CN107618501B - Energy management method for hybrid vehicle, terminal device and server - Google Patents
Energy management method for hybrid vehicle, terminal device and server Download PDFInfo
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- CN107618501B CN107618501B CN201610561671.4A CN201610561671A CN107618501B CN 107618501 B CN107618501 B CN 107618501B CN 201610561671 A CN201610561671 A CN 201610561671A CN 107618501 B CN107618501 B CN 107618501B
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- B60—VEHICLES IN GENERAL
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Abstract
The invention provides a hybrid vehicle energy management method, terminal equipment, a server and a hybrid vehicle energy management system, wherein an expected value of a speed at a preset moment when a vehicle runs in a preset road section is obtained according to running information in a preset time, the energy of the vehicle is distributed according to the expected value of the speed at the preset moment when the vehicle runs in the preset road section, the energy of the vehicle is planned from the global perspective, the fuel utilization rate of the vehicle is greatly improved, and the fuel economy of the vehicle is improved.
Description
Technical Field
The invention relates to the field of new energy automobile control, in particular to a hybrid vehicle energy management method, a terminal device, a server and a hybrid vehicle energy management system.
Background
The power battery of the hybrid electric vehicle has larger capacity, can run for a certain distance in a pure electric mode, and the vehicle is driven by the motor in the pure electric mode to consume the electric energy stored in the power battery; when the battery is exhausted, the vehicle can be continuously driven in a hybrid power mode (mainly taking an engine) and can be externally charged after the vehicle reaches the destination.
However, the pure electric mode driving range of the current hybrid electric vehicle is generally low, taking the higher market acceptance of biddidy as an example, the theoretical pure electric driving range is 70 kilometers, but with the use of vehicles, the battery loss is increased, and the actual driving range usually does not reach the theoretical driving range. If the air conditioner needs to be turned on in summer or the heating needs to be turned on in winter, the driving mileage is lower. However, in China, the commuting mileage of many people on duty often exceeds 50 kilometers, and is even longer. As a result, many hybrid vehicle owners experience the inability to complete commuting miles using the electric mode, which is exacerbated when the vehicle is in use for a period of time.
The energy distribution measurement based on the engine after the battery power is consumed cannot optimize the energy of the hybrid vehicle.
Disclosure of Invention
The invention aims to provide a hybrid vehicle energy management method and a hybrid vehicle energy management device, which are used for optimizing energy distribution of a hybrid vehicle in the commuting mileage of a duty family.
In order to achieve the above object, the present invention provides a hybrid vehicle energy management method, comprising:
acquiring and storing driving information of a vehicle in a preset road section;
acquiring an expected value of the speed of the vehicle at a preset moment when the vehicle runs in the preset road section according to the running information of the vehicle within a preset time; and
the energy of the vehicle is distributed according to the expected value of the speed of the vehicle at the preset moment when the vehicle runs in the preset road section.
Preferably, in the above hybrid vehicle energy management method, the step of distributing the energy of the vehicle includes:
acquiring the power required by the vehicle to reach the expected value of the speed at the preset moment according to the expected value of the speed at the preset moment when the vehicle runs in the preset road section; and
and acquiring the motor torque and the engine torque required by the vehicle at the preset moment according to the required power so as to distribute the energy of the vehicle.
Preferably, in the hybrid vehicle energy management method described above, a dynamic programming algorithm is employed to obtain the motor torque and the engine torque required by the vehicle at the predetermined time.
Preferably, in the hybrid vehicle energy management method described above, the travel information includes: a total mileage of the predetermined road segment and a speed of the vehicle at a predetermined time while running in the predetermined road segment.
Preferably, in the above hybrid vehicle energy management method, the driving information of all weeks N within the predetermined time is stored in an nth array, and the expected value of the speed of the vehicle at the predetermined time when the vehicle runs in the predetermined road section is obtained according to the speed of the vehicle at the predetermined time when the vehicle runs in the predetermined road section in the nth data, where N is 1,2,3,4,5,6, or 7.
Preferably, in the hybrid vehicle energy management method described above, the predetermined time is 14 days or longer.
Preferably, in the above hybrid vehicle energy management method, the hybrid vehicle is a plug-in hybrid vehicle.
Preferably, in the above hybrid vehicle energy management method, the hybrid vehicle is a plug-in hybrid vehicle.
The invention also provides a terminal device, which is arranged in a vehicle,
the system comprises a server, a terminal device and a server, wherein the server is used for acquiring the running information of a vehicle in a preset road section and sending the running information to the server, the server acquires the expected value of the speed of the vehicle at a preset moment when the vehicle runs in the preset road section according to the running information in the preset time, distributes the energy of the vehicle according to the expected value of the speed of the vehicle at the preset moment when the vehicle runs in the preset road section and sends the distribution information to the terminal device, and the terminal device receives the distribution information and sends the distribution information to the vehicle.
Preferably, in the above terminal device, the process of allocating, by the server, the energy of the vehicle according to the expected value of the speed at the predetermined time when the vehicle travels the predetermined road segment includes:
the server acquires the power required by the vehicle to reach the expected value of the speed at the preset moment according to the expected value of the speed at the preset moment when the vehicle runs in the preset road section; and
the server obtains the motor torque and the engine torque required by the vehicle at the preset moment according to the required power so as to distribute the energy of the vehicle.
