WO2022242579A1 - 兼容储能充电桩的电动运载工具电量路径规划方法 - Google Patents

兼容储能充电桩的电动运载工具电量路径规划方法 Download PDF

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WO2022242579A1
WO2022242579A1 PCT/CN2022/092902 CN2022092902W WO2022242579A1 WO 2022242579 A1 WO2022242579 A1 WO 2022242579A1 CN 2022092902 W CN2022092902 W CN 2022092902W WO 2022242579 A1 WO2022242579 A1 WO 2022242579A1
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charging
charging pile
power
electric vehicle
time
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韦涛
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Priority to EP22803901.2A priority Critical patent/EP4354368A4/en
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Priority to AU2022279109A priority patent/AU2022279109B2/en
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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/02—Reservations, e.g. for tickets, services or events
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
    • G01C21/3469—Fuel consumption; Energy use; Emission aspects
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
    • G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
    • G06Q10/063—Operations research, analysis or management
    • G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
    • G06Q10/06312—Adjustment or analysis of established resource schedule, e.g. resource or task levelling, or dynamic rescheduling
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/06—Energy or water supply
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/40—Business processes related to the transportation industry
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/12—Electric charging stations

Definitions

  • the invention belongs to the field of power path planning methods for electric vehicles, in particular to a power path planning method for electric vehicles compatible with energy storage and charging piles.
  • the present invention provides a power path planning method for electric vehicles compatible with energy storage charging piles, which uses arrival time matching and energy time differentiation to realize the integrated use of energy storage charging piles and grid charging piles, and at the same time through
  • the scheduling system platform schedules the charging of the vehicles to realize the full utilization of the charging pile resources of the whole network, especially the energy storage power of the energy storage charging piles.
  • Another object of the present invention is to provide a power reservation method of an energy storage charging pile, which realizes multi-user reservation of the power of the energy storage charging pile.
  • the energy storage and charging pile power supply source is new energy generation or complementary energy storage that purchases electricity from the grid, including the following steps:
  • All the charging piles in the whole network submit the status information of the charging piles to the dispatching system platform respectively, and the electric vehicle user submits an electric power application reservation from the departure point O to the destination D to the dispatching system platform through the network connection before departure, and the The power application reservation includes the following information: electric vehicle model, vehicle load quality, departure time, departure place O, destination D and the remaining power of the electric vehicle power battery at the departure time;
  • the dispatching system platform judges when the electric vehicle selects one or more charging piles along the shortest path lz according to the status information of the piles submitted by each charging pile and the power reservation application submitted by the electric vehicle user. Scheduled charging, whether the scheduled distribution of electricity at each scheduled charging pile meets the battery life requirements of the electric vehicle from the departure point O to the destination D; if "Yes”, then perform step 4), if "No", then go to the execution step 5);
  • the dispatching system platform generates a whole-process reservation plan for the electric vehicle, and the whole-process reservation plan includes assigning each reserved charging pile on the shortest path lz and the corresponding reserved power distribution for the electric vehicle, and returns the reservation Successful information is sent to the electric vehicle user, and the reservation is ended; when the electric vehicle departs from the starting point O, the dispatching system platform guides the electric vehicle to travel and charge according to the full reservation plan;
  • the electric vehicle selects one or more charging piles along the shortest path lz to reserve charging respectively, and the selection method is as follows: suppose there are n charging piles distributed along the shortest path lz , then the There are charging pile combinations for electric vehicles to choose to charge choose any combination of charging piles or reserve the combination of charging piles with the fewest number of charging piles for reserved charging.
  • step 3 it is judged that when the electric vehicle is reserved for charging at one or more charging piles along the shortest path lz , whether the reserved power distribution at each reserved charging pile meets the requirements of the electric vehicle from the starting point O
  • the cruising requirements for driving to destination D the specific judgment method is as follows:
  • RE i (t w ) is the estimated remaining power of the electric vehicle at the time t w when it arrives at the charging pile j w
  • TP w represents the reserved power distribution of the electric vehicle at the charging pile j w
  • EC w ,w+1 represents the estimated energy consumption of the electric vehicle from the current charging pile j w to the next charging pile j w+1
  • bat_cap str is the initial remaining power of the power battery at the departure time t 0 of the electric vehicle
  • EC 0,n+1 represents the estimated electric vehicle from the starting point O along the
  • t 0 represents the departure time of the electric vehicle
  • t 0,w represents the estimated driving time of the electric vehicle from the departure point O to the charging pile j w along the shortest path l z
  • the sum of refers to the estimated charging time accumulative value of the scheduled charging time at other charging piles along the way when the electric vehicle arrives at the charging pile j w along the shortest path lz from the starting point O; It refers to the cumulative value of waiting time for charging at other charging piles along the way when the electric vehicle is estimated to arrive at the charging pile jw along the shortest path lz from the departure point O.
  • bat_cap str is the initial remaining power of the electric vehicle when it departs; the sum of the previously reserved allocated power refers to the time t w when the electric vehicle arrives at the charging pile j w along the shortest path l z from the starting point O , the cumulative value of reserved allocated electricity that has been reserved at other charging piles along the way; EC 0,w represents the estimated energy consumption of the electric vehicle traveling from the starting point O to the charging pile j w along the shortest path l z .
  • the reserved distribution power TP w of the electric vehicle at the charging pile j w when the charging pile j w is an energy storage charging pile, the specific steps of the method for estimating the reserved distribution power TP w are as follows:
  • Equation 10-2 The constraints of Equation 10-2 are as follows:
  • the electric vehicle i is in the charging pile j w
  • the scheduled distribution power TP w within is estimated according to formula 10-3:
  • the charging pile j w corresponds to the scheduled charging start time has a remaining charge of
  • the charging pile j w corresponds to the scheduled charging end time has a remaining charge of
  • Step (10-1-3) The variables of the above formulas are uniformly defined as follows: t w is the estimated time when electric vehicle i arrives at charging pile j w ; For the charging pile j w in Distributable electricity within; It corresponds to the scheduled charging end time of the vehicle in front i 1
  • the remaining power of the charging pile j w ; p storage (t) is to predict the energy storage power of the charging pile j w corresponding to the time t, which is obtained through the prior art prediction method; is the constant output power of the charging pile j w ; the amount E is the rated power of the energy storage battery of the charging pile j w ; the amount t is the The moment when the energy storage of the internal charging pile j w reaches the rated power E; bat_cap i is the rated power of the power battery of the electric vehicle i, and RE i (t w ) is the estimated remaining power of the electric vehicle i at the moment t w when it arrives at the charging pile j w
  • the scheduled power distribution and the scheduled charging start and end time of the other vehicles in front of the rear charging that is, it is first necessary to ensure that the vehicle in front i 2 is in the scheduled charging period
  • the scheduled distribution power TP 2 remains unchanged, that is to say, the following formula 10-5 must be satisfied:
  • Equation 10-5 From Equation 10-5 and its constraints, it can be calculated that the charging pile j w allows electric vehicle i to jump in the queue and make an appointment for charging. The latest charging end time of electric vehicle i Then the charging pile j w in the idle period of the distributable power of allocable power Estimated according to the following equation group 10-6:
  • the charging pile j w will The preconditions for allowing the electric vehicle i to jump in line for scheduled charging, except that the vehicle i 2 in front must be guaranteed to be in the scheduled charging time
  • the scheduled distribution power TP 2 remains unchanged, and it is also necessary to ensure that the scheduled start and end times and reserved distribution power of all other vehicles in front remain unchanged.
  • the charging pile j w corresponds to the scheduled charging start time has a remaining charge of
  • the charging pile j w corresponds to the scheduled charging end time has a remaining charge of
  • Step (10-1-4) The variables of the above types are uniformly defined as follows: TP 2 means that the preceding vehicle i 2 is in the scheduled charging period The scheduled distribution of electricity; It corresponds to the scheduled charging end time of the vehicle in front i 1
  • the remaining power of the charging pile j w ; p storage (t) is to predict the energy storage power of the charging pile j w corresponding to the time t, which is obtained through the prior art prediction method; is the constant output power of charging pile j w ; t w is the estimated time when electric vehicle i arrives at charging pile j w ; E is the rated power of the energy storage battery of charging pile j w ;
  • the latest charging end time of electric vehicle i when charging pile j w allows electric vehicle i to jump in line to reserve charging; It is estimated that the charging pile j w is in The distributable electricity within; t amount is estimated in The moment when the energy storage of the internal charging pile j w reaches the rated power E; bat_cap
  • the reserved distribution power TP w of the electric vehicle at the charging pile j w when the charging pile j w is a charging pile directly supplied by the grid, the specific steps of the method for estimating the reserved distribution power TP w are as follows:
  • bat_cap i is the rated power of the power battery of electric vehicle i
  • RE i (t w ) is the estimated remaining power of electric vehicle i when it reaches the charging pile j w at time t w ;
  • the scheduled charging time in is the constant output power of charging pile j w ;
  • bat_cap i is the rated power of the power battery of electric vehicle i
  • RE i (t w ) is the estimated remaining power of electric vehicle i when it reaches the charging pile j w at time t w
  • the appointment starts charging time
  • the described method for electric vehicle power path planning compatible with energy storage charging piles also includes a method for adjusting the vehicle in front as follows:
  • a method for making an electric quantity reservation for an energy storage charging pile includes the following steps:
  • the energy storage charging pile establishes and stores the reserved service list of the pile.
  • the fields of the reserved service list include the user name of the electric vehicle, the plate number of the electric vehicle, the model, the time when the charging is scheduled to start, and the remaining power of the charging pile corresponding to this moment , The scheduled charging end time and the remaining power of the charging pile corresponding to this time, the reserved allocated power, the reserved charging time, the type of idle time period and the corresponding distributable power;
  • the energy storage charging pile announces the type of each idle time period of the pile and the corresponding distributable electricity under the condition that the vehicle in front has reserved charging time and the reserved power distribution at this pile;
  • the vehicle-mounted terminal of the electric vehicle is connected to the energy storage charging pile through the wireless network, and obtains the type of the idle time period announced in step (2) and the corresponding distributable power.
  • the terminal makes an appointment to charge the energy storage charging pile;
  • the energy storage charging pile updates the pile's reservation service list according to the reservation result of step (3).
  • the energy storage charging pile announces the type of each idle time period of the pile and the corresponding distributable power.
  • the specific method is as follows:
  • the idle time period is divided into two types: the energy storage period of the energy storage charging pile jw and the idle period of the distributable power; look up the energy storage charging pile jw appointment service list, and there is an idle time period
  • Both front and rear cars have already reserved charging, if there is a car in front i 1 is already in Scheduled charging in the time slot, and the scheduled allocated power is There is a front car i 2 already in Scheduled charging in the time slot, and the scheduled allocated power is where t 1 , Corresponding to the scheduled charging start time and scheduled charging end time of the preceding vehicle i 1 respectively, t 2 , Respectively, the scheduled charging start time and the scheduled charging end time corresponding to the preceding vehicle i 2 ; E(t 1 ), E(t 2 ), One-to-one correspondence is estimated at t 1 , t 2 , The remaining power of the energy storage charging pile j w at any time;
  • Equation 9-1 E amount is the rated power of the energy storage battery of the energy storage charging pile j w ; p storage (t) is the predicted energy storage power of the energy storage charging pile j w at the time t, which is predicted by the prior art method;
  • the energy storage period of the energy storage charging pile j w can only be used for the energy storage of the pile, that is, the corresponding distributable power is 0;
  • the rest is the distributable power idle time period of the energy storage charging pile j w ;
  • the idle period of the distributable power is divided according to a fixed duration ⁇ , where ⁇ is a self-defined constant, and the idle period is set Is the idle period of allocatable power, which can be divided into At several time points, it is also assumed that the scheduled start charging time of the electric vehicle in the idle period of the allocatable power is time point; then the idle period of the distributable power of the energy storage charging pile j w must satisfy the following formula 9-2:
  • Equation 9-2 p storage (t) is the energy storage power of the energy storage charging pile j w predicted at time t, which is predicted by the prior art method; is the constant output power of the energy storage charging pile j w , and E is the rated power of the energy storage battery of the energy storage charging pile j w ; The latest charging end time for electric vehicles;
  • the latest charging end time of electric vehicles can be obtained from formula 9-2 and its constraints is the energy storage period of the energy storage charging pile j w ;
  • the energy storage charging pile j w is in the idle time period of the distributable power Inside
  • the corresponding distributable power Q w (t) at the time point is estimated according to the following equation group 9-3:
  • Equation 9-3 The amount of t represents the moment when the energy storage and charging pile j w reaches the rated power, and the definition of other variables is the same as that of formula 9-2 and its constraints;
  • the type announcement method also includes: every time ⁇ t passes, the dispatching system platform re-estimates the comprehensive energy storage power of the charging pile j w in Equation 9-1 And re-estimate and publish according to formula 9-1, and update the reservation service list of charging pile j w .
  • the dispatching system platform re-estimates the comprehensive energy storage power of the charging pile j w in formula 9-2 and And re-evaluate and publish according to Formula 9-2 and its constraints, and Formula 9-3, and update the reservation service list of charging pile j w .
  • the multi-user charging behavior of the energy storage charging pile and the discharge behavior of the energy storage charging pile have realized a unified calculation in the time dimension, and realized the multi-user charging behavior of the energy storage charging pile. User appointment.
  • FIG. 1 is a schematic diagram of embodiment 5 of the present invention according to Method 9, which announces that the idle time period of the energy storage charging pile is the energy storage period of the energy storage charging pile.
  • the vertical axis E represents the remaining power of the energy storage charging pile
  • the horizontal axis t Indicates time
  • t 1 Corresponding to the scheduled charging start time and scheduled charging end time of the preceding vehicle i 1 respectively, t 2 , are respectively the scheduled charging start time and the scheduled charging end time corresponding to the preceding vehicle i 2
  • TP 2 indicates that the preceding vehicle i 2 is already in The scheduled allocated electricity for scheduled charging in the time period
  • E amount is the rated electricity of the energy storage battery of the energy storage charging pile
  • E(t 1 ), E(t 2 ) one-to-one correspondence is at t 1 , The remaining power of the energy storage and charging pile j w at time t2 .
