CN-117002500-B - Electric heavy truck team power-change beat planning and vehicle predictive cruise control method

CN117002500BCN 117002500 BCN117002500 BCN 117002500BCN-117002500-B

Abstract

The application relates to a method for planning a power-changing beat of an electric heavy truck fleet and predictively cruising control of vehicles, which comprises the steps of sending vehicle power-changing states and vehicle queuing data of a power-changing station to a target fleet, receiving the time to reach the power-changing station and/or the time to get out of the vehicle, which are sent by each vehicle in the target fleet based on the vehicle power-changing states and the vehicle queuing data, determining the upper limit and the lower limit of the speed of each vehicle according to the time to reach the power-changing station and/or the time to get out of the vehicle, planning the speed of each vehicle by utilizing a predictively cruising algorithm, obtaining a speed sequence composed of the speeds of each road point in a driving road section of the target fleet, and cruising control is carried out on each vehicle according to the sequence. Therefore, the problems that the speed of the vehicle cannot be reasonably planned due to the fact that an electric heavy truck team cannot know the situation in the power exchange station in advance, and energy waste occurs in the process of driving the electric heavy truck on an ascending and descending slope due to the fact that the vehicle runs based on the set speed are solved, predictability of power exchange beat decision planning is improved, and energy is saved.

Inventors

GAO BOLIN
Tao Naian
WAN KEKE
CUI YAN

Assignees

清华大学

Dates

Publication Date: 20260512
Application Date: 20230720

Claims (6)

1. The method for planning the power-changing beat of the electric heavy truck team and controlling the predictive cruising of the vehicle is characterized by comprising the following steps of: acquiring a vehicle power change state and vehicle queuing data of a power change station; transmitting the vehicle power change state and the vehicle queuing data to at least one target vehicle fleet, and receiving the arrival power change station time and/or the departure time of each vehicle in the at least one target vehicle fleet based on the vehicle power change state and the vehicle queuing data transmission, and Determining the maximum speed and the minimum speed of each vehicle according to the arrival power exchange station time and/or the departure time, planning the speed of each vehicle by using a preset predictive cruise algorithm based on the maximum speed and the minimum speed of each vehicle to obtain a speed sequence consisting of the speeds of each road point in the at least one target vehicle team driving road section, and performing cruise control on each vehicle according to the speed sequence; Wherein after cruise control is performed on each vehicle according to the speed sequence, the method further comprises: acquiring a new vehicle power change state from the power change station; Determining a power change delay time based on the new vehicle power change state and the vehicle power change state; Determining a first delay arrival time of the vehicle which does not arrive at the power exchange station according to the power exchange delay time length, and carrying out speed planning on the vehicle which does not arrive at the power exchange station again according to the first delay arrival time; after cruise control of each vehicle according to the speed sequence, further comprising: acquiring new vehicle queuing data from the power exchange station; Determining a queuing increment vehicle number based on the new vehicle queuing data and the vehicle queuing data; and determining a second delay arrival time of the vehicle which does not arrive at the power exchange station according to the queuing and increasing the number of the vehicles, and delaying the arrival power exchange station time and/or the departure time of the vehicle which does not arrive at the power exchange station according to the second delay arrival time.
2. The method of claim 1, further comprising, after obtaining the new vehicle queuing data from the power exchange station: Determining a queuing reduction vehicle number based on the new vehicle queuing data and the vehicle queuing data; and determining the latest arrival time of the vehicle which does not arrive at the power exchange station according to the queuing-reduced vehicle quantity, and updating the arrival power exchange station time and/or departure time of the vehicle which does not arrive at the power exchange station according to the latest arrival time.
3. The method as recited in claim 2, further comprising: determining whether the first delayed arrival time of the vehicle not reaching the battery exchange station, the second delayed arrival time of the vehicle not reaching the battery exchange station and the latest arrival time of the vehicle not reaching the battery exchange station; if the first delay arrival time of the vehicle not reaching the power exchange station is determined, the second delay arrival time of the vehicle not reaching the power exchange station is determined, and the latest arrival time of the vehicle not reaching the power exchange station is determined, determining an optimal speed sequence of each vehicle based on the elevation Map of the driving road section of the at least one target vehicle team and the Map of each vehicle, and controlling the corresponding vehicle according to the optimal speed sequence of each vehicle.
4. An electric heavy truck fleet battery change beat planning and vehicle predictive cruise control apparatus, comprising: the acquisition module is used for acquiring the vehicle power conversion state and the vehicle queuing data of the power conversion station; a transmitting module for transmitting the vehicle power change state and the vehicle queuing data to at least one target vehicle team and receiving the arrival power change station time and/or departure time of each vehicle in the at least one target vehicle team based on the vehicle power change state and the vehicle queuing data, and The control module is used for determining the maximum speed and the minimum speed of each vehicle according to the arrival power exchange station time and/or the departure time, planning the speed of each vehicle by utilizing a preset predictive cruise algorithm based on the maximum speed and the minimum speed of each vehicle to obtain a speed sequence consisting of the speeds of each road point in the at least one target vehicle team driving road section, and performing cruise control on each vehicle according to the speed sequence; wherein after cruise control is performed on each vehicle according to the speed sequence, the control module further includes: the first acquisition unit is used for acquiring a new vehicle power change state from the power change station; the first determining unit is used for determining a power change delay time length based on the new vehicle power change state and the vehicle power change state; The first planning unit is used for determining first delay arrival time of the vehicle which does not arrive at the power exchange station according to the power exchange delay time length, and carrying out speed planning on the vehicle which does not arrive at the power exchange station again according to the first delay arrival time; a second acquisition unit for acquiring new vehicle queuing data from the power exchange station; a second determining unit configured to determine a queuing-up vehicle number based on the new vehicle queuing data and the vehicle queuing data; and the second planning unit is used for determining a second delay arrival time of the vehicle which does not arrive at the power exchange station according to the queuing and increasing the number of vehicles, and delaying the arrival power exchange station time and/or departure time of the vehicle which does not arrive at the power exchange station according to the second delay arrival time.
5. A cloud server comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the electric heavy truck fleet battery cycle time planning and vehicle predictive cruise control method of any one of claims 1-3.
6. A computer readable storage medium having stored thereon a computer program, wherein the program is executed by a processor for implementing the electric heavy truck fleet battery cycle scheduling and vehicle predictive cruise control method of any one of claims 1-3.

