Method and device for navigating electric vehicle in charging
A method and a device for navigating an electric vehicle in charging are provided. The method comprises: S 1 , obtaining a navigation area, wherein the navigation area comprises a plurality of charging stations; S 2 , receiving a charging request from an electric vehicle in the navigation area; S 3 , obtaining a plurality of first time periods according to the electric vehicle and the plurality of charging stations; S 4 , selecting a minimum first time period from the plurality of first time periods; and S 5 , navigating the electric vehicle to a charging station corresponding to the minimum first time period.
1. A method for navigating an electric vehicle in charging, comprising acts of:
S 1 , obtaining a navigation area, wherein the navigation area comprises a plurality of charging stations;
S 2 , receiving a charging request from an electric vehicle in the navigation area;
S 3 , obtaining a plurality of first time periods according to the electric vehicle and the plurality of charging stations, wherein each first time period is a time period during which the electric vehicle spends on arriving to a respective one of the plurality of charging stations, waiting for charging and being charged, and wherein obtaining the plurality of first time periods according to the electric vehicle and the plurality of charging stations comprises:
S 31 , obtaining a second time period which the electric vehicle spends on arriving to each charging station;
S 32 , obtaining a third time period which the electric vehicle spends on waiting for charging in each charging station;
S 33 , obtaining a fourth time period which the electric vehicle spends on being charged in each charging station; and
S 34 , obtaining each first time period according to a sum of the second time period, the third time period and the fourth time period;
S 4 , selecting a minimum first time period from the plurality of first time periods; and
S 5 , navigating the electric vehicle to a charging station corresponding to the minimum first time period.
2. The method according to claim 1 , after act S 1 , further comprising:
obtaining a plurality of intersections in the navigation area;
marking the plurality of intersections and the plurality of charging stations in the navigation area as a plurality of nodes in the navigation area; and
obtaining a node connection matrix N according to the plurality of nodes, wherein
N
=
(
N
11
…
N
1
n
…
N
wz
…
N
n
1
…
N
nn
)
,
where n represents a number of the plurality of nodes, and
N
wz
=
{
2
when
node
w
is
identical
with
node
z
1
when
there
are
other
nodes
between
node
w
and
node
z
0
when
node
w
is
directly
connected
to
node
z
.
3. The method according to claim 1 , wherein act S 31 comprises:
obtaining a first node which the electric vehicle currently passes, a second node which the electric vehicle will arrive to, and a distance from the electric vehicle to the second node;
obtaining a path set from the second node to each charging station according to the node connection matrix, wherein each path in the path set passes each node at most once;
obtaining the second time period according to formula (1),
t
d
λ
=
min
1
≤
j
≤
m
c
2
,
λ
(
∑
η
=
1
n
c
2
,
λ
j
-
1
S
w
c
2
,
λ
j
,
η
w
c
2
,
λ
j
,
η
+
1
V
_
w
c
2
,
λ
j
,
η
w
c
2
,
λ
j
,
η
+
1
)
+
L
V
_
c
1
c
2
(
1
)
where t d λ represents the second time period, λ represents a charging station, c1 represents the first node, c2 represents the second node, L represents the distance from the electric vehicle to the second m c2,λ represents a number of the paths in the path set, n c2,λ j represents a number of the nodes passed by a j th path, w c2,λ j,η represents an η th node passed by the j th path, w c2,λ j,η+1 represents an η+1 th node passed by the j th path,
S
w
c
2
,
λ
j
,
η
w
c
2
,
λ
j
,
η
+
1
represents a distance from the node w c2,λ j,η , to the node w c2,λ j,η+1 ,
V
_
w
c
2
,
λ
j
,
η
w
c
2
,
λ
j
,
η
+
1
represents a first average traffic speed from the node w c2,λ j,η to the node w c2,λ j,η+1 , and V clc2 represents a second average traffic speed from the first node to the second node.
4. The method according to claim 3 , wherein act S 32 comprises:
obtaining a time T1 when receiving the charging request from the electric vehicle;
at a time T1+t d λ , judging whether a number of electric vehicles in each charging station is less than a number of charging posts in each charging station;
if yes, the third time period is 0; and
if no, obtaining the third time period according to formula (2),
t
wait
λ
=
max
(
0
,
T
k
T
1
+
t
d
λ
λ
-
m
c
T
1
+
t
d
λ
+
1
T
1
+
t
d
λ
-
(
T
1
+
t
d
λ
)
)
(
2
)
where t wait λ represents the third time period, c represents the plurality of
k
T
1
+
t
d
λ
λ
represents a number of electric vehicles in a charging station λ at the time T 1 +t d λ ,
m
c
T
1
+
t
d
λ
represents a number of charging posts in the charging station λ, and
T
k
T
1
+
t
d
λ
λ
-
m
c
T
1
+
t
d
λ
+
1
T
1
+
t
d
λ
represents a charging finish time of an electric vehicle
k
T
1
+
t
d
λ
λ
-
m
c
T
1
+
t
d
λ
+
1.