  • Fig. 2 is the embodiment 2 of the present invention according to the method ten when the charging pile j w is in the limited idle period of distributable power Schematic diagram of allowing electric vehicle i to jump in line and reserve charging; in the figure, the vertical axis E represents the remaining power of the energy storage charging pile, and the horizontal axis t represents the time, t 1 , Corresponding to the scheduled charging start time and scheduled charging end time of the preceding vehicle i 1 respectively, t 2 , Respectively, the scheduled charging start time and scheduled charging end time of the preceding vehicle i 2 , t w is the estimated time when the electric vehicle i arrives at the charging pile j w , When charging pile j w allows electric vehicle i to jump in queue and reserve charging, when the latest charging of electric vehicle i ends, t 4 , Corresponding to the scheduled charging start time and scheduled charging end time of the preceding vehicle i 4 respectively, the amount E is the rated power of the energy storage battery of the energy storage charging pile.
  • the dispatching system platform obtains all the charging piles distributed along the path lz according to the received position coordinates of the charging piles. Assuming that there are n charging piles, the directed sequence of the n charging piles from the starting point O along the path lz The matrix is expressed as (j 1 ,j 2 ,...j n ) T . Use (j 0 ,j 1 ,...,j n ,j n+1 ) T to represent the directed sequence of segmentation points of the path l z with the departure point O, n charging piles distributed along the way, and destination D as the segmentation point matrix, where j 0 corresponds to the departure point O, and j n+1 corresponds to the destination D.
  • the dispatching system platform obtains (j 0 ,j 1 ,...,j n ,j n+1 ) path distances between two adjacent segment points of T from the existing map respectively, and obtains the directed sequence of segment path distances
  • Matrix (dist 0,1 ,dist 1,2 ,...dist n-1,n ,dist n,n+1 ) T represents, where dist 0,1 represents the path from the starting point O to the first charging pile j 1 Distance, dist 1, 2 means the path distance from the first charging pile j 1 to the second charging pile j 2 , and so on, dist n, n+1 means from the nth charging pile j n to the destination D path distance.
  • dist w-1,w represents the path distance from segment point j w-1 to segment point j w obtained by method 1, Indicates the average speed of electric vehicle i from segment point j w-1 to segment point j w , It can be extracted from the historical traffic big data and the average speed of the electric vehicle i passing through dist w-1,w in the historical statistical time period, or it can be extracted from the traffic historical big data and pass through dist w in the historical statistical time period -1, the average speed of all vehicles in w , the value of the historical statistical time period is user-defined.
  • the segmented path travel time t w-1,w of electric vehicle i can also be obtained directly from the existing GIS map.
  • Method 3 The method of estimating the energy consumption of the segmented path of electric vehicle i can choose one of the following two methods:
  • Equation 3-1 EC w-1,w represents the estimated energy consumption of electric vehicle i from segment point j w-1 to segment point j w , and segment point j w-1 and segment point j w are determined by Obtained by method 1, dist w-1,w are defined as in formula 2-1, and Aver is the power consumption per unit mileage of electric vehicle i.
  • the power consumption Aver per unit mileage is calculated according to formula 3-2:
  • Equation 3-2 m car is the body weight of electric car i, and m negative is the on-board mass of electric car i. Extract the historical specific energy consumption coefficient of electric vehicle i from the traffic historical big data for the dispatching system platform; if it is the first reserved model, calculate the specific energy consumption coefficient according to formula 3-3
  • Equation 3-3 S max is the maximum cruising range of the model of electric vehicle i provided by the manufacturer, bat_cap i is the rated power of the power battery of electric vehicle i, and the definition of m car is the same as in Equation 3-2.
  • Method 2 Estimate the segmental path energy consumption EC w-1,w of electric vehicle i according to the following formula 3-4:
  • Method 4 Estimate the charging time of electric vehicle i at charging pile j w according to the following formula 4-1
  • Method 5 According to the following formula 5-1, estimate the charging time of electric vehicle i at charging pile j w
  • t w is the time when electric vehicle i arrives at the charging pile j w estimated by method 6.
  • t 0 represents the departure time of electric vehicle i
  • t 0,w represents the driving time of electric vehicle i from the departure point O to the charging pile j w along the path l z
  • t 0,w is estimated by method 2 It is obtained by accumulating the travel time of each sub-route from the departure point O along the path lz to the charging pile jw
  • the sum of the previously reserved charging time refers to the electric vehicle i arriving at the charging pile along the path lz from the departure point O
  • the sum of the charging time that has been reserved for charging at other charging piles along the way, and the charging time of other charging piles along the way are respectively obtained by using method 4
  • the path l z arrives at the charging pile j w
  • the sum of the waiting time for charging at other charging piles along the way, and the waiting time for charging at other charging piles along the way are respectively obtained by method 5.
  • Method 7 Estimate the remaining power RE i (t w ) of electric vehicle i at the time t w when it arrives at the charging pile j w according to the following formula 7-1:
  • bat_cap str is the initial remaining power of electric vehicle i; the sum of previously reserved and distributed power means that electric vehicle i has already reserved and allocated at other charging piles along the way when electric vehicle i arrives at charging pile j w along path l z from departure point O
  • the total amount of electricity, and the reserved distribution electricity of other charging piles along the way are respectively estimated by method ten;
  • EC 0,w represents the energy consumption from electric vehicle i from the starting point O to the charging pile j w along the path l z ,
  • EC 0,w is Method 3 is used to estimate the segmental path energy consumption of electric vehicle i and then accumulate it.
  • the power supply source of the energy storage charging pile is crescent energy power generation, including one or more of solar power generation and wind power generation, and may also include electricity purchased from the grid. Complementary energy storage.
  • the comprehensive energy storage power E(t 2 -t 1 ) of the charging pile j w is expressed by the following formula 8-1:
  • Constraints of formula 8-1 E(t 2 -t 1 ) ⁇ E amount ; where E amount is the rated power of the charging pile j w energy storage battery; t 1 is the start time of energy storage; t 2 is the end time of energy storage ; p storage (t) is the energy storage power of the energy storage charging pile j w at the predicted time t; if the power source of the energy storage charging pile is solar power generation, then p storage (t) is the output power of the solar power generation at the predicted time t, It is predicted by the existing technical method; if the power source of the energy storage charging pile is wind power generation, then p storage (t) is the output power of the wind power generation at the predicted time t, which is predicted by the existing technical method; if the energy storage charging The power source of the pile power supply is complementary energy storage that purchases electricity from the grid, then p storage (t) is the constant output power of the grid; if the power supply source of the energy storage charging pile is solar power generation, wind power generation or complementary energy
  • the dispatching system platform re-estimates the comprehensive energy storage power E(t 2 -t 1 ) of the charging pile j w every time ⁇ t passes .
  • Method 9 The method of announcing the type of the idle time period of the energy storage charging pile j w and the corresponding distributable power, the steps are as follows:
  • the energy storage charging pile jw establishes and stores the reserved service list, and the field content of the reserved service list includes the user name of the electric vehicle, the plate number of the electric vehicle, the model, the time when the charging is scheduled to start, and the remaining power of the charging pile corresponding to this moment, The scheduled charging end time and the remaining power of the charging pile corresponding to this time, the reserved allocated power, the charging time, the type of idle time period and the corresponding distributable power;
  • the idle time period is divided into two types: the energy storage period of the energy storage charging pile j w and the idle period of the distributable electricity, and the type of the idle time period and the corresponding distributable power are announced according to step (9.3) or step (9.4). electricity.
  • the energy storage period of the energy storage charging pile j w refers to: in order not to affect the charging amount of other cars that have been reserved for charging after the energy storage period and the scheduled charging start and end time, the idle time period cannot be arranged for electric vehicle charging only as the pile
  • the energy storage period, the energy storage period of the energy storage charging pile jw includes the energy storage start time and the energy storage end time;
  • the distributable power idle time period is the remaining idle time period after the energy storage charging pile jw excludes the energy storage time period from all idle time periods in the reserved service list, including the electric vehicle charging start time and charging end time of the distributable power idle time period ;
  • publish is the energy storage period of the energy storage charging pile j w , and no vehicle can be scheduled for charging or charging during this energy storage period. At this time, is the energy storage start time of the energy storage charging pile j w , and t2 is the energy storage end time of the energy storage charging pile j w .
  • Equation 9-1 the E amount is the rated power of the energy storage battery of the energy storage charging pile j w ; p storage (t) is the predicted energy storage power of the energy storage charging pile j w at time t, such as method 8 by the prior art method Prediction obtained;
  • the dispatching system platform re-estimates the comprehensive energy storage power of the charging pile j w in Equation 9-1 And re-estimate and publish according to formula 9-1, and update the reservation service list of charging pile j w .
  • the idle period of allocatable power can be divided into several points in time. It is also assumed that the scheduled start charging time of the electric vehicle in the idle period of the allocatable power is Time point, if the power idle time period can be allocated Both front and rear cars have already reserved charging, if there is a car in front i 1 is already in Scheduled charging in the time slot, and the scheduled allocated power is There are other cars ahead i 2 already in Scheduled charging in the time slot, and the scheduled allocated power is where t 1 , Corresponding to the scheduled charging start time and scheduled charging end time of the preceding vehicle i 1 respectively, t 2 , Respectively, the scheduled charging start time and the scheduled charging end time corresponding to the other vehicle i 2 in front; One-to-one correspondence is estimated at t 1 , t 2 , The remaining power of the energy storage charging pile j w at all times. Then the idle period of distributable power announced by the energy storage charging pile j w must satisfy the following formula 9-2:
  • p storage (t) is the energy storage power of the energy storage and charging pile j w at the time t predicted, as in Method 8, which is predicted by the existing technical method; is the constant output power of the energy storage charging pile j w , and E is the rated power of the energy storage battery of the energy storage charging pile j w .
  • the latest charging end time of electric vehicles can be obtained from formula 9-2 and its constraints is the energy storage period of the energy storage charging pile j w .
  • the energy storage charging pile j w is in the idle time period of the distributable power Inside
  • the corresponding distributable power Q w (t) at the time point is estimated according to the following equation group 9-3:
  • Equation 9-3 The amount of t indicates the moment when the energy storage charging pile j w reaches the rated power, and the definition of other variables is the same as that of formula 9-2 and its constraints.
  • the dispatching system platform re-estimates the comprehensive energy storage power of the charging pile j w in Equation 9-2 and And according to formula 9-2 and its constraint conditions, formula 9-3 re-estimate and publish, update the reservation service list of charging pile j w .
  • Method 10 Estimate respectively the distributable power Q w (i) that charging pile j w can provide to electric vehicle i, and the scheduled start charging time of electric vehicle i at charging pile j w The scheduled charging time of electric vehicle i at charging pile j w and electric vehicle i’s reserved distribution power TP w at charging pile j w :
  • Estimation method 1 When the charging pile j w is an energy storage charging pile, the specific steps of the estimation method are as follows:
  • the charging pile j w is in the idle period of the distributable power Distributable power within Estimated according to the following equation set 10-2:
  • Equation 10-2 The constraints of Equation 10-2 are as follows:
  • the time period when electric vehicle i is in charging pile j w The scheduled distribution power TP w within is estimated according to formula 10-3:
  • the charging pile j w corresponds to the scheduled charging start time has a remaining charge of
  • the charging pile j w corresponds to the scheduled charging end time has a remaining charge of
  • Step (10-1-3) The variables of the above formulas are uniformly defined as follows: t w is the estimated time when electric vehicle i arrives at charging pile j w ; It is estimated that the charging pile j w is in Distributable electricity within; To estimate the scheduled charging end time corresponding to the preceding vehicle i 1 The remaining power of the charging pile j w ; p storage (t) is to predict the energy storage power of the charging pile j w corresponding to the time t, such as method 8 obtained by the prior art prediction method; Indicates that the prediction of charging pile j w in the time period as in Method 8 comprehensive energy storage capacity; is the constant output power of the charging pile j w ; the amount E is the rated power of the energy storage battery of the charging pile j w ; the amount t is the The moment when the energy storage of the internal charging pile j w reaches the rated power E; bat_cap i is the rated power of the power battery of the electric vehicle i, and RE i (t w
  • the front vehicle i 1 is already in Scheduled charging at the charging pile j w during the time period, and the reserved power distribution is TP 1 ;
  • the vehicle in front i 2 is already in Scheduled charging at the charging pile j w during the time period, and the scheduled allocated power is TP 2 ;
  • t 1 Corresponding to the scheduled charging start time and scheduled charging end time of the preceding vehicle i 1 respectively, t 2 , Respectively correspond to the scheduled charging start time and scheduled charging end time of the preceding vehicle i 2 ;
  • One-to-one correspondence is estimated at t 1 ,
  • the remaining power of the charging pile j w at any time is obtained by checking the reservation service list of the charging pile j w .
  • the charging pile j w is in the idle period of the distributable power
  • the prerequisite for allowing electric vehicles to jump in the queue to reserve charging is that it cannot affect the time slot that has already been reserved.
  • the scheduled power distribution and the scheduled charging start and end time of the other vehicles in front of the rear charging; compare method 9, that is, the charging pile j w is in the scheduled charging period The charging and discharging must first satisfy the following formula 10-5:
  • the charging pile j w allows the electric vehicle i to
  • the conditions for jumping in line to make an appointment for charging are to ensure that the car in front i 2 is in the scheduled charging time
  • the scheduled distribution power TP 2 remains unchanged, and it is also necessary to ensure that the scheduled start and end times and reserved distribution power of all other vehicles in front remain unchanged.