Preferably, in the terminal device, the server uses a dynamic programming algorithm to obtain the motor torque and the engine torque required by the vehicle at the predetermined time.
Preferably, in the above terminal device, the travel information acquired by the terminal device includes: a total mileage of the predetermined road segment and a speed of the vehicle at a predetermined time while running in the predetermined road segment.
The invention also provides a server, which receives the driving information of a vehicle in a preset road section acquired by a terminal device, acquires the expected value of the speed of the vehicle at the preset moment when the vehicle drives in the preset road section according to the driving information in the preset time, distributes the energy of the vehicle according to the expected value of the speed at the preset moment when the vehicle drives in the preset road section and sends the distribution information to the terminal device.
Preferably, in the above server, the travel information acquired by the terminal device includes: a total mileage of the predetermined road segment and a speed of the vehicle at a predetermined time while running in the predetermined road segment.
Preferably, in the above server, the process of allocating, by the server, the energy of the vehicle according to the expected value of the speed of the vehicle at the predetermined time when the vehicle travels the predetermined road segment includes:
the server acquires the power required by the vehicle to reach the expected value of the speed at the preset moment according to the expected value of the speed at the preset moment when the vehicle runs in the preset road section; and
the server obtains the motor torque and the engine torque required by the vehicle at the preset moment according to the required power so as to distribute the energy of the vehicle.
Preferably, in the above server, the server adopts a dynamic programming algorithm to obtain the motor torque and the engine torque required by the vehicle at the predetermined time.
Preferably, in the above server, the process of acquiring, by the server, the expected value of the speed of the vehicle at the predetermined time when the vehicle travels in the predetermined road section according to the travel information in the predetermined time includes: and storing the running information of all the Weeks in the preset time in an Nth array, and acquiring the expected value of the speed of the vehicle at the preset time when the vehicle runs in the preset road section according to the speed of the vehicle at the preset time when the vehicle runs in the preset road section in the Nth data, wherein N is 1,2,3,4,5,6 or 7.
The invention further provides a hybrid vehicle energy management system, which comprises a terminal device and a server,
the terminal equipment is used for acquiring the driving information of a vehicle in a preset road section and sending the driving information to the server;
the server acquires an expected value of the speed of the vehicle at the preset moment when the vehicle runs in the preset road section according to the running information in the preset time, distributes the energy of the vehicle according to the expected value of the speed of the vehicle at the preset moment when the vehicle runs in the preset road section and sends the distribution information to the terminal equipment, and the terminal equipment receives the distribution information and sends the distribution information to the vehicle.
Preferably, in the above hybrid vehicle energy management system, the process of the server allocating the energy of the vehicle according to the expected value of the speed at the predetermined time when the vehicle travels in the predetermined section includes:
the server acquires the power required by the vehicle to reach the expected value of the speed at the preset moment according to the expected value of the speed at the preset moment when the vehicle runs in the preset road section; and
the server obtains the motor torque and the engine torque required by the vehicle at the preset moment according to the required power so as to distribute the energy of the vehicle.
Preferably, in the above hybrid vehicle energy management system, the server employs a dynamic programming algorithm to obtain the motor torque and the engine torque required by the vehicle at the predetermined time.
Preferably, in the above hybrid vehicle energy management system, the process of the server obtaining the expected value of the speed of the vehicle at the predetermined time when the vehicle travels the predetermined section according to the travel information within the predetermined time includes: and storing the running information of all the Weeks in the preset time in an Nth array, and acquiring the expected value of the speed of the vehicle at the preset time when the vehicle runs in the preset road section according to the speed of the vehicle at the preset time when the vehicle runs in the preset road section in the Nth data, wherein N is 1,2,3,4,5,6 or 7.
Preferably, in the above hybrid vehicle energy management system, the travel information acquired by the terminal device includes: a total mileage of the predetermined road segment and a speed of the vehicle at a predetermined time while running in the predetermined road segment.
Preferably, in the hybrid vehicle energy management system, the predetermined time is 14 days or longer.
The invention also provides a terminal device which is placed in a vehicle and used for acquiring and storing the driving information of the vehicle in a preset road section, acquiring the expected value of the speed of the vehicle at the preset moment when the vehicle drives in the preset road section according to all the driving information in a preset time, distributing the energy of the vehicle according to the expected value of the speed of the vehicle at the preset moment when the vehicle drives in the preset road section, and sending the distribution information to the vehicle.
Preferably, in the terminal device, the process of allocating the energy of the vehicle by the terminal device includes: the terminal device acquires power required by the vehicle to reach the expected value of the speed according to the expected value of the speed at the preset moment when the vehicle runs in the preset road section, further acquires motor torque and engine torque required by the vehicle at the moment corresponding to the expected value of the speed, and sends the motor torque and the engine torque to the vehicle.
Preferably, in the terminal device, the terminal device uses a dynamic programming algorithm to obtain the motor torque and the engine torque required when the speed of the vehicle reaches a desired value of the speed.