5. The method according to claim 4 , further comprising:
obtaining a maximum available charging capacity of a power grid; and
obtaining the number of the charging posts in each charging station according to the maximum available charging capacity.
6. The method according to claim 4 , wherein act S 33 comprises:
obtaining a current electrical energy and a consumption of electrical energy per unit distance of the electric vehicle;
obtaining a remaining electrical energy of the electric vehicle according to formula (3),
E
SOC
′
=
E
SOC
-
E
ave
·
(
∑
η
=
1
n
c
2
,
λ
j
-
1
S
w
c
2
,
λ
j
,
η
w
c
2
,
λ
j
,
η
+
1
+
L
)
(
3
)
where E′ soc represents the remaining electrical energy of the electric vehicle, E soc represents the current electrical energy of the electric vehicle, and E ave represents the consumption of electrical energy per unit distance of the electric vehicle;
obtaining the fourth time period according to formula (4),
t
c
λ
=
E
full
-
E
SOC
′
P
c
λ
(
4
)
where E full represents a battery capacity of the electric vehicle, and P c λ represents a charging power of each charging post in the charging station λ.
7. A device for navigating an electric vehicle in charging, comprising:
a first obtaining module, configured to obtain a navigation area, wherein the navigation area comprises a plurality of charging stations;
a receiving module, configured to receive a charging request from an electric vehicle in the navigation area;
a second obtaining module, configured to obtain a plurality of first time periods according to the electric vehicle and the plurality of charging stations, wherein each first time period is a time period during which the electric vehicle spends on arriving to a respective one of the plurality of charging stations, waiting for charging and being charged, and wherein the second obtaining module comprises:
a first obtaining unit, configured to obtain a second time period which the electric vehicle spends on arriving to each charging station;
a second obtaining unit, configured to obtain a third time period which the electric vehicle spends on waiting for charging in each charging station;
a third obtaining unit, configured to obtain a fourth time period which the electric vehicle spends on being charged in each charging station; and
a fourth obtaining unit, configured to obtain each first time period according to a sum of the second time period, the third time period and the fourth time period;
a selecting module, configured to select a minimum first time period from the plurality of first time periods;
a navigating module, configured to navigate the electric vehicle to a charging station corresponding to the minimum first time period;
a non-transitory computer-readable medium comprising computer-executable instructions stored thereon; and
an instruction execution system, which is configured by the instructions to implement at least one of above modules or units.
8. The device according to claim 7 , further comprising:
a third obtaining module, configured to obtain a plurality of intersections in the navigation area;
a marking module, configured to mark the plurality of intersections and the plurality of charging stations in the navigation area as a plurality of nodes in the navigation area; and
a fourth obtaining module, configured to obtain a node connection matrix N according to the plurality of nodes, wherein
N
=
(
N
11
…
N
1
n
…
N
wz
…
N
n
1
…
N
nn
)
,
where n represents a number of the plurality of nodes, and
N
wz
=
{
2
when
mode
w
is
identical
with
node
z
1
when
there
are
other
nodes
between
node
w
and
node
z
0
when
node
w
is
directly
connected
to
node
z
.