  • the charging pile j w corresponds to the scheduled charging start time has a remaining charge of
  • the charging pile j w corresponds to the scheduled charging end time has a remaining charge of
  • Step (10-1-4) The variables of the above types are uniformly defined as follows: TP 2 means that the preceding vehicle i 2 is in the scheduled charging period The scheduled distribution of electricity; It corresponds to the scheduled charging end time of the vehicle in front i 1
  • the remaining power of the charging pile j w ; p storage (t) is to predict the energy storage power of the charging pile j w corresponding to the time t, which is obtained through the prior art prediction method; is the constant output power of charging pile j w ; t w is the estimated time when electric vehicle i arrives at charging pile j w ; E is the rated power of the energy storage battery of charging pile j w ;
  • the latest charging end time of electric vehicle i when charging pile j w allows electric vehicle i to jump in line to reserve charging; It is estimated that the charging pile j w is in The distributable electricity within; t amount is estimated in The moment when the energy storage of the internal charging pile j w reaches the rated power E; bat_cap
  • step (10-1-5) every time ⁇ t passes, the dispatching system platform starts to execute from step (10-1-2) to step (10-1-4) according to the re-updated reservation service list of charging pile j w , Re-estimate the scheduled distribution power TP w .
  • bat_cap i is the rated power of the power battery of electric vehicle i
  • RE i (t w ) is the estimated remaining power of electric vehicle i when it reaches the charging pile j w at time t w ;
  • the idle time period is limited That is, the vehicle i 1 in front is already in Scheduled charging at the charging pile j w during the time period, and the reserved power distribution is TP 1 ; the vehicle in front i 2 is already in Scheduled charging at the charging pile j w during the time period, and the scheduled allocated power is TP 2 ; where t 1 , Corresponding to the scheduled charging start time and scheduled charging end time of the preceding vehicle i 1 respectively, t 2 , Respectively, the scheduled charging start time and the scheduled charging end time of the preceding vehicle i 2 ;
  • the idle time period of the charging pile directly supplied by the grid is the time period when the electric vehicle can be charged, so the distributable power Q w that the charging pile j w can provide to the electric vehicle i (i)
  • the charging time period of the charging pile j w replace.
  • bat_cap i is the rated power of the power battery of electric vehicle i
  • RE i (t w ) is the estimated remaining power of electric vehicle i when it reaches the charging pile j w at time t w
  • the reserved service list may not consider the remaining power of the charging pile j w corresponding to each time.
  • This method uses arrival time matching and energy time differentiation to realize the integrated use of energy storage charging piles and grid direct supply charging piles, which improves the integrity of the charging pile network and lays the foundation for fast charging networks.
  • the types of charging piles in the entire road network in this embodiment include existing energy storage charging piles, and may also include existing grid-directly-supplied charging piles that are directly provided by the grid to charge electric vehicles.
  • the power supply source of the energy storage charging pile can be one or more of new energy power generation or complementary energy storage that purchases electricity from the grid. New energy power generation includes solar power generation and wind power generation.
  • the DC charging of the electric vehicle through the energy storage charging pile is referred to as fast charging; the energy storage charging pile has a control module that automatically switches the working mode. When an electric vehicle is connected to the charging pile for charging, the control module controls the switching to the charging pile discharge work. mode; when no electric vehicle is connected for charging, the control module controls to automatically switch to the charging pile energy storage working mode.
  • a method for planning a power path of an electric vehicle compatible with an energy storage charging pile is an electric vehicle, and includes the following steps:
  • All charging piles in the whole network are respectively connected to the dispatching system platform through a wireless communication network or a wired communication network, and submit the status information of the charging pile to the dispatching system platform, including: the location of the charging pile, the type of the charging pile, The rated power E of the energy storage battery of the charging pile, if it is an energy storage charging pile, submit the real-time energy storage power of the charging pile, and the real-time occupancy status of the charging pile.
  • the electric vehicle user connects to the dispatching system platform through a wireless communication network or a wired communication network, and submits an electric quantity application reservation from the departure point O to the destination D to the dispatching system platform.
  • the electric quantity application reservation includes the following information: electric vehicle Vehicle type, departure time t 0 , departure place O, destination D and the initial remaining power bat_cap str of the power battery of the electric vehicle at the departure time, and the rated power bat_cap i of the power battery of the electric vehicle i .
  • the dispatching system platform judges when the electric vehicle selects one or more charging piles along the shortest path lz according to the status information of the piles submitted by each charging pile and the power reservation application submitted by the electric vehicle user. Scheduled charging, whether the scheduled distribution of electricity at each scheduled charging pile meets the battery life requirements of the electric vehicle from the departure point O to the destination D; if "Yes”, then perform step 4), if "No", then go to the execution step 5);
  • the dispatching system platform generates a whole-process reservation plan for the electric vehicle, and the whole-process reservation plan includes assigning the electric vehicle to each reserved charging pile on the shortest path lz and the corresponding reserved power distribution, scheduled charging start and stop time, and return the reservation success information to the electric vehicle user, and end this reservation; when the electric vehicle departs from the starting point O, the dispatching system platform guides the electric vehicle to travel and Charge;
  • step 3 if the reserved power distribution of each reserved charging pile along the route cannot meet the cruising requirements of the electric vehicle from the departure point O to the destination D, send a mobile charging vehicle to the The route supplements the reserved allocated power of the electric vehicle until the battery life requirement of the electric vehicle traveling from the origin O to the destination D is met.
  • the method of finding the shortest path can also be calculated by using various traditional algorithms such as the Dijkstra algorithm.
  • the present electronic navigation map also provides the fastest arrival path after considering the road conditions, and the alternative of the shortest path can also be checked and calculated by the present invention.
  • the shortest path planned according to the method of this embodiment meets the requirements of saving energy consumption, and also meets the needs of users and low-carbon society.
  • the charging piles of the whole road network in this embodiment are the same as those in Embodiment 1.
  • a method for planning a power path of an electric vehicle compatible with an energy storage charging pile is an electric vehicle, and includes the following steps:
  • All charging piles in the road network are connected to the dispatching system platform through a wireless communication network or a wired communication network, and the electric vehicle client is connected to the dispatching system platform through a wireless communication network or a wired communication network;
  • All the charging piles on the road network submit their status information to the dispatching system platform, including: the location of the charging pile, the type of the charging pile, the rated power E of the energy storage battery of the charging pile, the real-time occupancy status of the charging pile, if it is a storage
  • the energy charging pile submits the real-time energy storage power of the charging pile.
  • the electric vehicle client of electric vehicle i submits an appointment application to the dispatching system platform, and the appointment application includes the following information: electric vehicle user name, electric vehicle license plate, model, departure time t 0 , departure place O, Destination D and the initial remaining power bat_cap str of the power battery of the electric vehicle at the departure time, the rated power bat_cap i of the power battery of the electric vehicle i ;
  • the dispatching system platform establishes and stores the reservation service list for each charging pile, and the field content of the reservation service list Including electric vehicle user name, electric vehicle license plate, model, scheduled charging start time and corresponding remaining power of charging pile, scheduled charging end time and corresponding remaining power of charging pile, reserved allocated power, charging duration, type of idle time period and corresponding charging pile Distributable electricity;
  • the electric vehicle i arrives at each segment point in (j x0 , j x1 , j x2 ,...j xk , j xk+1 ) T along the path l z from the starting point O, the electric vehicle i is estimated according to the above method three respectively.
  • bat_cap str is the initial remaining power of the power battery at the departure time t 0 of the electric vehicle i; Indicates the sum of the reserved power distribution of all reserved charging piles for electric vehicle i in the charging pile combination (j x1 ,j x2 ,...j xk ) T ; EC 0,n+1 means that electric vehicle i follows the shortest path l from the starting point O z The energy consumption of the whole journey to the destination D is accumulated after estimating the energy consumption of the segmented path of the electric vehicle i using the above method three.
  • the full-course reservation plan includes assigning the charging pile combinations (j x1 ,j x2 ,... j xk ) distributed along the shortest path l z i reserve charging in sequence, corresponding to (TP x1 ,TP x2 ,...TP xk ) T , and the scheduled charging start and end times of each reserved charging pile in one-to-one correspondence. And update (j x1 , j x2 ,...j xk ) the reservation service list of each charging pile j w in T according to the full-course reservation plan and the result obtained in step 4).
  • the dispatching system platform guides the electric vehicle to travel and charge according to the full reservation plan.
  • step 3) Exclude the charging pile combination (j x1 ,j x2 ,...j xk ) T from the charging pile combination that can be selected for electric vehicle i, if step 3) All the charging pile combinations that can be selected for charging of electric vehicle i have been ruled out, it means that the path l z does not meet the requirements of the full battery life, and go to step 7); otherwise, from Excluding the charging pile combination (j x1 , j x2 ,...j xk ) T , select another combination from the remaining combinations, go to step 4) and execute in a loop to step 6).
  • the charging on the way is the rest stop point, which can be divided into several time points to select the charging pile, and in step (3)
  • One combination selects the combination of charging piles that include the mandatory scheduled charging, and the rest of the methods and steps remain unchanged.
  • step (2) considering that the logistics electric vehicle has a designated operation point, and if the designated operation point has a charging pile, it will be used as a charging pile for the logistics electric vehicle to be reserved for charging.
  • step (3) only the charging pile can be selected.
  • step (3) This kind of combination can only be replaced by the combination of the charging pile that contains the required scheduled charging, and the rest of the methods and steps remain unchanged.
  • the dispatching system platform republishes the idle time of each energy storage charging pile j w in the charging pile combination (j x1 , j x2 ,...j xk ) T according to method nine
  • update the scheduled service list of each energy storage charging pile j w ; re-estimate the scheduled distribution power TP w of each energy storage charging pile j w according to method 10, and re-predict according to method 6
  • the electric vehicle i can reserve different charging piles for charging in one charging station.
  • connection structure between some DC charging piles and the power supply is as follows: the AC generated by the wind generator is rectified and then converted into DC and transmitted to the shared DC bus, and the DC generated by photovoltaic power generation is transmitted to the shared DC bus through a transformer, or Including that the mains power is converted into DC after rectification and transmitted to the shared DC bus, and the DC generated by the energy storage battery of the charging pile is transmitted to the shared DC bus through a transformer, and the shared DC bus is connected to the electric vehicle.
  • the energy storage battery of the charging pile is insufficient, photovoltaic power generation, wind power or city power can simultaneously charge the energy storage battery and the electric vehicle.
  • the electric vehicle is slow charging, which is equivalent to the charging pile directly supplied by the grid;
  • the electric vehicle is charged through the energy storage battery of the charging pile.
  • the electric vehicle is fast charged, which is equivalent to an energy storage charging pile.
  • the method of this embodiment is also applicable.
  • the charging piles of the whole road network in this embodiment are the same as those in Embodiment 1.
  • the electric vehicle in this embodiment is an electric vehicle, and also includes a method for adjusting the vehicle in front, the steps are as follows:
  • the vehicle in front of this embodiment refers to: a charging pile that has at least one shared charging pile with the electric vehicle i, referred to as a shared pile, including a car that has been reserved but has not yet set off when the electric vehicle i is expected to arrive at the shared pile; it also includes a reservation After departure, but when the electric car i is expected to arrive at the shared pile, the car that has not yet traveled to the shared pile.
  • the shortest path l z in a ⁇ when it is executed to step 6) and it is concluded that the shortest path l z does not meet the requirements of the whole journey, then adjust the vehicle in front according to the following step 3;
  • the charging pile combinations that can be selected for charging in the shortest path l z electric vehicle i are Choose any combination of charging piles for scheduled charging, assuming (j x1 ,j x2 ,...j xk ) T , when step 5 is executed, electric vehicle i reserves power at charging pile j w but cannot satisfy Equation 2
  • -1-1 that is, the electric vehicle i reserves power at the charging pile j w but cannot drive to the next segment point j w+1
  • both j w and j w+1 are (j x0 ,j x1 ,j x2 , ...j xk , j xk+1 ) segment point in T ; then adjust the whole reservation plan for the vehicle in front. It can be a full reservation plan for adjusting the front vehicle for any one shared pile or multiple shared piles. Adjustment methods include but are not limited to the following:
  • Adjustment method 1) cancel the reserved power distribution of the vehicle in front at one or more shared piles, and recombine the canceled reserved power distribution into the remaining power of the respective corresponding charging piles, and then follow steps 3) to 6) of Example 2 method, respectively judge whether the shortest path l z of the electric vehicle i and the path of the original full reservation plan of the preceding vehicle meet the battery life requirements of the electric vehicle i and the preceding vehicle, and if so, the dispatching system platform will generate for the electric vehicle i
  • the full-course reservation plan generates a new full-course reservation plan for the vehicle in front, and the adjustment is successful; if the battery life requirements of the electric vehicle i or the vehicle in front are not met, the vehicle in front cannot be adjusted and the original full-course reservation plan of the vehicle in front is restored.
  • Adjustment method 2 reduce the reserved power distribution of the preceding vehicle at one or more shared piles, and the sum of the reduced reserved power distribution of the preceding vehicle is greater than or equal to electric vehicle i driving to the next segment point j w after the electric vehicle i has reserved power at the charging pile j w +1 is estimated to be still missing power ⁇ TP i , ⁇ TP i is estimated according to formula 3-1-1:
  • EC w,w+1 represents the energy consumption of electric vehicle i from the current charging pile j w to the next segment point
  • t w is the estimated time when electric vehicle i reaches the charging pile j w
  • RE i (t w ) In order to estimate the remaining power of electric vehicle i at the time t w when it arrives at charging pile j w , TP w is the reserved power allocation of electric vehicle i at charging pile j w .
  • the reserved and distributed electric quantity reduced by each shared pile is re-merged and included in their respective remaining electric quantities, and then according to the method of steps 3) to 6) of embodiment 2, the shortest path l z of the electric vehicle i and the original full-course reservation plan of the front car are respectively calculated determine whether the battery life requirements of the electric vehicle i and the vehicle in front are satisfied respectively, and if both are satisfied, the dispatching system platform generates a full-course reservation plan for the electric vehicle i, generates a new full-course reservation plan for the vehicle in front, and the adjustment is successful; If the battery life requirements of the electric vehicle i or the vehicle in front are not met, the vehicle in front cannot be adjusted, and the original full reservation plan of the vehicle in front cannot be restored.