Preferably, in the terminal device, the terminal device uses a stochastic dynamic programming algorithm to obtain the motor torque and the engine torque required when the speed of the vehicle reaches a desired value of the speed.
Preferably, in the terminal device described above, the travel information includes: a total mileage of the predetermined road segment and a speed of the vehicle at a predetermined time while running in the predetermined road segment.
Preferably, in the terminal device, the terminal device stores the driving information of all mondays N in the predetermined time in an nth array, and obtains an expected value of the speed of the vehicle at a predetermined time when the monday N runs in the predetermined road section according to the speed of the vehicle at the predetermined time when the vehicle runs in the predetermined road section in the nth data, where N is 1,2,3,4,5,6, or 7.
Preferably, in the terminal device, the predetermined time is 14 days or longer.
In the energy management method, the terminal device, the server and the energy management system of the hybrid vehicle, the expected value of the speed of the vehicle at the preset moment when the vehicle runs in the preset road section is obtained according to the running information in the preset time, the energy of the vehicle is distributed according to the expected value of the speed at the preset moment when the vehicle runs in the preset road section, the energy of the vehicle is planned from the global perspective, the fuel utilization rate of the vehicle is greatly improved, and the fuel economy of the vehicle is improved.
Drawings
FIG. 1 is a flow chart of a hybrid vehicle energy management method according to one embodiment of the present invention;
FIG. 2 is a schematic diagram of a hybrid vehicle energy management system according to an embodiment of the present invention;
fig. 3 is a flowchart of a hybrid vehicle energy management method according to a second embodiment of the invention.
Detailed Description
The following describes in more detail embodiments of the present invention with reference to the schematic drawings. Advantages and features of the present invention will become apparent from the following description and claims. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention.
Example one
The embodiment provides a hybrid vehicle energy management method, as shown in fig. 1, to realize energy optimized distribution of a hybrid vehicle, specifically, the method includes the following steps.
Step S11: the method comprises the steps of acquiring and storing the driving information of a vehicle in a preset road section.
In the present embodiment, the hybrid vehicle is a plug-in hybrid vehicle, and further, is a plug-in hybrid vehicle.
The terminal equipment is placed on the vehicle and acquires the driving information of the vehicle in a preset road section. The predetermined road section is for example a fixed road section which the commuter travels during the commute when driving the vehicle, so that the mileage of the predetermined road section is fixed. Typically, the fixed road segment on which the commuter drives the vehicle includes: a road segment from the place of residence to the place of work of the commuter, and a road segment from the place of work to the place of residence of the commuter. Of course, the predetermined route section may be other route sections that are frequently traveled, such as route sections that are frequently traveled while shopping is going out.
And the terminal equipment sends the acquired running information to a server. The travel information includes: a total mileage of the predetermined road segment and a speed of the vehicle at a predetermined time while traveling in the predetermined road segment. The terminal device acquires a real-time speed of the vehicle at a predetermined time while the vehicle is traveling in the predetermined road section, and stores the real-time speed on a fact storage unit. The predetermined time is any time when the vehicle travels in the predetermined road section.
Step S12: all the running information of the vehicles in a preset time is obtained, and the expected value of the speed of the vehicles at the preset time when the vehicles run in the preset road section is obtained according to the running information.
The predetermined time is 14 days or more in consideration of the difference in the degree of congestion between the work day and the double holiday for the predetermined link, so that the expected value of the speed at the predetermined time when the vehicle travels the predetermined link is obtained from the real-time speed at the predetermined time when the vehicle travels the predetermined link obtained in step S1.
And the terminal equipment acquires the running information of the vehicle in the preset time and sends the running information in the preset time to the server, and the server stores the running information and processes the stored running information in the preset time. The specific processing procedure is as follows.
First, the server classifies all the travel information within the predetermined time. The predetermined time is greater than or equal to 14 days, for example, may be 30 days, may also be 100 days, and may also be longer, so as to improve the accuracy of the expected value of the speed of the vehicle at the predetermined time in the predetermined road section. In the present embodiment, the predetermined time may be set to 3 months, and all the travel information within the predetermined time (i.e., within 3 months) are grouped by week. That is, the travel information of all the mondays N within the predetermined time is stored in an nth array, and the expected value of the speed of the vehicle at the predetermined time when the vehicle travels in the predetermined road section is obtained according to the speed of the vehicle at the predetermined time when the vehicle travels in the predetermined road section in the nth data, where N is 1,2,3,4,5,6, or 7. Specifically, the driving information of all mondays in 3 months is classified into one type and stored in a first array, and the driving information of all mondays in 3 months is classified into one type and stored in a second array. Similarly, the driving information of all wednesdays in 3 months is classified into one type and stored in a third array, the driving information of all thursdays in 3 months is classified into one type and stored in a fourth array, the driving information of all fridays in 3 months is classified into one type and stored in a fifth array, the driving information of all saturdays in 3 months is classified into one type and stored in a sixth array, and the driving information of all sundays in 3 months is classified into one type and stored in a seventh array.
