The invention discloses a long and short time domain combined energy-saving motion planning method for an electric vehicle in an afflux area. The method comprises the following steps: a roadside device transmits a target gap and position and speed information of other vehicles in an afflux adjustment area to a ramp vehicle; the ramp vehicles determine main lane front vehicles according to the target gap; predicting the moment when the vehicle in front of the main road arrives at the confluence point; establishing a longitudinal dynamical model and a power system model of the ramp vehicle, constructing a joint optimization problem of a ramp vehicle afflux motion plan and a power system, and solving the joint optimization problem to obtain an optimal speed profile and an optimal position profile of the ramp vehicle in a long time domain; and solving the optimal power output in the short-time domain of the power system so as to track the optimal speed profile and the optimal position profile. According to the method, the power constraint and the energy efficiency of the power system of the afflux vehicle are considered, the driving torque constraint and the driving motor efficiency of the power system are introduced into the afflux motion planning, and the energy-saving economical efficiency of the ramp vehicle in the afflux process is improved.
本发明公开了一种汇入区电动汽车长短时域结合的节能运动规划方法,包括:路侧设备向匝道车辆传输目标间隙和汇入调整区域内其他车辆的位置、速度信息;匝道车辆根据目标间隙确定其主道前车;预测主道前车到达汇入点的时刻;建立匝道车辆的纵向动力学模型和动力系统模型,构建匝道车辆汇入运动规划和动力系统的联合优化问题,求解联合优化问题得到长时域内匝道车辆的最优速度剖面和最优位置剖面;求解动力系统短时域内最优动力输出,以跟踪最优速度剖面和最优位置剖面。本发明考虑汇入车辆的动力系统的动力约束和能效,将动力系统的驱动力矩约束和驱动电机效率引入汇入运动规划中,提高了匝道车辆在汇入过程的节能经济性。
Energy-saving motion planning method combining long time domain and short time domain of electric vehicle in convergence area
一种汇入区电动汽车长短时域结合的节能运动规划方法
2023-09-19
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
Spatial domain energy-saving vehicle speed planning method
European Patent Office | 2024
|Motion track generation method combining long time domain and reactivity of foot type robot
European Patent Office | 2023
|Trajectory planning method combining behavior estimation and backing time domain control
European Patent Office | 2024
|Variable time domain model prediction energy management method for plug-in hybrid electric vehicle
European Patent Office | 2020
|