  • Carry out charging scheduling for vehicles through the dispatching system platform upgrade the original unordered reservations designated by users based on pile positions to unified planning and allocation based on the energy demand of users in the entire network and charging pile resources by the dispatching platform, and give instructions to users Flexible scheduling maximizes the utilization of resources and meets the driving needs of more vehicles.
  • the charging piles of the whole road network in this embodiment are the same as those in Embodiment 1.
  • the electric vehicle in this embodiment is an electric vehicle, and the correction method is also included as follows:
  • the electric vehicle generates a full reservation plan according to the electric vehicle power path planning method compatible with the energy storage charging pile in embodiment 2 or 3.
  • Correction method 1 If before the departure of the electric vehicle, the determined parameters include the departure time, vehicle weight m , and the initial remaining power of the electric vehicle power battery are different from the information submitted when applying for an appointment, then re-submit to the dispatching system platform according to the determined parameters , the dispatching system platform adopts the power path planning method of embodiment 2 or embodiment 3 to regenerate the full-course reservation plan according to the determined parameters.
  • the scheme guides the travel and charging of the electric vehicle. If the power path planning method in Embodiment 2 or Embodiment 3 cannot generate a new full reservation plan, the reservation fails.
  • Correction method 2 After the electric vehicle starts, after driving for a period of time or distance, the electric vehicle calculates the average driving speed, average energy consumption and vehicle load according to the actual driving parameters including the remaining power of the electric vehicle power battery and the change of mileage. , submit again to the dispatching system platform, and the dispatching system platform adopts the power path planning method of embodiment 2 or embodiment 3 according to the actual parameters to regenerate the whole reservation plan to guide the travel and charging of electric vehicles.
  • the actual parameters can be obtained through the electric vehicle's own detection and reported to the dispatching system platform through the wireless network or the driver's phone or vehicle terminal voice, or can be reported to the dispatching system platform after the driver estimates based on the experience value.
  • Correction method 3 Whenever the dispatching system platform generates a full reservation plan for an electric vehicle, or the electric vehicle implements charging actions according to the full reservation plan, the dispatching system platform will update the service list content of the corresponding reserved charging pile.
  • the full reservation plan for electric vehicles includes the estimated time of arrival at charging pile j w as t w , the estimated allocated power TP w of electric vehicles at charging pile j w , and the charging time of electric vehicles at charging pile j w
  • the electric car starts charging at the appointment of the charging pile j w And the remaining power of the corresponding charging pile Scheduled charging end time And the remaining power of the corresponding charging pile
  • the map software on the car After the electric car is on the road, the map software on the car provides real-time current location P a , current time t a , distance D aw to the nearest scheduled charging pile j w , and travel time t aw from P a to j w during driving;
  • the electric vehicle user applies to the dispatching system platform to modify the reservation at the charging pile j w , and the dispatching system platform Query the reservation service list of charging pile j w , if there is an idle time period ⁇ charging time after (t a +t aw ) time And the distributable power corresponding to the idle time period ⁇ the scheduled distribution power TP w , then the idle time period is allocated to the electric vehicle, and the estimated time of arrival at the charging pile j w and the scheduled start time of charging are modified to be (t a +t aw ), the reserved charging time and reserved power distribution at charging pile j w remain unchanged, and the full reservation plan for electric vehicles is updated; at the same time, the original reservation of electric vehicles at charging pile j w is canceled, and the reservation service list of charging pile j w is updated .
  • the dispatching system platform informs the user that the reservation at the charging pile j w cannot be modified, and the electric vehicle should apply to the dispatching system platform for the current time and location according to the implementation
  • the electric vehicle power path planning method compatible with energy storage charging piles in Example 2 or 3 replans a new power path.
  • the method of power reserve for energy storage charging piles the steps are as follows:
  • the energy storage charging pile establishes and stores the reserved service list of the pile.
  • the fields of the reserved service list include the user name of the electric vehicle, the plate number of the electric vehicle, the model, the time when the charging is scheduled to start, and the remaining power of the charging pile corresponding to this moment , The scheduled charging end time and the remaining power of the charging pile corresponding to this time, the reserved allocated power, the charging time, the type of idle time period and the corresponding distributable power;
  • the vehicle-mounted electric vehicle terminal connects to the energy storage and charging pile through the wireless network, obtains the type of idle time period announced in step (2) and the corresponding distributable power, and the electric vehicle user selects a suitable idle time period according to the needs through the vehicle-mounted electric vehicle terminal Scheduled charging to the energy storage charging pile.
  • the energy storage charging pile updates the pile's reservation service list according to the reservation result of step (3).
  • the energy storage charging pile is connected to the dispatching system platform through wireless or wired connection without affecting the reservation service list of the pile, the same as other energy storage charging piles in the whole network, according to Embodiment 2 Or 3 or 4 power path planning methods to participate in the overall management of the dispatching system platform.
  • the whole network energy storage charging piles in Embodiment 2 or 3 or 4 can provide power reservations for electric vehicles according to the above-mentioned energy storage charging pile power reservation method in Embodiment 5 without affecting their respective reservation service lists.
  • the multi-user charging behavior of the energy storage charging pile and the discharge behavior of the energy storage pile are realized in the time dimension on the basis of the prediction of the storage of the energy storage charging pile, and the power of the energy storage charging pile is realized. Multi-user appointment.
  • Embodiment 1 to Embodiment 5 of the present invention are not only applicable to electric vehicles, but also applicable to electric aircraft or electric boats. After considering the airworthy area and weather conditions, the reservation and power path planning are performed.

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Abstract