9. The device according to claim 7 , wherein the first obtaining unit is further configured to:
obtain a first node which the electric vehicle currently passes, a second node which the electric vehicle will arrive to, and a distance from the electric vehicle to the second node;
obtain a path set from the second node to each charging station according to the node connection matrix, wherein each path in the path set passes each node at most once;
obtain the second time period according to formula (1),
t
d
λ
=
min
1
≤
j
≤
m
c
2
,
λ
(
∑
η
=
1
n
c
2
,
λ
j
-
1
S
w
c
2
,
λ
j
,
η
w
c
2
,
λ
j
,
η
+
1
V
_
w
c
2
,
λ
j
,
η
w
c
2
,
λ
j
,
η
+
1
)
+
L
V
_
c
1
c
2
(
1
)
where t d λ represents the second time period, λ represents a charging station, c1 represents the first node, c2 represents the second node, L represents the distance from the electric vehicle to the second m c2,λ represents a number of the paths in the path set, n c2,λ j represents a number of the nodes passed by a j th path, w c2,λ j,η represents an η th node passed by the j th path, w c2,λ j,η+1 represents an η+1 th node passed by the j th path,
S
w
c
2
,
λ
j
,
η
w
c
2
,
λ
j
,
η
+
1
represents a distance from the node w c2,λ j,η , to the node w c2,λ j,η+1 ,
V
_
w
c
2
,
λ
j
,
η
w
c
2
,
λ
j
,
η
+
1
represents a first average traffic speed from the node w c2,λ j,η to the node w c2,λ j,η+1 , and V clc2 represents a second average traffic speed from the first node to the second node.
10. The device according to claim 9 , wherein the second obtaining unit is further configured to:
obtain a time T1 when receiving the charging request from the electric vehicle;
at a time T1+t d λ , judge whether a number of electric vehicles in each charging station is less than a number of charging posts in each charging station;
if yes, the third time period is 0; and
if no, obtain the third time period according to formula (2),
t
wait
λ
=
max
(
0
,
T
k
T
1
+
t
d
λ
λ
-
m
c
T
1
+
t
d
λ
+
1
T
1
+
t
d
λ
-
(
T
1
+
t
d
λ
)
)
(
2
)
where t wait λ represents the third time period, c represents the plurality of charging posts,
k
T
1
+
t
d
λ
λ
represents a number of electric vehicles in a charging station λ at the T 1 +t d λ ,
m
c
T
1
+
t
d
λ
represents a number of charging posts in the charging station λ, and
T
k
T
1
+
t
d
λ
λ
-
m
c
T
1
+
t
d
λ
+
1
T
1
+
t
d
λ
represents a charging finish time of an electric vehicle
k
T
1
+
t
d
λ
λ
-
m
c
T
1
+
t
d
λ
+
1.
11. The device according to claim 10 , wherein the second obtaining module further comprises:
a fifth obtaining unit, configured to obtain a maximum available charging capacity of a power grid; and
a sixth obtaining unit, configured to obtain the number of the charging posts in each charging station according to the maximum available charging capacity.
12. The device according to claim 10 , wherein the third obtaining unit is further configured to:
obtain a current electrical energy and a consumption of electrical energy per unit distance of the electric vehicle;
obtain a remaining electrical energy of the electric vehicle according to formula (3),
E
SOC
′
=
E
SOC
-
E
ave
·
(
∑
η
=
1
n
c
2
,
λ
j
-
1
S
w
c
2
,
λ
j
,
η
w
c
2
,
λ
j
,
η
+
1
+
L
)
(
3
)
where E′ soc represents the remaining electrical energy of the electric vehicle, E soc represents the current electrical energy of the electric vehicle, and E ave represents the consumption of electrical energy per unit distance of the electric vehicle;
obtain the fourth time period according to formula (4),
t
c
λ
=
E
full
-
E
SOC
′
P
c
λ
(
4
)
where E full represents a battery capacity of the electric vehicle, and P c λ represents a charging power of each charging post in the charging station λ.
13. A non-transitory computer readable storage medium, comprising a computer program stored thereon, which when executed by an instruction execution system, configures the system to implement a method for navigating an electric vehicle in charging, the method comprising acts of:
S 1 , obtaining a navigation area, wherein the navigation area comprises a plurality of charging stations;
S 2 , receiving a charging request from an electric vehicle in the navigation area;
S 3 , obtaining a plurality of first time periods according to the electric vehicle and the plurality of charging stations, wherein each first time period is a time period during which the electric vehicle spends on arriving to a respective one of the plurality of charging stations, waiting for charging and being charged, and wherein obtaining a plurality of first time periods according to the electric vehicle and the plurality of charging stations comprises:
S 31 , obtaining a second time period which the electric vehicle spends on arriving to each charging station;
S 32 , obtaining a third time period which the electric vehicle spends on waiting for charging in each charging station;
S 33 , obtaining a fourth time period which the electric vehicle spends on being charged in each charging station; and
S 34 , obtaining each first time period according to a sum of the second time period, the third time period and the fourth time period;
S 4 , selecting a minimum first time period from the plurality of first time periods; and
S 5 , navigating the electric vehicle using a charging station corresponding to the minimum first time period.