure that the vehicle will not be interrupted due to insufficient power during driving, thereby improving the safety and reliability of driving. At the same time, considering that in the actual planned route, the number and status of traffic lights in the actual route planning are key factors affecting driving efficiency and comfort, therefore, by comprehensively considering the road condition score and the energy consumption value, the optimal planned route is selected in consideration of route cost and route comfort. The present invention takes into account both energy saving and the quality of road conditions, and can find the route that best suits the current vehicle status and driving needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The present invention will be further described below in conjunction with the accompanying drawings.

[0015] Figure 1 It is a schematic flow chart of a path planning method based on Beidou positioning of the present invention. DETAILED DESCRIPTION

[0016] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0017] See also Figure 1 As shown, the present invention is a path planning method based on Beidou positioning, comprising the following steps: S1, obtaining vehicle route planning request information of the current vehicle, generating a number of planned routes according to the vehicle route planning request information and marking them as C1, C2, ..., Cn respectively; wherein the vehicle route planning request information includes current vehicle location information and destination location information; S2, select any planned route and obtain all intersections in the planned route, divide the planned route into several road segments with adjacent intersections as dividing points; obtain road information of any road segment and calculate the traffic speed of the road segment, calculate the vehicle energy consumption value corresponding to the road segment according to the traffic speed, and obtain the vehicle energy consumption values ​​corresponding to all road segments; wherein the road information includes the maximum speed limit of the road and the total length of the road; S3, obtain the remaining power D of the current vehicle. If there is any planned route whose corresponding total vehicle energy consumption value is less than or equal to D*(1-α), then mark the planned route as a pending planned route; calculate the road condition scores of all pending planned routes respectively, and calculate the preferred score of each processed planned route based on the total vehicle energy consumption value and the road condition score, and select the planned route with the smallest preferred score as the optimal route.

[0018] The present invention first obtains the vehicle route planning request information of the current vehicle, which is the basis for subsequent analysis, selects any planned route and obtains all intersections in the planned route, divides the planned route into several road segments with adjacent intersections as dividing points, and obtains several road segments corresponding to the planned path. It can be understood that the road congestion conditions of each road segment in the road network are not the same, so the vehicle driving speed is also different under the actual vehicle traffic conditions. It can be understood that different vehicle driving speeds result in different vehicle energy consumption values ​​per unit time. By considering the road degree and road traffic speed of the planned route, the estimated vehicle energy consumption value of the vehicle can be calculated. By obtaining By taking the current remaining power of the vehicle and comparing it with the total energy consumption value of the planned route, those planned routes within the allowable power range can be screened out to ensure that the vehicle will not be interrupted due to insufficient power during driving, thereby improving the safety and reliability of driving. At the same time, considering that in the actual planned route, the number and status of traffic lights in the actual route planning are key factors affecting driving efficiency and comfort, therefore, by comprehensively considering the road condition score and the energy consumption value, the optimal planned route is selected in consideration of route cost and route comfort. The present invention takes into account both energy saving and the quality of road conditions, and can find the route that best suits the current vehicle status and driving needs.

[0019] It is worth noting that in the process of vehicle route planning, there may be such a situation: after accurate calculation, the total energy consumption value of the vehicle corresponding to any planned route is found to be greater than the current remaining power of the vehicle. In this case, it is necessary to take the charging pile into consideration in route planning. This is an existing and relatively mature technical means that has been widely used and practiced in this field. The specific operation method will not be elaborated and discussed in detail here.

[0020] In a preferred embodiment of the present invention, in S2, the specific process of calculating the vehicle flow speed of the road segment is: Determine the transition section in the road section in advance and obtain the length S of the transition section, obtain all vehicles that leave the section during the time when the traffic light is green in the previous red-green cycle of the intersection and mark them as target vehicles, obtain the total time H1 for any target vehicle to pass through the road section and the time H2 for the target vehicle to stay in the transition section, calculate the travel time (H1-H2) of the target vehicle in the non-transition section, and thus calculate the average travel time T of several vehicles in the non-transition section, and calculate the traffic speed V according to the calculation formula V=(LS) / T, where L is the total length of the road section.

[0021] It is understandable that traffic lights on the road will affect the speed of vehicles on the road. Therefore, a transition section is set and the total time H1 for any outgoing vehicle to pass the target road and the time H2 for the vehicle to stay in the transition section are obtained. The driving time of the vehicle in the non-transition section is calculated, thereby obtaining the average driving time of several vehicles in the non-transition section, and the actual driving speed of the vehicle on the current road is calculated based on the average time.

[0022] In another preferred embodiment of the present invention, the process of determining the transition section is as follows: Get the maximum speed limit v of the road section and calculate the time t required to decelerate a vehicle with a speed of v to 0 with a preset acceleration a. According to the calculation formula Calculate the distance traveled by the vehicle during the process of decelerating to a stop, select the first intersection in the opposite direction of the planned route and use it as the starting point, select a section of length S from the road and mark it as a transition section.

[0023] In another preferred embodiment of the present invention, said S2 further includes calibrating the traffic speed of any road section as the driving speed V of the vehicle in the road section.

[0024] In another preferred embodiment of the present invention, in S2, the specific calculation process of the vehicle energy consumption value is: ; Wherein, L is the total length of the road segment, and the unit of L is kilometers, and V is the driving speed of the vehicle.