本发明公开了兼容储能充电桩的电动运载工具电量路径规划方法，包括以下步骤：1)全网充电桩向调度系统平台提交本桩状态信息，电动汽车出发前向调度系统平台申请预约；2)寻找从出发地到目的地的最短路径；3)调度系统平台判断电动汽车在该路径沿途一个或多个充电桩的预约分配电量是否满足行驶至目的地的续航要求；4)满足则生成全程预约方案；5)不满足则排除最短路径，在余下路径找最短路径从步骤3)循环执行直到遍历完所有路径。本发明方法能实现电动运载工具全程电量路径规划，利用到达时间匹配实现储能充电桩与电网直供充电桩的融合使用，同时通过调度系统平台对运载工具进行充电调度，实现全网充电桩资源特别是储能桩电量的充分运用。

Description

兼容储能充电桩的电动运载工具电量路径规划方法 技术领域
本发明属于电动运载工具电量路径规划方法领域，特别涉及兼容储能充电桩的电动运载工具电量路径规划方法。
背景技术
目前，基于新能源的电动运载工具比如电动车、电动船、无人机得到了广泛的应用，现有技术关于电动运载工具电量的充电路径规划方法比较多，但是基本上仅适用于电网直供充电桩或充电站，且现有的电动运载工具的充电路径规划，大多都是根据检测当前电动运载工具动力电池的剩余电量寻找下一个可充电的充电站供用户自行选择，对于远途必须多次充电才能到达目的地时，尚未见合理有效的全程电量路径规划方法。储能式充电桩具有慢蓄快放的优点，但由于储能式充电桩或充电站的储能是有限的，空闲时段不等同有足够储能的有效充电时段，目前尚无有效的预约方法。进一步的，对于包含储能式充电桩或充电站的路网，如何实现全网储能充电桩与电网充电桩的融合使用，乃至实现全网充电桩资源特别是储能桩储能电量的充分运用，服务更多的电动运载工具，也是目前尚未解决的难题。
发明内容
针对上述现有技术存在的问题，本发明提供了兼容储能充电桩的电动运载工具电量路径规划方法，利用到达时间匹配及能量时分化实现储能充电桩与电网充电桩的融合使用，同时通过调度系统平台对运载工具进行充电调度，实现全网充电桩资源特别是储能充电桩储能电量的充分运用。本发明另一目的是提供一种储能充电桩的电量预约方法，实现了对储能充电桩电量的多用户预约。
本发明采用以下技术方案解决上述技术问题：
兼容储能充电桩的电动运载工具电量路径规划方法，储能充电桩供电来源为新能源发电或向电网购电的互补式储能，包括以下步骤：
1)、全网所有的充电桩分别向调度系统平台提交本桩状态信息，电动汽车用户出发前通过网络连接向所述调度系统平台提出从出发地O到目的地D的电量申请预约，所述电量申请预约包括以下信息：电动汽车车型、汽车负载质量、出发时刻、出发地O、目的地D及出发时刻电动汽车动力电池的剩余电量；
2)、所述调度系统平台在现有地图上寻找从出发地O到目的地D的最短路径l z，z＝1；
3)所述调度系统平台根据各充电桩提交的本桩状态信息，以及电动汽车用户提交的电量 预约申请，判断当所述电动汽车选择在所述最短路径l z沿途一个或多个充电桩分别预约充电，在各预约充电桩的预约分配电量是否满足所述电动汽车从出发地O行驶至目的地D的续航要求；若“是”则执行步骤4)，若“否”则转去执行步骤5)；
4)所述调度系统平台为所述电动汽车生成全程预约方案，所述全程预约方案包括为所述电动汽车指派所述最短路径l z上各预约充电桩及对应的预约分配电量，且返回预约成功的信息给所述电动汽车用户，结束本次预约；当所述电动汽车从出发地O出发后，所述调度系统平台按所述全程预约方案引导所述电动汽车出行及充电；
5)、所述调度系统平台排除所述最短路径l z，z＝z+1，从出发地O到目的地D的剩余路径中再寻找新的最短路径l z，如果找到新的最短路径l z则循环执行步骤3)至5)，如果找不到新的最短路径l z则返回预约失败的信息给所述电动汽车用户。
所述步骤3)中，所述电动汽车选择在所述最短路径l z沿途一个或多个充电桩分别预约充电，选择方法如下：设最短路径l z沿途分布有n个充电桩，则所述电动汽车可选择充电的充电桩组合有
Figure PCTCN2022092902-appb-000001
种，从中选择任意一种充电桩组合或预约使用充电桩数量最少的充电桩组合进行预约充电。
所述步骤3)中，判断当所述电动汽车在所述最短路径l z沿途一个或多个充电桩分别预约充电，在各预约充电桩的预约分配电量是否满足所述电动汽车从出发地O行驶至目的地D的续航要求，具体判断方法如下：
设所述电动汽车在最短路径l z沿途依序预约充电的充电桩组合为(j x1,j x2,…j xk) T，依序判断其中的每个充电桩j w，对应的预约分配电量是否满足不等式组2-1-1，如果都满足则所述最短路径l z满足所述电动汽车从出发地O行驶至目的地D的续航要求；否则所述最短路径l z不满足所述电动汽车从出发地O行驶至目的地D的续航要求；
Figure PCTCN2022092902-appb-000002
不等式组2-1-1中，RE i(t w)为预估电动汽车在到达充电桩j w时刻t w的剩余电量，TP w表示电动汽车在充电桩j w的预约分配电量，EC w,w+1表示预估电动汽车从当前充电桩j w到下一个充电桩j w+1的耗能，如果充电桩j w为最短路径l z最后一个充电桩，则EC w,w+1表示预估电动汽车从当前充电桩j w到目的地D的能耗；bat_cap str为电动汽车出发时刻t 0动力电池的初始剩余电量；
Figure PCTCN2022092902-appb-000003
表示电动汽车在充电桩组合(j x1,j x2,…j xk) T中的所有预约充电桩的预约 分配电量总和；EC 0,n+1表示预估电动汽车从出发地O沿最短路径l z到达目的地D的全程能耗。
所述电动汽车到达充电桩j w时刻t w，按下式6-1预估：
t w＝t 0+在先预约充电时长的总和+在先排队等待充电时长的总和+t 0,w     6-1
式6-1中，t 0表示所述电动汽车出发时刻；t 0,w表示预估所述电动汽车从出发地O沿最短路径l z到达充电桩j w的行驶时长；在先预约充电时长的总和指的是预估所述电动汽车从出发地O沿最短路径l z到达充电桩j w时，已经在沿途其他充电桩预约充电的预约充电时长累计值；在先排队等待充电时长的总和指的是预估所述电动汽车从出发地O沿最短路径l z到达充电桩j w时，已经在沿途其他充电桩预约充电的排队等待充电时长累计值。
所述电动汽车在到达充电桩j w时刻t w的剩余电量RE i(t w)，按下式7-1的预估：
RE i(t w)＝bat_cap str+在先预约分配电量总和-EC 0,w       7-1
式7-1中，bat_cap str为所述电动汽车出发时的初始剩余电量；在先预约分配电量总和是指截止所述电动汽车从出发地O沿最短路径l z到达充电桩j w时刻t w，已经在沿途其他充电桩预约的预约分配电量累计值；EC 0,w表示预估所述电动汽车从出发地O沿最短路径l z行驶到充电桩j w的能耗。
所述电动汽车在充电桩j w的预约分配电量TP w，当充电桩j w为储能式充电桩时，预约分配电量TP w的预估方法具体步骤如下：
(10-1-1)、设所述电动汽车为电动汽车i，首先预设电动汽车i到达充电桩j w的时刻t w之后的排队等待时限σ，σ为自定义时长值；
(10-1-2)、根据充电桩j w的预约服务列表，查在t w至t w+σ之间充电桩j w的空闲时间段类型，如果查到的空闲时间段类型都为储能时段，则充电桩j w不能让电动汽车i预约充电，即预约分配电量TP w＝0；如果查到的空闲时间段类型是可分配电量空闲时段则转去执行步骤(10-1-3)；
(10-1-3)、查充电桩j w预约服务列表，如果在t w至t w+σ之间充电桩j w的空闲时间段为
Figure PCTCN2022092902-appb-000004
表示在
Figure PCTCN2022092902-appb-000005
之后尚无任何车预约充电，即
Figure PCTCN2022092902-appb-000006
为可分配电量空闲时段且为无限长；如果在t w至t w+σ之间充电桩j w的空闲时间段不是无限长则转去执行步骤(10-1-4)；设有前车i 1已经在
Figure PCTCN2022092902-appb-000007
时间段预约充电，其中t 1、
Figure PCTCN2022092902-appb-000008
分别对应为前车i 1的预约开始充电时刻和预约充电结束时刻，E(t 1)、
Figure PCTCN2022092902-appb-000009
一一对应为预估在t 1、
Figure PCTCN2022092902-appb-000010
时刻充电桩j w的剩余电量，前车 i 1的预约分配电量为
Figure PCTCN2022092902-appb-000011
电动汽车i在充电桩j w的预约开始充电时刻
Figure PCTCN2022092902-appb-000012
按下式10-1估算：
Figure PCTCN2022092902-appb-000013
充电桩j w在
Figure PCTCN2022092902-appb-000014
内的可分配电量
Figure PCTCN2022092902-appb-000015
按以下方程组10-2估算：
Figure PCTCN2022092902-appb-000016
方程组10-2的约束条件如下：
Figure PCTCN2022092902-appb-000017
电动汽车i在充电桩j w的
Figure PCTCN2022092902-appb-000018
内的预约分配电量TP w按式10-3估算：
Figure PCTCN2022092902-appb-000019
电动汽车i在充电桩j w的预约充电时长
Figure PCTCN2022092902-appb-000020
按式10-4估算：
Figure PCTCN2022092902-appb-000021
充电桩j w对应预约开始充电时刻
Figure PCTCN2022092902-appb-000022
的剩余电量为
Figure PCTCN2022092902-appb-000023
充电桩j w对应预约充电结束时刻
Figure PCTCN2022092902-appb-000024
的剩余电量为
Figure PCTCN2022092902-appb-000025
步骤(10-1-3)以上各式的变量统一定义如下：
Figure PCTCN2022092902-appb-000026
为电动汽车i在充电桩j w的预约开始充电时刻；t w为预估电动汽车i到达充电桩j w的时刻；
Figure PCTCN2022092902-appb-000027
为充电桩j w在
Figure PCTCN2022092902-appb-000028
内的可分配电量；
Figure PCTCN2022092902-appb-000029
为对应前车i 1的预约充电结束时刻
Figure PCTCN2022092902-appb-000030
充电桩j w的剩余电量；p 蓄(t)为预测对应t时刻充电桩j w的储能功率，通过现有技术预测方法获得；
Figure PCTCN2022092902-appb-000031
为充电桩j w的恒定输出功率；E 额为充电桩j w储能电池的额定电量；t 额为在
Figure PCTCN2022092902-appb-000032
内充电桩j w储能达到额定电量E 额的时刻；bat_cap i为电动汽车i动力电池的额定电量，RE i(t w)为预估电动汽车i在到达充电桩j w时刻t w的剩余电量；TP w为电动汽车i在充电桩j w的
Figure PCTCN2022092902-appb-000033
内的预约分配电量；
Figure PCTCN2022092902-appb-000034
为电动汽车i在充电桩j w的预约充电时长；
(10-1-4)、如果在t w至t w+σ之间充电桩j w的空闲时间段为可分配电量空闲时段且为有 限长，设前车i 1已经在
Figure PCTCN2022092902-appb-000035
时间段在充电桩j w预约充电，预约分配电量为
Figure PCTCN2022092902-appb-000036
Figure PCTCN2022092902-appb-000037
有前车i 2已经在
Figure PCTCN2022092902-appb-000038
时间段在充电桩j w预约充电，预约分配电量为
Figure PCTCN2022092902-appb-000039
Figure PCTCN2022092902-appb-000040
其中t 1、
Figure PCTCN2022092902-appb-000041
分别对应为前车i 1的预约开始充电时刻和预约充电结束时刻，t 2、
Figure PCTCN2022092902-appb-000042
分别为前车i 2的预约开始充电时刻和预约充电结束时刻；
Figure PCTCN2022092902-appb-000043
一一对应为预估在t 1、
Figure PCTCN2022092902-appb-000044
t 2、
Figure PCTCN2022092902-appb-000045
时刻充电桩j w的剩余电量；
Figure PCTCN2022092902-appb-000046
为所述的可分配电量空闲时段，充电桩j w在可分配电量空闲时段
Figure PCTCN2022092902-appb-000047
允许电动汽车i插队预约充电的前提条件，是不能影响已经预约在该时间段
Figure PCTCN2022092902-appb-000048
后充电的其他前车的预约分配电量和预约充电起止时刻，即首先须保证前车i 2在预约充电时段
Figure PCTCN2022092902-appb-000049
的预约分配电量TP 2不变，也即须满足下式10-5：
Figure PCTCN2022092902-appb-000050
式10-5的约束条件：
Figure PCTCN2022092902-appb-000051
由式10-5及其约束条件可推算得充电桩j w允许电动汽车i插队预约充电时电动汽车i的最晚充电结束时刻
Figure PCTCN2022092902-appb-000052
则充电桩j w在该可分配电量空闲时段
Figure PCTCN2022092902-appb-000053
的可分配电量
Figure PCTCN2022092902-appb-000054
按如下方程组10-6预估：
Figure PCTCN2022092902-appb-000055
上式10-5和式10-6中，电动汽车i在充电桩j w的预约开始充电时刻
Figure PCTCN2022092902-appb-000056
按下式10-7估算：
Figure PCTCN2022092902-appb-000057
根据式10-6所得
Figure PCTCN2022092902-appb-000058
电动汽车i在充电桩j w的
Figure PCTCN2022092902-appb-000059
内的预约分配电量TP w按下式10-8估算：
Figure PCTCN2022092902-appb-000060
由式10-8所得TP w，电动汽车i在充电桩j w的预约充电时长
Figure PCTCN2022092902-appb-000061
按下式10-9估算：
Figure PCTCN2022092902-appb-000062
如果还有其他前车比电动汽车i先在充电桩j w预约充电，但是预约充电的时间在前车i 2预约充电时段
Figure PCTCN2022092902-appb-000063
之后，则充电桩j w在可分配电量空闲时段
Figure PCTCN2022092902-appb-000064
允许电动汽车i插队预约充电的前提条件，除了须保证前车i 2在预约充电时段
Figure PCTCN2022092902-appb-000065
的预约分配电量TP 2不变，还要保证所有所述的其他前车的预约起止时间和预约分配电量不变，具体方法如下：
设还有其他前车i 4比电动汽车i先预约在
Figure PCTCN2022092902-appb-000066
时间段充电，预约分配电量为TP 4，其中
Figure PCTCN2022092902-appb-000067
则TP w还要满足以下公式10-10：
Figure PCTCN2022092902-appb-000068
如果TP w不满足式10-10，则减少TP w，相应的
Figure PCTCN2022092902-appb-000069
按式10-9推算也减少，直到满足式10-10；
如果前车i 4的预约充电时段
Figure PCTCN2022092902-appb-000070
之后依次还有其他前车i 5、i 6……均比电动汽车i先在充电桩j w预约充电，则分别比照前车i 4的方法处理；直到TP w能保证所有所述的其他前车的预约起止时间和预约分配电量不变；如果TP w减少到预设的阀值，但均不能保证所有所述的其他前车的预约起止时间和预约分配电量不变，则充电桩j w不允许电动汽车i在空闲时间段
Figure PCTCN2022092902-appb-000071
插队预约充电，即令预约分配电量TP w＝0；
如果最终所得的TP w≠0，则充电桩j w对应预约开始充电时刻
Figure PCTCN2022092902-appb-000072
的剩余电量为
Figure PCTCN2022092902-appb-000073
充电桩j w对应预约充电结束时刻
Figure PCTCN2022092902-appb-000074
的剩余电量为