Description

Electric heavy truck team power-change beat planning and vehicle predictive cruise control method Technical Field The application relates to the technical field of vehicles, in particular to a method and a device for planning the power-changing beat of an electric heavy truck team and controlling predictive cruising of a vehicle, a cloud server and a storage medium. Background The electric heavy truck team needs to exchange power at the power exchange station in the process of completing the transportation task. In the existing practical production process, under the condition that a human driver drives an electric heavy truck, the following two problems can occur: ① The human driver cannot know the queuing situation of the power exchange station and the power exchange situation of the front vehicle in advance. At this time, the driver cannot reasonably plan and control the vehicle speed according to the situations, which causes the situation that the power station is jammed before the power station is replaced to cause frequent start and stop to waste energy, or causes the situation that the power station is replaced discontinuously to cause efficiency reduction. ② In the related art, during the running of a vehicle, a constant speed cruise system is often used to control the running speed of the vehicle to assist a human driver in driving. However, maintaining the set speed running under any road condition causes frequent and substantial increases in motor power and braking phenomena during the ascending and descending of the vehicle, thereby increasing the consumed energy of the running of the vehicle and reducing the recovery efficiency of the motor energy. Resulting in a reduction in the expected range of the electric heavy truck and a waste of energy. Disclosure of Invention The application provides a method and a device for planning the power-changing beat of an electric heavy truck team and controlling the predictive cruising of a vehicle, a cloud server and a storage medium, which are used for solving the problems that the electric heavy truck team cannot know the queuing condition of a power-changing station and the power-changing condition of a front vehicle in advance, and cannot reasonably plan and control the vehicle speed according to the conditions, so that the situation of congestion occurs before the power-changing station to cause frequent start and stop to waste energy, or the situation of discontinuous power-changing to cause the reduction of efficiency, and the problem of energy waste of the electric heavy truck in the ascending and descending slope driving is caused by the driving of the vehicle based on the set speed, so that the range of decision planning is enlarged, the predictability and the accuracy of the power-changing beat decision planning are improved, and the energy is saved. An embodiment of a first aspect of the present application provides a method for power-on-demand beat planning and vehicle predictive cruise control for an electric heavy truck fleet, comprising the steps of: acquiring a vehicle power change state and vehicle queuing data of a power change station; transmitting the vehicle power change state and the vehicle queuing data to at least one target vehicle fleet, and receiving the arrival power change station time and/or the departure time of each vehicle in the at least one target vehicle fleet based on the vehicle power change state and the vehicle queuing data transmission, and And determining the maximum speed and the minimum speed of each vehicle according to the arrival power station time and/or the departure time, planning the speed of each vehicle by using a preset predictive cruise algorithm based on the maximum speed and the minimum speed of each vehicle to obtain a speed sequence consisting of the speeds of each road point in the at least one target vehicle team driving road section, and performing cruise control on each vehicle according to the speed sequence. Optionally, in some embodiments, after cruise control is performed on each vehicle according to the speed sequence, the method further includes: acquiring a new vehicle power change state from the power change station; Determining a power change delay time based on the new vehicle power change state and the vehicle power change state; and determining a first delay arrival time of the vehicle which does not arrive at the power exchange station according to the power exchange delay time length, and carrying out speed planning on the vehicle which does not arrive at the power exchange station again according to the first delay arrival time. Optionally, in some embodiments, after cruise control is performed on each vehicle according to the speed sequence, the method further includes: acquiring new vehicle queuing data from the power exchange station; Determining a queuing increment vehicle number based on the new vehicle queuing data and the vehicle queuing data; and determining a second delay