Then, the server obtains an expected value of the speed of the vehicle at a predetermined time when the vehicle runs in the predetermined road section on the basis of the speed of the vehicle in the nth array at the predetermined time when the vehicle runs in the predetermined road section, wherein N is 1,2,3,4,5,6 or 7.
For example, taking data of monday as an example, since the predetermined time is 3 months in this embodiment, in the first array, 12 speed values are provided for a predetermined time when the vehicle runs in the predetermined road section, for example, for the 2 nd time, 12 speed values are provided, and then the expected value of the 12 data is obtained as the expected value of the speed at the 2 nd time by using a statistical calculation method, and is stored in the first array.
Step S13: the energy of the vehicle is distributed according to the expected value of the speed of the vehicle at the preset moment when the vehicle runs in the preset road section.
Firstly, the vehicle can obtain a certain speed only by providing power for the vehicle by the motor or the engine of the vehicle, and in order to obtain a certain speed, the motor or the engine of the vehicle must provide power corresponding to the speed for the vehicle. Therefore, the power required for the vehicle to reach the desired value of the speed can be acquired from the desired value of the speed at the predetermined time when the vehicle travels in the predetermined section, that is, the server acquires the power matched with the desired value of the speed at the predetermined time when the vehicle travels in the predetermined section.
Then, the server plans the motor and the engine of the vehicle by using a dynamic planning method or a stochastic dynamic planning method, that is, distributes power, which is matched with an expected value of a speed at a predetermined time when the vehicle travels in the predetermined section, between the motor and the engine of the vehicle.
Specifically, in the above example, still taking the first array as an example, the expected value of the speed at the predetermined time stored in the first array is first sampled, and the sampling period may be set to 1s, but it is needless to say that the sampling period may be set to less than 1 second, for example, 0.5 second, for the purpose of improving the accuracy. And then, carrying out forward recursion from the last moment by adopting an inverse dynamic solving method, and determining the state and control law of the system in each step. In the present embodiment, assuming the SOC (state of charge) of the vehicle battery as the state of the system and the torque of the vehicle motor as the control law u (i) of state transition, the recursion relationship of the SOC of the vehicle battery from the i-th time to the next time is as follows:
wherein Q isbattPower battery capacity, RbattIs the internal resistance of the power battery, VOCFor open circuit voltage, P, of the power celleFor the motor power, i is 1, … M, and M is the number of samples of the expected values of the speed at all times in the nth array.
The state transition equation determined by the control law u (i) at the ith time and the state SOC (i) of the battery SOC at the ith time is as follows:
fuel (i) ═ L [ soc (i), u (i), (formula 2)
Wherein fuel (i) is the fuel consumption required at the ith time, i is 1, … M, and M is the number of samples of the expected value of the speed at the preset time in the nth array.
The control law u (i) and the state SOC (i) of the battery SOC at the current time need to satisfy the condition that the equivalent fuel consumption of the vehicle is minimized, specifically, the following formula:
wherein J is an objective function, that is, when the value of the objective function J is minimum, the equivalent consumption of the vehicle is minimum, and the equivalent fuel consumption of the vehicle includes the fuel consumption of the vehicle engine and the equivalent fuel consumption of the vehicle motor. Combining the formula 1 and the formula 3 can obtain the torque of the motor of the vehicle at the ith moment, and then combining the power matched with the expected value of the speed of the vehicle at the ith moment, the torque of the engine of the vehicle at the ith moment can be obtained, so that the power matched with the expected value of the speed of the vehicle at the ith moment when the vehicle runs in the preset road section is distributed between the motor and the engine of the vehicle.
Step S14: and sending the motor torque and the engine torque required by the vehicle at a preset moment when the vehicle runs in the preset road section to the vehicle.
Specifically, the server transmits motor torque and engine torque required at a predetermined time when the vehicle travels in the predetermined road section to the terminal device, the terminal device transmits distribution information of energy to the vehicle, and the motor and the engine of the vehicle are controlled by a main control unit of the vehicle so that the motor and the engine of the vehicle provide the torque required to be provided by each of them.
Further, the travel information further includes a speed of the vehicle when the vehicle travels a predetermined position in the predetermined road section and altitude information of the predetermined position in the predetermined road section, in another embodiment of the present invention, after the terminal device transmits the travel information to a server, the server may further obtain an expected value of the speed of the vehicle when the vehicle travels to a predetermined position in the predetermined section from the speed of the vehicle when traveling to the predetermined position in the predetermined section included in the travel information, and then, distributing the energy of the vehicle according to the expected value of the speed of the vehicle when the vehicle runs to the preset position in the preset road section, wherein the specific distribution method is the same as the energy distribution method corresponding to the expected value of the speed at the preset moment in the embodiment, and details are not repeated here.
In still another embodiment of the present invention, the influence of the road gradient may be taken into account in calculating the energy distribution corresponding to the expected value of the speed at the predetermined position to improve the accuracy, based on the altitude information of the predetermined position in the predetermined section included in the travel information.
In this embodiment, the terminal device includes a mobile terminal, such as a commonly-used mobile phone or other mobile terminals capable of performing data transmission with a server, and meanwhile, various status data of the vehicle can be seen through a display screen of the mobile terminal. The server comprises a cloud computing platform.