Figure PCTCN2022092902-appb-000075
步骤(10-1-4)以上各式的变量统一定义如下：TP 2为前车i 2在预约充电时段
Figure PCTCN2022092902-appb-000076
的预 约分配电量；
Figure PCTCN2022092902-appb-000077
为对应前车i 1的预约充电结束时刻
Figure PCTCN2022092902-appb-000078
充电桩j w的剩余电量；p 蓄(t)为预测对应t时刻充电桩j w的储能功率，通过现有技术预测方法获得；
Figure PCTCN2022092902-appb-000079
为充电桩j w的恒定输出功率；
Figure PCTCN2022092902-appb-000080
为电动汽车i在充电桩j w的预约开始充电时刻；t w为预估电动汽车i到达充电桩j w的时刻；E 额为充电桩j w储能电池的额定电量；
Figure PCTCN2022092902-appb-000081
为充电桩j w允许电动汽车i插队预约充电时电动汽车i的最晚充电结束时刻；
Figure PCTCN2022092902-appb-000082
为预估充电桩j w在
Figure PCTCN2022092902-appb-000083
内的可分配电量；t 额为预估在
Figure PCTCN2022092902-appb-000084
内充电桩j w储能达到额定电量E 额的时刻；bat_cap i为电动汽车i动力电池的额定电量，RE i(t w)为预估电动汽车i在到达充电桩j w时刻t w的剩余电量；TP w为电动汽车i在充电桩j w的
Figure PCTCN2022092902-appb-000085
内的预约分配电量；
Figure PCTCN2022092902-appb-000086
为电动汽车i在充电桩j w的预约充电时长；TP 4为前车i 4在
Figure PCTCN2022092902-appb-000087
时间段的预约分配电量。
还包括步骤(10-1-5)：每经过一个Δt时间，调度系统平台根据重新更新的充电桩j w的预约服务列表，从步骤(10-1-2)开始执行至步骤(10-1-4)，重新预估预约分配电量TP w。
所述电动汽车在充电桩j w的预约分配电量TP w，当充电桩j w为电网直供充电桩时，预约分配电量TP w的预估方法具体步骤如下：
(10-2-1)、设所述电动汽车为电动汽车i，首先设置电动汽车i到达充电桩j w的时刻t w之后的排队等待时限σ，σ为自定义时长值；
(10-2-2)、根据充电桩j w的预约服务列表查找电动汽车i到达充电桩j w的时刻t w至t w+σ之间是否有空闲时间段；如果没有空闲时间段，则预估充电桩j w能提供给电动汽车i的可分配电量Q w(i)＝0；电动汽车i在充电桩j w的预约分配电量TP w＝0；如果有空闲时间段则转去执行步骤(10-2-3)；
(10-2-3)、如果空闲时间段为无限长，记为
Figure PCTCN2022092902-appb-000088
其中
Figure PCTCN2022092902-appb-000089
对应为前车i 1的预约充电结束时刻且
Figure PCTCN2022092902-appb-000090
之后无其他前车预约充电；则电动汽车i在充电桩j w的预约分配电量TP w按式10-11估算：
TP w＝bat_cap i-RE i(t w)    10-11
式10-11中，bat_cap i为电动汽车i动力电池的额定电量，RE i(t w)为预估电动汽车i在到达充电桩j w时刻t w的剩余电量；
电动汽车i在充电桩j w的预约开始充电时刻
Figure PCTCN2022092902-appb-000091
其中t w为预估电动汽车 i在到达充电桩j w时刻；
由式10-11所得的TP w，预约充电时长
Figure PCTCN2022092902-appb-000092
其中
Figure PCTCN2022092902-appb-000093
为充电桩j w的恒定输出功率；
(10-2-4)、如果空闲时间段是有限长，即设前车i 1已经在
Figure PCTCN2022092902-appb-000094
时间段在充电桩j w预约充电；有前车i 2已经在
Figure PCTCN2022092902-appb-000095
时间段在充电桩j w预约充电；其中t 1、
Figure PCTCN2022092902-appb-000096
分别对应为前车i 1的预约开始充电时刻和预约充电结束时刻，t 2、
Figure PCTCN2022092902-appb-000097
分别为前车i 2的预约开始充电时刻和预约充电结束时刻；
Figure PCTCN2022092902-appb-000098
则按以下式10-12估算电动汽车i在充电桩j w的预约分配电量TP w：
Figure PCTCN2022092902-appb-000099
式10-12中，bat_cap i为电动汽车i动力电池的额定电量，RE i(t w)为预估电动汽车i在到达充电桩j w时刻t w的剩余电量；
Figure PCTCN2022092902-appb-000100
为充电桩j w的恒定输出功率；
Figure PCTCN2022092902-appb-000101
为电动汽车i在充电桩j w的预约开始充电时刻，
Figure PCTCN2022092902-appb-000102
电动汽车i在充电桩j w的预约充电时长
Figure PCTCN2022092902-appb-000103
所述电动汽车在到达充电桩j w时刻t w，用t w-θ或t w+θ代替，其中θ为自定义时长值。
所述的兼容储能充电桩的电动运载工具电量路径规划方法，还包括调整前车的方法如下：
设在电动汽车i预约前已有前车各自预约充电且分别生成各自的全程预约方案；当电动汽车i按所述的兼容储能充电桩的电动运载工具电量路径规划方法进行预约充电，当所选择的从出发地O到目的地D的路径集合L＝{l 1,…,l a}中的最短路径l z不满足全程续航要求时，则调整前车的全程预约方案，包括取消或减少前车在一个或多个共用桩的预约分配电量，再分别对电动汽车i的最短路径l z、前车原全程预约方案的路径进行判断是否各自满足电动汽车i、前车的全程续航要求，若都满足则调度系统平台为所述电动汽车i生成全程预约方案，为所述前车生成新的全程预约方案，调整成功；若有任一车不满足全程续航要求，则无法调整前车，恢复前车的原全程预约方案。
储能充电桩的电量预约方法，包括以下步骤：
(1)、储能充电桩建立并存储本桩的预约服务列表，预约服务列表的字段内容包括电动汽车用户名、电动汽车牌号、车型、预约开始充电时刻及对应于此时刻的充电桩剩余电量、预约充电结束时刻及对应于此时刻的充电桩剩余电量、预约分配电量、预约充电时长、空闲时间段的类型及对应的可分配电量；
(2)储能充电桩在不影响前车在本桩已经预约充电的时间段和预约分配电量的条件下，公布本桩每一段空闲时间段的类型及对应的可分配电量；
(3)电动汽车车载终端通过无线网络连接储能充电桩，获取步骤(2)公布的空闲时间段的类型及对应的可分配电量，电动汽车用户根据需要选择适合的空闲时间段通过电动汽车车载终端向储能充电桩进行预约充电；
(4)所述电动汽车预约后，储能充电桩根据步骤(3)的预约结果更新本桩的预约服务列表。
所述步骤(2)储能充电桩公布本桩每一段空闲时间段的类型及对应的可分配电量，具体方法如下：
空闲时间段分为储能充电桩j w的储能时段和可分配电量空闲时段两种类型；查找储能充电桩j w预约服务列表，设有空闲时间段
Figure PCTCN2022092902-appb-000104
前后均已经有车预约充电，如有前车i 1已经在
Figure PCTCN2022092902-appb-000105
时间段预约充电，预约分配电量为
Figure PCTCN2022092902-appb-000106
有前车i 2已经在
Figure PCTCN2022092902-appb-000107
时间段预约充电，预约分配电量为
Figure PCTCN2022092902-appb-000108
其中t 1、
Figure PCTCN2022092902-appb-000109
分别对应为前车i 1的预约开始充电时刻和预约充电结束时刻，t 2、
Figure PCTCN2022092902-appb-000110
分别为对应前车i 2的预约开始充电时刻和预约充电结束时刻；
Figure PCTCN2022092902-appb-000111
E(t 1)、
Figure PCTCN2022092902-appb-000112
E(t 2)、
Figure PCTCN2022092902-appb-000113
一一对应为预估在t 1、
Figure PCTCN2022092902-appb-000114
t 2、
Figure PCTCN2022092902-appb-000115
时刻储能充电桩j w的剩余电量；
(A)、空闲时间段
Figure PCTCN2022092902-appb-000116
的类型公布方法如下：
当满足下式9-1时，公布
Figure PCTCN2022092902-appb-000117
为储能充电桩j w的储能时段；
Figure PCTCN2022092902-appb-000118
式9-1中，E 额为储能充电桩j w储能电池的额定电量；p 蓄(t)为预测t时刻储能充电桩j w的储能功率，由现有技术方法预测获得；
储能充电桩j w的储能时段只能用于本桩储能，即对应的可分配电量为0；
(B)、储能充电桩j w的可分配电量空闲时段的公布方法如下：
在储能充电桩j w的所有空闲时间段中，排除步骤(A)公布的储能充电桩j w的储能时段后，余下即为储能充电桩j w的可分配电量空闲时段；
对可分配电量空闲时段按一固定时长ρ进行时点的划分，ρ为自定义的常量，设空闲时间 段
Figure PCTCN2022092902-appb-000119
为可分配电量空闲时段，可划分为
Figure PCTCN2022092902-appb-000120
Figure PCTCN2022092902-appb-000121
若干个时点，又设电动汽车在可分配电量空闲时段的预约开始充电时刻为
Figure PCTCN2022092902-appb-000122
时点；则储能充电桩j w的可分配电量空闲时段须满足下式9-2：
Figure PCTCN2022092902-appb-000123
式9-2的约束条件：
Figure PCTCN2022092902-appb-000124
式9-2及其约束条件中，p 蓄(t)为预测t时刻储能充电桩j w的储能功率，由现有技术方法预测获得；
Figure PCTCN2022092902-appb-000125
为储能充电桩j w的恒定输出功率，E 额为储能充电桩j w储能电池的额定电量；
Figure PCTCN2022092902-appb-000126
为电动汽车最晚充电结束时间；
由式9-2及其约束条件可求得电动汽车最晚充电结束时间
Figure PCTCN2022092902-appb-000127
为储能充电桩j w储能时段；
储能充电桩j w在可分配电量空闲时间段
Figure PCTCN2022092902-appb-000128
内
Figure PCTCN2022092902-appb-000129
时点的对应可分配电量Q w(t)按以下方程组9-3估算：
Figure PCTCN2022092902-appb-000130
方程组9-3中，
Figure PCTCN2022092902-appb-000131
t 额表示如果储能充电桩j w储能达到额定电量的时刻，其余变量的定义同式9-2及其约束条件；
在储能充电桩j w的预约服务列表中公布该可分配电量空闲时段
Figure PCTCN2022092902-appb-000132
内
Figure PCTCN2022092902-appb-000133
时点的对应可分配电量Q w(t)；其余时点比照
Figure PCTCN2022092902-appb-000134
时点公布。
在所述空闲时间段
Figure PCTCN2022092902-appb-000135
的类型公布方法中，还包括：每经过一个Δt时间，调度系统平台重新预估式9-1中充电桩j w的综合储能电量
Figure PCTCN2022092902-appb-000136
并按式9-1重新估算和公布，更新充电桩j w的预约服务列表。
在所述储能充电桩j w的可分配电量空闲时段的公布方法中，还包括：每经过一个Δt时间，调度系统平台分别重新预估式9-2中充电桩j w的综合储能电量
Figure PCTCN2022092902-appb-000137
和
Figure PCTCN2022092902-appb-000138
并分别按式9-2及其约束条件、式9-3重新估算和公布，更新充电桩j w的预约服务列表。
本发明的有益效果：
1、实现运载工具全程电量路径规划，规划出来的最短可行路符合能量消耗节约的要求，也符合用户需求和低碳社会需求。
2、在储能充电桩储能预测的基础上对储能充电桩的多用户充电行为和储能充电桩的放电行为在时间维度上实现了统一运算，实现了对储能充电桩电量的多用户预约。
3、利用到达时间匹配及能量时分化实现储能充电桩与电网充电桩的融合使用，提高了充电桩网络的完整性，奠定了快充网的基础。
4、通过调度系统平台对运载工具进行充电调度，将原来由用户基于桩位的自行指定无序预约提升为由调度平台基于全网用户能量需求和充电桩资源进行统一规划和分配，并对用户进行指令性调度，实现了资源利用最大化，满足更多运载工具的行驶需求。
附图说明
图1是本发明实施例5按方法九公布储能充电桩的空闲时间段为储能充电桩的储能时段的示意图，图中，竖轴E表示储能充电桩的剩余电量，横轴t表示时间；t 1、
Figure PCTCN2022092902-appb-000139
分别对应为前车i 1的预约开始充电时刻和预约充电结束时刻，t 2、
Figure PCTCN2022092902-appb-000140
分别为对应前车i 2的预约开始充电时刻和预约充电结束时刻；TP 2为前车i 2已经在
Figure PCTCN2022092902-appb-000141
时间段预约充电的预约分配电量；E 额为储能充电桩储能电池的额定电量；E(t 1)、
Figure PCTCN2022092902-appb-000142
E(t 2)一一对应为在t 1、
Figure PCTCN2022092902-appb-000143
t 2时刻储能充电桩j w的剩余电量。
图2是本发明实施例2按方法十当充电桩j w在有限长的可分配电量空闲时段
Figure PCTCN2022092902-appb-000144
允许电动汽车i插队预约充电的示意图；图中，竖轴E表示储能充电桩的剩余电量，横轴t表示时间，t 1、
Figure PCTCN2022092902-appb-000145
分别对应为前车i 1的预约开始充电时刻和预约充电结束时刻，t 2、
Figure PCTCN2022092902-appb-000146
分别为前车i 2的 预约开始充电时刻和预约充电结束时刻，t w为预估电动汽车i到达充电桩j w的时刻，
Figure PCTCN2022092902-appb-000147
为充电桩j w允许电动汽车i插队预约充电时电动汽车i的最晚充电结束时，t 4、
Figure PCTCN2022092902-appb-000148
分别对应前车i 4的预约开始充电时刻和预约充电结束时刻，E 额为储能充电桩储能电池的额定电量。
具体实施方式
以下结合具体实施例和附图，对本发明的技术方案作详细描述，但不构成对本发明权利要求保护范围的限制。
在说明具体实施例之前，将本发明具体实施例涉及的方法一至方法十统一说明如下。
方法一、获取分段路径距离的方法：
调度系统平台根据所接收到的充电桩的位置坐标，获得路径l z沿途分布的所有充电桩，假设有n个充电桩，所述n个充电桩从出发地O沿路径l z的有向序列矩阵表示为(j 1,j 2,…j n) T。用(j 0,j 1,…,j n,j n+1) T表示路径l z以出发地O、沿途分布的n个充电桩、目的地D作为分段点的分段点有向序列矩阵，其中j 0对应为出发地O，j n+1对应为目的地D。
调度系统平台分别从现有地图中获取(j 0,j 1,…,j n,j n+1) T两两相邻分段点之间的路径距离，得到分段路径距离用有向序列矩阵(dist 0,1,dist 1,2,…dist n-1,n,dist n,n+1) T表示，其中dist 0,1表示从出发地O到第一个充电桩j 1的路径距离，dist 1,2表示从第一个充电桩j 1到第二个充电桩j 2的路径距离，以此类推，dist n,n+1表示从第n个充电桩j n到目的地D的路径距离。
方法二、预估电动汽车i的分段路径行驶时间的方法：
根据式2-1预估电动汽车i的分段路径行驶时间t w-1,w：
Figure PCTCN2022092902-appb-000149
式2-1中，dist w-1,w表示用方法一所得的从分段点j w-1到分段点j w的路径距离，
Figure PCTCN2022092902-appb-000150
表示电动汽车i从分段点j w-1到分段点j w的平均速度，
Figure PCTCN2022092902-appb-000151
可以是从交通历史大数据中提取在历史统计时间段内电动汽车i历次通过dist w-1,w的速度的平均值，或者是从交通历史大数据中提取在历史统计时间段内通过dist w-1,w的所有车辆的平均速度，历史统计时间段的值为自定义。