[0025] In another preferred embodiment of the present invention, in S3, the calculation process of the preferred score is: Obtain the current status of traffic lights at all intersections on any planned route j and their predetermined change sequence, calculate the specific time point when the vehicle arrives at the next road segment based on the traffic speed V of the road segment, and determine the state of the traffic lights at the intersection when the vehicle arrives at each road segment in combination with the time point when the vehicle arrives at the intersection of each road segment and the state change sequence of the corresponding traffic lights; wherein the traffic light state is divided into a red light state and a green light state; According to the calculation formula Calculate the optimal score of the planned route; where μ is the preset correction coefficient, Hi is the travel time of the jth planned route, Zj is the number of intersections that the jth planned route needs to pass through, zi is the number of intersections where the traffic light is green when the vehicle on the jth planned route passes through the intersection, E 总 is the total vehicle energy consumption value corresponding to the jth planned route.

[0026] In another preferred embodiment of the present invention, in S3, the specific calculation process of the travel time is: ; Among them, hj is the estimated travel time of the j-th planned route, j belongs to n, m is the total number of all road segments in the j-th planned route, Li is the road length of the ith road segment, and Vi is the traffic speed of the ith road segment.

[0027] In another preferred embodiment of the present invention, in S3, if the total energy consumption value of the vehicle corresponding to any planned route is greater than D*(1-α), a warning message is issued.

[0028] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. A path planning method based on Beidou positioning, characterized in that: The following steps are involved: S1, obtaining vehicle route planning request information of the current vehicle, generating a number of planned routes according to the vehicle route planning request information and marking them as C1, C2, ..., Cn respectively; wherein the vehicle route planning request information includes current vehicle location information and destination location information; S2, select any planned route and obtain all intersections in the planned route, divide the planned route into several road segments with adjacent intersections as dividing points; obtain road information of any road segment and calculate the traffic speed of the road segment, calculate the vehicle energy consumption value corresponding to the road segment according to the traffic speed, and obtain the vehicle energy consumption values ​​corresponding to all road segments; wherein the road information includes the maximum speed limit of the road and the total length of the road; S3, obtain the remaining power D of the current vehicle. If there is any planned route whose corresponding total vehicle energy consumption value is less than or equal to D*(1-α), then mark the planned route as a pending planned route; calculate the road condition scores of all pending planned routes respectively, and calculate the preferred score of each processed planned route based on the total vehicle energy consumption value and the road condition score, and select the planned route with the smallest preferred score as the optimal route.

2. The path planning method based on Beidou positioning according to claim 1, characterized in that: In S2, the specific process of calculating the vehicle flow speed of the road segment is: Determine the transition section in the road section in advance and obtain the length S of the transition section, obtain all vehicles that leave the section during the time when the traffic light is green in the previous red-green cycle of the intersection and mark them as target vehicles, obtain the total time H1 for any target vehicle to pass through the road section and the time H2 for the target vehicle to stay in the transition section, calculate the travel time (H1-H2) of the target vehicle in the non-transition section, and thus calculate the average travel time T of several vehicles in the non-transition section, and calculate the traffic speed V according to the calculation formula V=(LS) / T, where L is the total length of the road section.

3. The path planning method based on Beidou positioning according to claim 2, characterized in that: The process of determining the transition section is as follows: Get the maximum speed limit v of the road section and calculate the time t required to decelerate a vehicle with a speed of v to 0 with a preset acceleration a. According to the calculation formula Calculate the distance traveled by the vehicle during the process of decelerating to a stop, select the first intersection in the opposite direction of the planned route and use it as the starting point, select a section of length S from the road and mark it as a transition section.

4. The path planning method based on Beidou positioning according to claim 1, characterized in that: The step S2 also includes calibrating the vehicle flow speed of any road section as the driving speed V of the vehicle in the road section.

5. The path planning method based on Beidou positioning according to claim 4 is characterized in that: In S2, the specific calculation process of the vehicle energy consumption value is: ； Wherein, L is the total length of the road segment, and the unit of L is kilometers, and V is the driving speed of the vehicle.

6. The path planning method based on Beidou positioning according to claim 5, characterized in that: In S3, the calculation process of the preferred score is: Obtain the current status of traffic lights at all intersections on any planned route j and their predetermined change sequence, calculate the specific time point when the vehicle arrives at the next road segment based on the traffic speed V of the road segment, and determine the state of the traffic lights at the intersection when the vehicle arrives at each road segment in combination with the time point when the vehicle arrives at the intersection of each road segment and the state change sequence of the corresponding traffic lights; wherein the traffic light state is divided into a red light state and a green light state; According to the calculation formula Calculate the optimal score of the planned route; where μ is the preset correction coefficient, Hi is the travel time of the jth planned route, Zj is the number of intersections that the jth planned route needs to pass through, zi is the number of intersections where the traffic light is green when the vehicle on the jth planned route passes through the intersection, E 总 is the total vehicle energy consumption value corresponding to the jth planned route.

7. The path planning method based on Beidou positioning according to claim 6, characterized in that: In S3, the specific calculation process of the travel time is as follows: ； Among them, hj is the estimated travel time of the j-th planned route, j belongs to n, m is the total number of all road segments in the j-th planned route, Li is the road length of the ith road segment, and Vi is the traffic speed of the ith road segment.

8. The path planning method based on Beidou positioning according to claim 1, characterized in that: In S3, if the total energy consumption value of the vehicles corresponding to any planned route is greater than D*(1-α), a warning message is issued.

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