The embodiment of the invention also provides a terminal device, wherein the terminal device is used for acquiring the running information of the vehicle in a preset road section and sending the running information to a server, the server acquires the expected value of the speed of the vehicle at the preset moment when the vehicle runs in the preset road section according to the running information in the preset time, distributes the energy of the vehicle according to the expected value of the speed of the vehicle at the preset moment when the vehicle runs in the preset road section and sends the distribution information to the terminal device, and the terminal device receives the distribution information and sends the distribution information to the vehicle.
The server acquires power required by the vehicle to reach the expected value of the speed at a preset time when the vehicle runs in the preset road section according to the expected value of the speed at the preset time, and acquires motor torque and engine torque required by the vehicle at the preset time according to the required power so as to distribute energy to the vehicle.
Further, the server adopts a dynamic programming algorithm or a stochastic dynamic programming algorithm to obtain the motor torque and the engine torque required by the vehicle at the preset moment.
The embodiment of the invention also provides a server, which receives the driving information of a vehicle in a preset road section acquired by a terminal device, acquires the expected value of the speed of the vehicle at the preset moment when the vehicle drives in the preset road section according to the driving information in the preset time, distributes the energy of the vehicle according to the expected value of the speed at the preset moment when the vehicle drives in the preset road section and sends the distribution information to the terminal device.
Wherein the driving information acquired by the terminal device includes: a total mileage of the predetermined road segment and a speed of the vehicle at a predetermined time while running in the predetermined road segment.
The server acquires power required by the vehicle to reach the expected value of the speed at a preset time when the vehicle runs in the preset road section according to the expected value of the speed at the preset time, and acquires motor torque and engine torque required by the vehicle at the preset time according to the required power so as to distribute energy to the vehicle.
Further, the server adopts a dynamic programming algorithm or a stochastic dynamic programming algorithm to obtain the motor torque and the engine torque required by the vehicle at the preset moment.
The process that the server acquires the expected value of the speed of the vehicle at the preset moment when the vehicle drives in the preset road section according to the driving information in the preset time comprises the following steps: and storing the running information of all the Weeks in the preset time in an Nth array, and acquiring the expected value of the speed of the vehicle at the preset time when the vehicle runs in the preset road section according to the speed of the vehicle at the preset time when the vehicle runs in the preset road section in the Nth data, wherein N is 1,2,3,4,5,6 or 7.
The embodiment of the invention further provides a hybrid vehicle energy management system, as shown in fig. 2, which includes a terminal device 101 and a server 102. The terminal device 101 is placed in a vehicle 103 and used for acquiring driving information of the vehicle 103 in a predetermined road section and sending the driving information to the server 102, the server 102 acquires an expected value of a speed at a predetermined time when the vehicle 103 drives in the predetermined road section according to the driving information in the predetermined time, distributes energy of the vehicle 103 according to the expected value of the speed at the predetermined time when the vehicle 103 drives in the predetermined road section and sends distribution information to the terminal device 101, and the terminal device 101 receives the distribution information and sends the distribution information to the vehicle 103.
The specific implementation method of the system for managing the energy of the hybrid vehicle is described above, and is not described herein again.
Example two
The embodiment provides a hybrid vehicle energy management method, as shown in fig. 3, to realize energy optimized distribution of a hybrid vehicle, specifically, the method includes the following steps.
Step S21: the method comprises the steps of acquiring and storing the driving information of a vehicle in a preset road section.
In the present embodiment, the hybrid vehicle is a plug-in hybrid vehicle, and further, is a plug-in hybrid vehicle.
The terminal equipment is placed on the vehicle and acquires the driving information of the vehicle in a preset road section. The predetermined road section is for example a fixed road section which the commuter travels during the commute when driving the vehicle, so that the mileage of the predetermined road section is fixed. Typically, the fixed road segment on which the commuter drives the vehicle includes: a road segment from the place of residence to the place of work of the commuter, and a road segment from the place of work to the place of residence of the commuter. Of course, the predetermined route section may be other route sections that are frequently traveled, such as route sections that are frequently traveled while shopping is going out.
The terminal device has a storage unit to store the acquired travel information of the vehicle. The travel information includes: a total mileage of the predetermined road segment and a speed of the vehicle at a predetermined time while traveling in the predetermined road segment. The terminal device acquires a real-time speed of the vehicle at a predetermined time while the vehicle is traveling in the predetermined road section, and stores the real-time speed on a fact storage unit.
Step S22: the method comprises the steps of obtaining the running information of the vehicle within a preset time, and obtaining the expected value of the speed of the vehicle at a preset time when the vehicle runs in the preset road section according to the running information.
The predetermined time is 14 days or more in consideration of the difference in the degree of congestion between the work day and the double holiday for the predetermined link, so that the expected value of the speed at the predetermined time when the vehicle travels the predetermined link is obtained from the real-time speed at the predetermined time when the vehicle travels the predetermined link obtained in step S1.
And the terminal equipment acquires the running information of the vehicle in the preset time and processes the running information.