电动汽车i的分段路径行驶时间t w-1,w也可以是从现有的GIS地图上直接获得。
方法三、预估电动汽车i的分段路径耗能的方法，可任选以下两种方法之一：
方法1、按以下公式3-1预估电动汽车i的分段路径耗能：
Figure PCTCN2022092902-appb-000152
式3-1中，EC w-1,w表示预估电动汽车i从分段点j w-1到分段点j w的耗能，分段点j w-1和分段点j w由方法一获得，dist w-1,w定义同式2-1，Aver为电动汽车i的单位里程耗电量。
其中单位里程耗电量Aver按公式3-2计算：
Figure PCTCN2022092902-appb-000153
式3-2中，m 车为电动汽车i的车身质量，m 负为电动汽车i的车载质量，若电动汽车i的车型为非首次向调度系统平台预约的车型，则
Figure PCTCN2022092902-appb-000154
为调度系统平台从交通历史大数据中提取电动汽车i的历史比能耗系数；若为首次预约的车型，按公式3-3计算比能耗系数
Figure PCTCN2022092902-appb-000155
Figure PCTCN2022092902-appb-000156
式3-3中，S max为厂家提供电动汽车i的车型的最大续航里程数，bat_cap i为电动汽车i动力电池的额定电量，m 车定义同式3-2。
方法2：按以下公式3-4预估电动汽车i的分段路径耗能EC w-1,w：
Figure PCTCN2022092902-appb-000157
式3-4中，EC w-1,w定义同式3-1，dist w-1,w定义同式2-1，kWh为电动汽车i的百公里耗电量，百公里耗电量可以从出厂参数取得或者是从交通历史大数据中获取。
方法四、按以下公式4-1预估电动汽车i在充电桩j w的充电时长
Figure PCTCN2022092902-appb-000158
Figure PCTCN2022092902-appb-000159
式4-1中，
Figure PCTCN2022092902-appb-000160
表示充电桩j w的恒定输出功率，TP w为采用方法十预估得到的电动汽车i在充电桩j w的预约分配电量。
方法五、按以下公式5-1预估电动汽车i在充电桩j w的排队等待充电时长
Figure PCTCN2022092902-appb-000161
Figure PCTCN2022092902-appb-000162
式5-1中，
Figure PCTCN2022092902-appb-000163
为采用方法十预估得到的预约开始充电时刻，t w为采用方法六预估得到的电动汽车i到达充电桩j w的时刻。
方法六、按以下公式6-1预估电动汽车i到达充电桩j w的时刻t w：
t w＝t 0+在先预约充电时长的总和+在先排队等待充电时长的总和
Figure PCTCN2022092902-appb-000164
式6-1中，t 0表示电动汽车i出发时刻，t 0,w表示电动汽车i从出发地O沿路径l z到达充电桩j w的行驶时长，t 0,w为采用方法二预估从出发地O沿路径l z到充电桩j w的各分段路径行驶时间再进行累计而得；在先预约充电时长的总和指的是电动汽车i从出发地O沿路径l z到达充电桩j w时，已经在沿途其他充电桩预约充电的充电时长总和，沿途其他充电桩的充电时长分别采用方法四而得；在先排队等待充电时长的总和指的是电动汽车i从出发地O沿路径l z到达充电桩j w时，已经在沿途其他充电桩预约充电的排队等待充电时长总和，沿途其他充电桩的排队等待充电时长分别采用方法五而得。
方法七、按以下公式7-1预估电动汽车i在到达充电桩j w时刻t w的剩余电量RE i(t w)：
Figure PCTCN2022092902-appb-000165
式7-1中，bat_cap str为电动汽车i的初始剩余电量；在先预约分配电量总和是指电动汽车i从出发地O沿路径l z到达充电桩j w时已经在沿途其他充电桩预约分配的电量总和，沿途其他充电桩的预约分配电量分别采用方法十预估；EC 0,w表示从电动汽车i从出发地O沿路径l z到达充电桩j w的能耗，EC 0,w为采用方法三预估电动汽车i的分段路径耗能再进行累计而得。
方法八、预估充电桩j w的综合储能电量E(t 2-t 1)：
本发明的充电桩，如果是储能式充电桩，则储能式充电桩供电电量来源为新月能源发电，包括太阳能发电、风能发电的一种或多种，也可以包括向电网购电的互补式储能。
充电桩j w的综合储能电量E(t 2-t 1)用下式8-1表示：
Figure PCTCN2022092902-appb-000166
式8-1的约束条件：E(t 2-t 1)≤E 额；其中E 额为充电桩j w储能电池的额定电量；t 1为储能开始时刻；t 2为储能结束时刻；p 蓄(t)为预测t时刻储能充电桩j w的储能功率；若储能式充电桩供电电量来源是太阳能发电，则p 蓄(t)为预测t时刻太阳能发电的输出功率，由现有技术方法预测获得；若储能式充电桩供电电量来源是风能发电，则p 蓄(t)为预测t时刻风能发电的输出功率，由现有技术方法预测获得；若储能式充电桩供电电量来源是向电网购电的互补式储能，则p 蓄(t)为电网的恒定输出功率；若储能式充电桩供电电量来源是太阳能发电、风能发电或向电网购电的互补式储能中多种供电来源的联合发电，则p 蓄(t)为联合发电的输出功 率。
由于太阳能或风力发电与天气、光照等因素密切相关，为了提高预估准确性，每经过一个Δt时间，调度系统平台重新预估充电桩j w的综合储能电量E(t 2-t 1)。
方法九：公布储能充电桩j w的空闲时间段的类型及对应的可分配电量的方法，步骤如下：
(9.1)、储能充电桩j w建立并存储预约服务列表，预约服务列表的字段内容包括电动汽车用户名、电动汽车牌号、车型、预约开始充电时刻及对应于此时刻的充电桩剩余电量、预约充电结束时刻及对应于此时刻的充电桩剩余电量、预约分配电量、充电时长、空闲时间段的类型及对应的可分配电量；
(9.2)空闲时间段分为储能充电桩j w的储能时段和可分配电量空闲时段两种类型，分别按步骤(9.3)或步骤(9.4)公布空闲时间段的类型及对应的可分配电量。
所述储能充电桩j w的储能时段是指：为了不能影响该储能时段后已经预约充电的其他车的充电量和预约充电起止时刻，空闲时间段不能安排电动汽车充电仅作为本桩储能时段，所述储能充电桩j w的储能时段包括储能起始时间和储能结束时间；
所述可分配电量空闲时段是储能充电桩j w在预约服务列表中所有空闲时间段排除储能时段后的余下空闲时段，包括可分配电量空闲时段的电动汽车充电起始时间和充电结束时间；
(9.3)储能充电桩j w的储能时段的公布方法如下：
查找储能充电桩j w预约服务列表的空闲时间段，如图1所示，若空闲时间段
Figure PCTCN2022092902-appb-000167
前后均已经有车预约充电，如有前车i 1已经在
Figure PCTCN2022092902-appb-000168
时间段预约充电，预约分配电量为TP 1；有前车i 2已经在
Figure PCTCN2022092902-appb-000169
时间段预约充电，预约分配电量为TP 2；其中t 1、
Figure PCTCN2022092902-appb-000170
分别对应为前车i 1的预约开始充电时刻和预约充电结束时刻，t 2、
Figure PCTCN2022092902-appb-000171
分别为对应前车i 2的预约开始充电时刻和预约充电结束时刻；
Figure PCTCN2022092902-appb-000172
E(t 1)、
Figure PCTCN2022092902-appb-000173
E(t 2)、
Figure PCTCN2022092902-appb-000174
一一对应为预估在t 1、
Figure PCTCN2022092902-appb-000175
t 2、
Figure PCTCN2022092902-appb-000176
时刻储能充电桩j w的剩余电量。当满足下面公式9-1时，公布
Figure PCTCN2022092902-appb-000177
为储能充电桩j w的储能时段，该储能时段不能安排任何车辆预约充电或充电，此时，
Figure PCTCN2022092902-appb-000178
为储能充电桩j w的储能起始时间，t 2为储能充电桩j w的储能结束时间。
Figure PCTCN2022092902-appb-000179
式9-1中，E 额为储能充电桩j w储能电池的额定电量；p 蓄(t)为预测t时刻储能充电桩j w的 储能功率，如方法八由现有技术方法预测获得；
每经过一个Δt时间，调度系统平台重新预估式9-1中充电桩j w的综合储能电量
Figure PCTCN2022092902-appb-000180
并按式9-1重新估算和公布，更新充电桩j w的预约服务列表。
(9.4)储能充电桩j w的可分配电量空闲时段的公布方法，步骤如下：
首先，查找储能充电桩j w预约服务列表全部的空闲时间段，排除步骤(9.3)所公布的储能时段后，其余空闲时间段即为可分配电量空闲时段。
其次，对可分配电量空闲时段按一固定时长ρ进行时点的划分，ρ为自定义的常量，如有可分配电量空闲时段为9：00--10：15，ρ自定义30分钟，则该时段可划分为9：00、9：30、10：00、10：15四个时点，分别公布每个时点电动汽车的最晚充电结束时间及可分配电量。公布方法如下：
设可分配电量空闲时段为
Figure PCTCN2022092902-appb-000181
可划分为
Figure PCTCN2022092902-appb-000182
Figure PCTCN2022092902-appb-000183
若干个时点。又设电动汽车在可分配电量空闲时段的预约开始充电时刻为
Figure PCTCN2022092902-appb-000184
时点，若可分配电量空闲时间段
Figure PCTCN2022092902-appb-000185
前后均已经有车预约充电，如有前车i 1已经在
Figure PCTCN2022092902-appb-000186
时间段预约充电，预约分配电量为
Figure PCTCN2022092902-appb-000187
Figure PCTCN2022092902-appb-000188
有其它前车i 2已经在
Figure PCTCN2022092902-appb-000189
时间段预约充电，预约分配电量为
Figure PCTCN2022092902-appb-000190
Figure PCTCN2022092902-appb-000191
其中t 1、
Figure PCTCN2022092902-appb-000192
分别对应为前车i 1的预约开始充电时刻和预约充电结束时刻，t 2、
Figure PCTCN2022092902-appb-000193
分别为对应其它前车i 2的预约开始充电时刻和预约充电结束时刻；
Figure PCTCN2022092902-appb-000194
Figure PCTCN2022092902-appb-000195
一一对应为预估在t 1、
Figure PCTCN2022092902-appb-000196
t 2、
Figure PCTCN2022092902-appb-000197
时刻储能充电桩j w的剩余电量。则储能充电桩j w公布的可分配电量空闲时段须满足下式9-2：
Figure PCTCN2022092902-appb-000198
式9-2的约束条件：
Figure PCTCN2022092902-appb-000199
式9-2及其约束条件中，p 蓄(t)为预测t时刻储能充电桩j w的储能功率，如方法八由现有 技术方法预测获得；
Figure PCTCN2022092902-appb-000200
为储能充电桩j w的恒定输出功率，E 额为储能充电桩j w储能电池的额定电量。
由式9-2及其约束条件可求得电动汽车最晚充电结束时间
Figure PCTCN2022092902-appb-000201
为储能充电桩j w储能时段。
储能充电桩j w在可分配电量空闲时间段
Figure PCTCN2022092902-appb-000202
内
Figure PCTCN2022092902-appb-000203
时点的对应可分配电量Q w(t)按以下方程组9-3估算：
Figure PCTCN2022092902-appb-000204
方程组9-3中，
Figure PCTCN2022092902-appb-000205
t 额表示如果储能充电桩j w储能达到额定电量的时刻，其余变量的定义同式9-2及其约束条件。
在储能充电桩j w的预约服务列表中公布该可分配电量空闲时段
Figure PCTCN2022092902-appb-000206
内
Figure PCTCN2022092902-appb-000207
时点的对应可分配电量Q w(t)。其余时点比照
Figure PCTCN2022092902-appb-000208
时点公布方法公布。
每经过一个Δt时间，调度系统平台分别重新预估式9-2中充电桩j w的综合储能电量
Figure PCTCN2022092902-appb-000209
和
Figure PCTCN2022092902-appb-000210
并按式9-2及其约束条件、式9-3重新估算和公布，更新充电桩j w的预约服务列表。
方法十、分别预估充电桩j w能提供给电动汽车i的可分配电量Q w(i)、电动汽车i在充电桩j w的预约开始充电时刻
Figure PCTCN2022092902-appb-000211
电动汽车i在充电桩j w的预约充电时长
Figure PCTCN2022092902-appb-000212
和电动汽车i在充电桩j w的预约分配电量TP w：
预估方法1、当充电桩j w为储能式充电桩时，预估方法具体步骤如下：
(10-1-1)、首先设置电动汽车i到达充电桩j w的时刻t w之后的排队等待时限σ，σ为自定义时长值；
(10-1-2)、查充电桩j w的预约服务列表在t w至t w+σ之间充电桩j w的空闲时间段，根据方法九公布的空闲时间段类型，如果查到的空闲时间段类型都为储能时段，则充电桩j w能提供给电动汽车i的可分配电量Q w(i)＝0，充电桩j w不能让电动汽车i预约充电，即预约分配电 量即TP w＝0；如果查到的空闲时间段类型是可分配电量空闲时段则转去执行步骤(10-1-3)；
(10-1-3)、查找充电桩j w预约服务列表中的可分配电量空闲时段，设该可分配电量空闲时段前有前车i 1已经在
Figure PCTCN2022092902-appb-000213
时间段预约充电，其中t 1、
Figure PCTCN2022092902-appb-000214
分别对应为前车i 1的预约开始充电时刻和预约充电结束时刻，E(t 1)、
Figure PCTCN2022092902-appb-000215
一一对应为在t 1、
Figure PCTCN2022092902-appb-000216
时刻充电桩j w的剩余电量，前车i 1的预约分配电量为
Figure PCTCN2022092902-appb-000217
在
Figure PCTCN2022092902-appb-000218
之后尚无任何车预约充电，即该可分配电量空闲时段为无限长，记为
Figure PCTCN2022092902-appb-000219
如果不是无限长则转去执行步骤(10-1-4)。
电动汽车i在充电桩j w的预约开始充电时刻
Figure PCTCN2022092902-appb-000220
按下式10-1估算：
Figure PCTCN2022092902-appb-000221
充电桩j w在可分配电量空闲时段
Figure PCTCN2022092902-appb-000222
内的可分配电量
Figure PCTCN2022092902-appb-000223
按以下方程组10-2估算：
Figure PCTCN2022092902-appb-000224
方程组10-2的约束条件如下：
Figure PCTCN2022092902-appb-000225
电动汽车i在充电桩j w的时段
Figure PCTCN2022092902-appb-000226
内的预约分配电量TP w按式10-3估算：
Figure PCTCN2022092902-appb-000227
电动汽车i在充电桩j w的预约充电时长
Figure PCTCN2022092902-appb-000228
按式10-4估算：
Figure PCTCN2022092902-appb-000229
充电桩j w对应预约开始充电时刻
Figure PCTCN2022092902-appb-000230
的剩余电量为
Figure PCTCN2022092902-appb-000231
充电桩j w对应预约充电结束时刻
Figure PCTCN2022092902-appb-000232
的剩余电量为
Figure PCTCN2022092902-appb-000233
步骤(10-1-3)以上各式的变量统一定义如下：
Figure PCTCN2022092902-appb-000234
为电动汽车i在充电桩j w的预约开始充电时刻；t w为预估电动汽车i到达充电桩j w的时刻；
Figure PCTCN2022092902-appb-000235
为预估充电桩j w在
Figure PCTCN2022092902-appb-000236
内 的可分配电量；
Figure PCTCN2022092902-appb-000237
为预估对应前车i 1的预约充电结束时刻
