摘要
为使电动汽车在行驶中达到最优能耗,以车辆行驶能耗最少为目标,提出了一种考虑交叉口信号灯和能耗的电动车最优路径规划算法。根据电动车运行时能耗和制动能量回收等因素,建立能耗模型。基于车路协同技术预先获取各路段交叉口信号灯的位置和配时信息,以此建立车辆通过信号交叉口的节能驾驶模型。基于信号灯的转换概率和电动车的能耗模型,将通过信号交叉口的交通流近似分为4个阶段:绿灯匀速通行、红灯前匀加速、红灯匀减速和红灯停车等待。结合红绿灯的转换概率和4个阶段的通行能耗,最后提出一种改进的A*算法,来寻找可行的能耗最小的路径,并进行了算例验证。结果表明,提出的方法可找到起点到终点的能耗最优路径,节能约达13%。
In order to achieve optimal energy consumption,an optimal path planning algorithm is proposed for electric vehicles considering intersection signal and energy consumption,with minimizing vehicle driving energy consumption as objective.An energy consumption model is established according to the factors of vehicle driving en⁃ergy consumption and braking energy recovery.Based on the vehicle⁃road coordination technology,the position and timing information of traffic lights at the intersections of each road segment are obtained in advance,with which an energy⁃saving driving model for the vehicle passing through the signalized intersection is set up.Based on the con⁃version probability of traffic light and the energy consumption model of electric vehicle,the traffic flow passing through signalized intersection can be approximately divided into four stages,namely the green light constant speed passing,the uniform acceleration before red light,the red light uniform deceleration and the red light stop and wait⁃ing.Combined with the transform probability of traffic lights and the passing through energy consumption in four states,an improved A*algorithm is finally put forward to find the feasible path with the lowest energy consumption,which is then verified on a calculation example.The results show that the method proposed can find the path with op⁃timal energy consumption,saving some 13%energy.
作者
胡林
周登辉
黄晶
杜荣华
张新
Hu Lin;Zhou Denghui;Huang Jing;Du Ronghua;Zhang Xin(School of Automotive and Mechanical Engineering,Changsha University of Science and Technology,Changsha 410114;Changsha University of Science and Technology,Hunan Province Key Laboratory of Safety Design and Reliability Technology for Engineering Vehicle,Changsha 410114;Hunan University,State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body,Changsha 410082)
出处
《汽车工程》
EI
CSCD
北大核心
2021年第5期641-649,666,共10页
Automotive Engineering
基金
国家自然科学基金面上项目(51875049)
湖南省杰出青年基金(2019JJ20017)
长沙市科技计划项目(KQ1801055)资助