First, the terminal device classifies all the travel information within the predetermined time. The predetermined time is greater than or equal to 14 days, for example, may be 30 days, may also be 100 days, and may also be longer, so as to improve the accuracy of the expected value of the speed of the vehicle at the predetermined time in the predetermined road section. In the present embodiment, the predetermined time may be set to 3 months, and all the travel information within the predetermined time (i.e., within 3 months) are grouped by week. That is, the travel information of all the mondays N within the predetermined time is stored in an nth array, and the expected value of the speed of the vehicle at the predetermined time when the vehicle travels in the predetermined road section is obtained according to the speed of the vehicle at the predetermined time when the vehicle travels in the predetermined road section in the nth data, where N is 1,2,3,4,5,6, or 7. Specifically, the driving information of all mondays in 3 months is classified into one type and stored in a first array, and the driving information of all mondays in 3 months is classified into one type and stored in a second array. Similarly, the driving information of all wednesdays in 3 months is classified into one type and stored in a third array, the driving information of all thursdays in 3 months is classified into one type and stored in a fourth array, the driving information of all fridays in 3 months is classified into one type and stored in a fifth array, the driving information of all saturdays in 3 months is classified into one type and stored in a sixth array, and the driving information of all sundays in 3 months is classified into one type and stored in a seventh array.
Then, the expected value of the speed of the vehicle at the predetermined time when N is 1,2,3,4,5,6 or 7 when N is operated in the predetermined road section is obtained according to the speed of the vehicle in the Nth array at the predetermined time when the vehicle is operated in the predetermined road section.
For example, taking data of monday as an example, since the predetermined time is 3 months in this embodiment, in the first array, 12 speed values are provided for the predetermined time when the vehicle runs in the predetermined road section, for example, for the 2 nd time, 12 speed values are provided, then the expected value of the 12 data is obtained as the expected value of the speed at the 2 nd time by using a statistical calculation method, and the expected value of the speed is stored in the first array.
Step S23: the terminal device distributes the energy of the vehicle according to the expected value of the speed of the vehicle at the preset moment when the vehicle runs in the preset road section.
Firstly, the vehicle can obtain a certain speed only by providing power for the vehicle by the motor or the engine of the vehicle, and in order to obtain a certain speed, the motor or the engine of the vehicle must provide power corresponding to the speed for the vehicle. Therefore, the terminal device can acquire the power required for the vehicle to reach the desired value of the speed from the desired value of the speed at the predetermined time when the vehicle travels in the predetermined section, that is, the terminal device acquires the power matched with the desired value of the speed at the predetermined time when the vehicle travels in the predetermined section.
Then, the terminal device plans the motor and the engine of the vehicle by using a dynamic planning method or a stochastic dynamic planning method, that is, distributes power, which is matched with an expected value of a speed at a predetermined time when the vehicle travels in the predetermined road section, between the motor and the engine of the vehicle.
Specifically, in the above example, still taking the first array as an example, the expected value of the speed at the predetermined time stored in the first array is first sampled, and the sampling period may be set to 1s, but it is needless to say that the sampling period may be set to less than 1 second, for example, 0.5 second, for the purpose of improving the accuracy. And then, carrying out forward recursion from the last moment by adopting an inverse dynamic solving method, and determining the state and control law of the system in each step. In the present embodiment, assuming the SOC (state of charge) of the vehicle battery as the state of the system and the torque of the vehicle motor as the control law u (i) of state transition, the recursion relationship of the SOC of the vehicle battery from the i-th time to the next time is as follows:
wherein Q isbattPower battery capacity, RbattIs the internal resistance of the power battery, VOCFor open circuit voltage, P, of the power celleFor motor power, i is 1, … M, M is all times in the Nth arrayThe number of samples taken at the desired value of the speed at that moment.
The state transition equation determined by the control law u (i) at the ith time and the state SOC (i) of the battery SOC at the current time is as follows:
fuel (i) ═ L [ soc (i), u (i), (formula 5)
Wherein fuel (i) is the fuel consumption required at the ith time, i is 1, … M, and M is the number of samples of the expected value of the speed at the preset time in the nth array.
The control law u (i) and the state SOC (i) of the battery SOC at the current time need to satisfy the condition that the equivalent fuel consumption of the vehicle is minimized, specifically, the following formula:
wherein J is an objective function, that is, when the value of the objective function J is minimum, the equivalent consumption of the vehicle is minimum, and the equivalent fuel consumption of the vehicle includes the fuel consumption of the vehicle engine and the equivalent fuel consumption of the vehicle motor. The torque of the motor of the vehicle at the ith moment can be obtained by combining the formulas 4 and 6, and then the torque of the engine of the vehicle at the ith moment can be obtained by combining the power matched with the expected value of the speed of the vehicle at the ith moment, so that the power matched with the expected value of the speed of the vehicle at the ith moment when the vehicle runs in the preset road section is distributed between the motor and the engine of the vehicle.
Step S24: the terminal device transmits to the vehicle a motor torque and an engine torque required at a predetermined timing when the vehicle travels in the predetermined section.
Specifically, the terminal device sends motor torque and engine torque required by the vehicle at a preset moment when the vehicle runs in the preset road section to a main control unit of the vehicle, and the motor and the engine of the vehicle are controlled by the main control unit of the vehicle, so that the motor and the engine of the vehicle provide the torque required to be provided by each of the motor and the engine.
Further, the driving information further includes a speed of the vehicle when the vehicle runs at a predetermined position in the predetermined road section and altitude information of the predetermined position in the predetermined road section, and in another embodiment of the present invention, an expected value of the speed of the vehicle when the vehicle runs at the predetermined position in the predetermined road section, which is included in the driving information, may also be obtained according to the speed of the vehicle when the vehicle runs at the predetermined position in the predetermined road section, and then energy of the vehicle is allocated according to the expected value of the speed of the vehicle when the vehicle runs at the predetermined position in the predetermined road section.
In still another embodiment of the present invention, the terminal device may further cause the influence of the road gradient to be taken into account when calculating the energy distribution corresponding to the expected value of the speed at the predetermined time, in accordance with altitude information of a predetermined position in the predetermined section included in the travel information, to improve the accuracy.
The embodiment of the invention also provides a terminal device, which is placed in a vehicle and used for acquiring and storing the running information of the vehicle in a preset road section, acquiring the expected value of the speed of the vehicle at the preset moment when the vehicle runs in the preset road section according to the running information in the preset time, then distributing the energy of the vehicle according to the expected value of the speed of the vehicle at the preset moment when the vehicle runs in the preset road section, and sending the distribution information to the main control unit of the vehicle. The specific method for implementing energy management of the vehicle through the terminal device is as described above, and is not described herein again.
In summary, in the hybrid vehicle energy management method, the terminal device, the server, and the hybrid vehicle energy management system provided in the embodiments of the present invention, the expected value of the speed at the predetermined time when the vehicle travels in the predetermined road segment is obtained according to the travel information obtained within the predetermined time, the energy of the vehicle is distributed according to the expected value of the speed at the predetermined time when the vehicle travels in the predetermined road segment, and the energy of the vehicle is planned from a global perspective, so that the fuel utilization rate of the vehicle is greatly improved, and the fuel economy of the vehicle is improved.
The above description is only a preferred embodiment of the present invention, and does not limit the present invention in any way. It will be understood by those skilled in the art that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (22)
1. A hybrid vehicle energy management method, comprising:
acquiring and storing driving information of a hybrid vehicle in a preset road section;
acquiring an expected value of the speed of the hybrid vehicle at a preset moment when the hybrid vehicle runs in the preset road section according to the running information of the hybrid vehicle within a preset time; and
distributing energy of the hybrid vehicle according to a desired value of speed of the hybrid vehicle at a predetermined time while traveling in the predetermined road segment;
and storing the running information of all the sundays N in the preset time into an Nth array, and acquiring the expected value of the speed of the hybrid vehicle at the preset time when the hybrid vehicle runs in the preset road section according to the speed of the hybrid vehicle at the preset time when the hybrid vehicle runs in the preset road section in the Nth array, wherein N is 1,2,3,4,5,6 or 7.
2. The hybrid vehicle energy management method of claim 1, wherein distributing the energy of the hybrid vehicle comprises:
acquiring the power required by the hybrid vehicle to reach the expected value of the speed at a preset moment when the hybrid vehicle runs in the preset road section according to the expected value of the speed at the preset moment; and
and acquiring the motor torque and the engine torque required by the hybrid vehicle at the preset moment according to the required power so as to distribute the energy of the hybrid vehicle.
3. The hybrid vehicle energy management method of claim 2, wherein a dynamic programming algorithm is employed to obtain the motor torque and the engine torque required by the hybrid vehicle at the predetermined time.
4. The hybrid vehicle energy management method of claim 1, wherein the travel information comprises: a total mileage of the predetermined road segment and a speed of the hybrid vehicle at a predetermined time when the hybrid vehicle operates in the predetermined road segment.
5. The hybrid vehicle energy management method of claim 1, wherein the predetermined time is 14 days or more.
6. The hybrid vehicle energy management method of claim 1, wherein the hybrid vehicle is a plug-in hybrid vehicle.
7. The hybrid vehicle energy management method of claim 6, wherein the hybrid vehicle is a plug-in hybrid vehicle.
8. A server, characterized in that,
receiving driving information of a hybrid vehicle in a preset road section acquired by a terminal device, acquiring an expected value of the speed of the hybrid vehicle at a preset moment when the hybrid vehicle drives in the preset road section according to the driving information in the preset time, distributing the energy of the hybrid vehicle according to the expected value of the speed at the preset moment when the hybrid vehicle drives in the preset road section, and sending distribution information to the terminal device;
the process that the server acquires the expected value of the speed of the hybrid vehicle at the preset moment when the hybrid vehicle runs in the preset road section according to the running information in the preset time comprises the following steps: and storing the running information of all the sundays N in the preset time into an Nth array, and acquiring the expected value of the speed of the hybrid vehicle at the preset time when the hybrid vehicle runs in the preset road section according to the speed of the hybrid vehicle at the preset time when the hybrid vehicle runs in the preset road section in the Nth array, wherein N is 1,2,3,4,5,6 or 7.
9. The server according to claim 8, wherein the travel information acquired by the terminal device includes: a total mileage of the predetermined road segment and a speed of the hybrid vehicle at a predetermined time when the hybrid vehicle operates in the predetermined road segment.
10. The server according to claim 8, wherein the process of the server allocating energy of the hybrid vehicle according to the desired value of the speed at the predetermined time when the hybrid vehicle travels in the predetermined road segment comprises:
the server acquires the power required by the hybrid vehicle to reach the expected value of the speed at the preset moment according to the expected value of the speed at the preset moment when the hybrid vehicle runs in the preset road section; and
the server obtains the motor torque and the engine torque required by the hybrid vehicle at the preset moment according to the required power so as to distribute the energy of the hybrid vehicle.
11. The server according to claim 10, wherein the server employs a dynamic programming algorithm to obtain the motor torque and the engine torque required by the hybrid vehicle at the predetermined time.
12. A hybrid vehicle energy management system is characterized by comprising a terminal device and a server,
the terminal device is used for acquiring the driving information of a hybrid vehicle in a preset road section and sending the driving information to the server;
the server acquires an expected value of the speed at a preset moment when the hybrid vehicle runs in the preset road section according to the running information in the preset time, distributes the energy of the hybrid vehicle according to the expected value of the speed at the preset moment when the hybrid vehicle runs in the preset road section and sends the distribution information to the terminal equipment, and the terminal equipment receives the distribution information and sends the distribution information to the hybrid vehicle;
the process that the server acquires the expected value of the speed of the hybrid vehicle at the preset moment when the hybrid vehicle runs in the preset road section according to the running information in the preset time comprises the following steps: and storing the running information of all the sundays N in the preset time into an Nth array, and acquiring the expected value of the speed of the hybrid vehicle at the preset time when the hybrid vehicle runs in the preset road section according to the speed of the hybrid vehicle at the preset time when the hybrid vehicle runs in the preset road section in the Nth array, wherein N is 1,2,3,4,5,6 or 7.
13. The hybrid vehicle energy management system of claim 12, wherein the process of the server distributing the energy of the hybrid vehicle according to the expected value of the speed at the predetermined time when the hybrid vehicle is traveling in the predetermined road segment comprises:
the server acquires the power required by the hybrid vehicle to reach the expected value of the speed at the preset moment according to the expected value of the speed at the preset moment when the hybrid vehicle runs in the preset road section; and
the server obtains the motor torque and the engine torque required by the hybrid vehicle at the preset moment according to the required power so as to distribute the energy of the hybrid vehicle.
14. The hybrid vehicle energy management system of claim 13 wherein the server employs a dynamic programming algorithm to obtain the motor torque and the engine torque required by the hybrid vehicle at the predetermined time.
15. The hybrid vehicle energy management system of claim 12, wherein the travel information acquired by the terminal device includes: a total mileage of the predetermined road segment and a speed of the hybrid vehicle at a predetermined time when the hybrid vehicle operates in the predetermined road segment.
16. The hybrid vehicle energy management system of claim 12 wherein the predetermined time is 14 days or greater.
17. A terminal device, placed in a hybrid vehicle, for acquiring and storing travel information of the hybrid vehicle in a predetermined section, acquiring an expected value of a speed at a predetermined time when the hybrid vehicle travels in the predetermined section according to all the travel information within a predetermined time, distributing energy of the hybrid vehicle according to the expected value of the speed at the predetermined time when the hybrid vehicle travels in the predetermined section, and transmitting distribution information to the hybrid vehicle;
the terminal device stores the driving information of all the sundays N in the preset time in an Nth array, and obtains the expected value of the speed of the hybrid vehicle at the preset time when the sundays N run in the preset road section according to the speed of the hybrid vehicle at the preset time when the hybrid vehicle runs in the preset road section in the Nth array, wherein N is 1,2,3,4,5,6 or 7.
18. The terminal device of claim 17, wherein the process of the terminal device distributing the energy of the hybrid vehicle comprises: the terminal device acquires power required by the vehicle to reach the expected value of the speed according to the expected value of the speed at the preset moment when the vehicle runs in the preset road section, further acquires motor torque and engine torque required by the vehicle at the moment corresponding to the expected value of the speed, and sends the motor torque and the engine torque to the vehicle.
19. The terminal device of claim 18, wherein the terminal device employs a dynamic programming algorithm to obtain the motor torque and engine torque required when the speed of the vehicle reaches a desired value for speed.
20. The terminal device of claim 18, wherein the terminal device employs a stochastic dynamic programming algorithm to obtain the motor torque and the engine torque required when the speed of the vehicle reaches a desired value for speed.
21. The terminal device according to claim 17, wherein the travel information includes: a total mileage of the predetermined road segment and a speed of the vehicle at a predetermined time while running in the predetermined road segment.
22. The terminal device according to claim 17, wherein the predetermined time is 14 days or more.
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| CN111267830B (en) * | 2020-02-10 | 2021-07-09 | 南京航空航天大学 | Hybrid power bus energy management method, device and storage medium |
| CN113386732B (en) * | 2021-06-30 | 2023-03-17 | 中国第一汽车股份有限公司 | Switching method for working modes of non-plug-in hybrid electric vehicle |
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