Figure PCTCN2022092902-appb-000238
充电桩j w的剩余电量；p 蓄(t)为预测对应t时刻充电桩j w的储能功率，如方法八通过现有技术预测方法获得；
Figure PCTCN2022092902-appb-000239
表示如方法八预测充电桩j w在时间段
Figure PCTCN2022092902-appb-000240
的综合储能电量；
Figure PCTCN2022092902-appb-000241
为充电桩j w的恒定输出功率；E 额为充电桩j w储能电池的额定电量；t 额为在
Figure PCTCN2022092902-appb-000242
内充电桩j w储能达到额定电量E 额的时刻；bat_cap i为电动汽车i动力电池的额定电量，RE i(t w)为预估电动汽车i在到达充电桩j w时刻t w的剩余电量；TP w为电动汽车i在充电桩j w的
Figure PCTCN2022092902-appb-000243
内的预约分配电量；
Figure PCTCN2022092902-appb-000244
为电动汽车i在充电桩j w的预约充电时长。
(10-1-4)、如图2所示，设有前车i 1已经在
Figure PCTCN2022092902-appb-000245
时间段在充电桩j w预约充电，预约分配电量为TP 1；有前车i 2已经在
Figure PCTCN2022092902-appb-000246
时间段在充电桩j w预约充电，预约分配电量为TP 2；其中t 1、
Figure PCTCN2022092902-appb-000247
分别对应为前车i 1的预约开始充电时刻和预约充电结束时刻，t 2、
Figure PCTCN2022092902-appb-000248
分别对应为前车i 2的预约开始充电时刻和预约充电结束时刻；
Figure PCTCN2022092902-appb-000249
一对应为预估在t 1、
Figure PCTCN2022092902-appb-000250
时刻充电桩j w的剩余电量，均由查充电桩j w预约服务列表获得。充电桩j w在可分配电量空闲时段
Figure PCTCN2022092902-appb-000251
允许电动汽车i插队预约充电的前提条件，是不能影响已经预约在该时间段
Figure PCTCN2022092902-appb-000252
后充电的其他前车的预约分配电量和预约充电起止时刻；比照方法九，即充电桩j w在预约充电时段
Figure PCTCN2022092902-appb-000253
的充放电首先须满足下式10-5：
Figure PCTCN2022092902-appb-000254
式10-5的约束条件：
Figure PCTCN2022092902-appb-000255
由式10-5及其约束条件可推算出，当充电桩j w允许电动汽车i在该可分配电量空闲时段
Figure PCTCN2022092902-appb-000256
插队预约充电时，电动汽车i的最晚充电结束时刻
Figure PCTCN2022092902-appb-000257
则充电桩j w在该可分配电量空闲时段
Figure PCTCN2022092902-appb-000258
的可分配电量
Figure PCTCN2022092902-appb-000259
按如下方程组10-6 预估：
Figure PCTCN2022092902-appb-000260
上式10-5和式10-6中，电动汽车i在充电桩j w的预约开始充电时刻
Figure PCTCN2022092902-appb-000261
按下式10-7估算：
Figure PCTCN2022092902-appb-000262
根据式10-6所得
Figure PCTCN2022092902-appb-000263
电动汽车i在充电桩j w的
Figure PCTCN2022092902-appb-000264
内的预约分配电量TP w按下式10-8估算：
Figure PCTCN2022092902-appb-000265
由式10-8所得TP w，电动汽车i在充电桩j w的预约充电时长
Figure PCTCN2022092902-appb-000266
按下式10-9估算：
Figure PCTCN2022092902-appb-000267
如果还有其他前车比电动汽车i先在充电桩j w预约充电，但是预约充电的时间在前车i 2预约充电时段
Figure PCTCN2022092902-appb-000268
之后，则充电桩j w允许电动汽车i在该可分配电量空闲时段
Figure PCTCN2022092902-appb-000269
插队预约充电的条件除了要保证前车i 2在预约充电时段
Figure PCTCN2022092902-appb-000270
的预约分配电量TP 2不变，还要保证所有所述的其他前车的预约起止时间和预约分配电量不变，具体方法如下：
设还有其他前车i 4比电动汽车i先预约在
Figure PCTCN2022092902-appb-000271
时间段充电，t 4、
Figure PCTCN2022092902-appb-000272
分别对应前车i 4的预约开始充电时刻和预约充电结束时刻，预约分配电量为TP 4，其中
Figure PCTCN2022092902-appb-000273
则TP w还要满足以下公式10-10：
Figure PCTCN2022092902-appb-000274
如果TP w不满足式10-10，则减少TP w，相应的
Figure PCTCN2022092902-appb-000275
按式10-9推算也减少但
Figure PCTCN2022092902-appb-000276
保持不变，直到满足式10-10；
如果前车i 4的预约充电时段
Figure PCTCN2022092902-appb-000277
之后依次还有其他前车i 5、i 6……均比电动汽车i先在充 电桩j w预约充电，则分别比照前车i 4的方法处理。直到TP w能保证所有所述的其他前车i 2、i 4、i 5、i 6……的预约分配电量不变。如果TP w减少到预设的阀值，但均不能保证所有所述的其他前车的预约分配电量不变，则充电桩j w不允许电动汽车i在空闲时间段
Figure PCTCN2022092902-appb-000278
插队预约充电，即令预约分配电量TP w＝0。
如果最终所得的TP w≠0，则充电桩j w对应预约开始充电时刻
Figure PCTCN2022092902-appb-000279
的剩余电量为
Figure PCTCN2022092902-appb-000280
充电桩j w对应预约充电结束时刻
Figure PCTCN2022092902-appb-000281
的剩余电量为
Figure PCTCN2022092902-appb-000282
步骤(10-1-4)以上各式的变量统一定义如下：TP 2为前车i 2在预约充电时段
Figure PCTCN2022092902-appb-000283
的预约分配电量；
Figure PCTCN2022092902-appb-000284
为对应前车i 1的预约充电结束时刻
Figure PCTCN2022092902-appb-000285
充电桩j w的剩余电量；p 蓄(t)为预测对应t时刻充电桩j w的储能功率，通过现有技术预测方法获得；
Figure PCTCN2022092902-appb-000286
为充电桩j w的恒定输出功率；
Figure PCTCN2022092902-appb-000287
为电动汽车i在充电桩j w的预约开始充电时刻；t w为预估电动汽车i到达充电桩j w的时刻；E 额为充电桩j w储能电池的额定电量；
Figure PCTCN2022092902-appb-000288
为充电桩j w允许电动汽车i插队预约充电时电动汽车i的最晚充电结束时刻；
Figure PCTCN2022092902-appb-000289
为预估充电桩j w在
Figure PCTCN2022092902-appb-000290
内的可分配电量；t 额为预估在
Figure PCTCN2022092902-appb-000291
内充电桩j w储能达到额定电量E 额的时刻；bat_cap i为电动汽车i动力电池的额定电量，RE i(t w)为预估电动汽车i在到达充电桩j w时刻t w的剩余电量；TP w为电动汽车i在充电桩j w的
Figure PCTCN2022092902-appb-000292
内的预约分配电量；
Figure PCTCN2022092902-appb-000293
为电动汽车i在充电桩j w的预约充电时长；TP 4为前车i 4在
Figure PCTCN2022092902-appb-000294
时间段的预约分配电量。
(10-1-5)、每经过一个Δt时间，调度系统平台根据充电桩j w重新更新的预约服务列表，从步骤(10-1-2)开始执行至步骤(10-1-4)，重新预估预约分配电量TP w。
预估方法2、当充电桩j w为电网直供充电桩时，具体预估方法如下：
(10-2-1)、首先设置电动汽车i到达充电桩j w的时刻t w之后的排队等待时限σ，σ为自定义时长值；预估方法2以下各变量的定义同预估方法1。
(10-2-2)、根据充电桩j w的预约服务列表查找电动汽车i到达充电桩j w的时刻t w至t w+σ之间是否有空闲时间段；如果没有空闲时间段，则预估充电桩j w能提供给电动汽车i的可分 配电量Q w(i)＝0；电动汽车i在充电桩j w的预约分配电量TP w＝0。如果有空闲时间段则转去执行步骤(10-2-3)。
(10-2-3)、如果空闲时间段同步骤(10-1-3)的无限长，记为
Figure PCTCN2022092902-appb-000295
其中
Figure PCTCN2022092902-appb-000296
对应为前车i 1的预约充电结束时刻且
Figure PCTCN2022092902-appb-000297
之后无其他前车预约充电。预估充电桩j w能提供给电动汽车i的可分配电量Q w(i)无限大。
则电动汽车i在充电桩j w的预约分配电量TP w按式10-11估算：
TP w＝bat_cap i-RE i(t w)    10-11
式10-11中，bat_cap i为电动汽车i动力电池的额定电量，RE i(t w)为预估电动汽车i在到达充电桩j w时刻t w的剩余电量；
电动汽车i在充电桩j w的预约开始充电时刻
Figure PCTCN2022092902-appb-000298
预约充电时长
Figure PCTCN2022092902-appb-000299
(10-2-4)、如果空闲时间段是有限长
Figure PCTCN2022092902-appb-000300
即有前车i 1已经在
Figure PCTCN2022092902-appb-000301
时间段在充电桩j w预约充电，预约分配电量为TP 1；有前车i 2已经在
Figure PCTCN2022092902-appb-000302
时间段在充电桩j w预约充电，预约分配电量为TP 2；其中t 1、
Figure PCTCN2022092902-appb-000303
分别对应为前车i 1的预约开始充电时刻和预约充电结束时刻，t 2、
Figure PCTCN2022092902-appb-000304
分别为前车i 2的预约开始充电时刻和预约充电结束时刻；
Figure PCTCN2022092902-appb-000305
电网直供充电桩的空闲时间段都是电动汽车可充电的时间段，故充电桩j w能提供给电动汽车i的可分配电量Q w(i)用充电桩j w的可充电时间段
Figure PCTCN2022092902-appb-000306
代替。
则按以下式10-12估算电动汽车i在充电桩j w的预约分配电量TP w：
Figure PCTCN2022092902-appb-000307
式10-12中，bat_cap i为电动汽车i动力电池的额定电量，RE i(t w)为预估电动汽车i在到达充电桩j w时刻t w的剩余电量；
Figure PCTCN2022092902-appb-000308
为充电桩j w的恒定输出功率；
Figure PCTCN2022092902-appb-000309
为电动汽车i在充电桩j w的预约开始充电时刻。
电动汽车i在充电桩j w的预约充电时长
Figure PCTCN2022092902-appb-000310
对于电网直供充电桩，其预约服务列表可以不予考虑充电桩j w对应各时刻的剩余电量。
通过此方法利用到达时间匹配及能量时分化实现储能充电桩与电网直供充电桩的融合使用，提高了充电桩网络的完整性，奠定了快充网的基础。
实施例1
本实施例全路网的充电桩的类型包括现有的储能充电桩，也可以包括由电网直接提供给电动运载工具充电的现有电网直供充电桩。储能充电桩的供电来源可以是新能源发电或向电网购电的互补式储能中的一种或多种，新能源发电包括太阳能发电、风能发电。电动运载工具通过储能充电桩进行直流充电简称快充；储能充电桩内部有自动切换工作模式的控制模块，当有电动运载工具连接充电桩进行充电时，控制模块控制切换为充电桩放电工作模式；当无电动运载工具连接充电时，控制模块控制自动切换为充电桩储能工作模式。
兼容储能充电桩的电动运载工具电量路径规划方法，本实施例电动运载工具为电动汽车，包括以下步骤：
1)、全网所有的充电桩分别通过无线通信网络或有线通信网络与所述调度系统平台连接，并向所述调度系统平台提交本桩状态信息，包括：本充电桩位置、本桩类型、本充电桩储能电池的额定电量E 额、若为储能充电桩则提交本充电桩实时储能电量、本充电桩实时占用状态。电动汽车用户出发前，通过无线通信网络或有线通信网络连接调度系统平台，向所述调度系统平台提出从出发地O到目的地D的电量申请预约，所述电量申请预约包括以下信息：电动汽车车型、出发时刻t 0、出发地O、目的地D及出发时刻电动汽车动力电池的初始剩余电量bat_cap str、电动汽车i动力电池的额定电量bat_cap i。
2)、所述调度系统平台在现有地图如GIS上寻找从出发地O到目的地D的最短路径l z，z＝1；
3)所述调度系统平台根据各充电桩提交的本桩状态信息，以及电动汽车用户提交的电量预约申请，判断当所述电动汽车选择在所述最短路径l z沿途一个或多个充电桩分别预约充电，在各预约充电桩的预约分配电量是否满足所述电动汽车从出发地O行驶至目的地D的续航要求；若“是”则执行步骤4)，若“否”则转去执行步骤5)；
4)所述调度系统平台为所述电动汽车生成全程预约方案，所述全程预约方案包括为所述电动汽车指派所述最短路径l z上各预约充电桩及对应的预约分配电量、预约充电起止时刻，且返回预约成功的信息给所述电动汽车用户，结束本次预约；当所述电动汽车从出发地O出发后，所述调度系统平台按所述全程预约方案引导所述电动汽车出行及充电；
5)、所述调度系统平台排除所述最短路径l z，z＝z+1，从出发地O到目的地D的剩余路径中再寻找新的最短路径l z，如果找到所述新的最短路径l z则循环执行步骤3)至5)，如果找不到新的最短路径l z则返回预约失败的信息给所述电动汽车用户。
作为实施例1的一种变化，步骤3)如果该路径沿途各预约充电桩的预约分配电量无法满足所述电动汽车从出发地O行驶至目的地D的续航要求，则派移动充电车前往该路径补充电动汽车的预约分配电量，直到满足所述电动汽车从出发地O行驶至目的地D的续航要求。
寻找最短路径的方法除了从电子地图获取，还可以采用dijkstra算法等多种传统算法进行推算。现在的电子导航地图也在考虑路况之后提供最快到达路径，也可最为最短路径的替代用本发明进行验算。
按本实施例方法规划出来的最短路径符合能量消耗节约的要求，也符合用户需求和低碳社会需求。
实施例2
本实施例全路网的充电桩同实施例1。
兼容储能充电桩的电动运载工具电量路径规划方法，本实施例电动运载工具为电动汽车，包括以下步骤：
1)、路网所有的充电桩分别通过无线通信网络或有线通信网络与调度系统平台连接，电动汽车客户端通过无线通信网络或有线通信网络与调度系统平台连接；
路网所有的充电桩分别向调度系统平台提交本桩状态信息，包括：本充电桩位置、本桩类型、本充电桩储能电池的额定电量E 额、本充电桩实时占用状态、若为储能充电桩则提交本充电桩实时储能电量。电动汽车i出发前，电动汽车i的电动汽车客户端向调度系统平台提出预约申请，所述预约申请包括以下信息：电动汽车用户名、电动汽车牌号、车型、出发时刻t 0、出发地O、目的地D及出发时刻电动汽车动力电池的初始剩余电量bat_cap str、电动汽车i动力电池的额定电量bat_cap i；调度系统平台分别为每个充电桩建立并存储预约服务列表，预约服务列表的字段内容包括电动汽车用户名、电动汽车牌号、车型、预约开始充电时刻及对应的充电桩剩余电量、预约充电结束时刻及对应的充电桩剩余电量、预约分配电量、充电时长、空闲时间段类型及对应的可分配电量；
2)、寻找最短路径l z：由所述调度系统平台通过现有地图如GIS获得从出发地O到目的地D的路径集合L＝{l 1,…,l a}中的最短路径l z，
Figure PCTCN2022092902-appb-000311
3)、由以上方法一得路径l z沿途分布的充电桩有向序列矩阵(j 1,j 2,…j n) T，则电动汽车i可选择充电的充电桩组合有
Figure PCTCN2022092902-appb-000312
种，从中选择任意一种充电桩组合，假设为(j x1,j x2,…j xk) T，电动汽车i在(j x1,j x2,…j xk) T中每一个充电桩均预约充电。
4)、对所选的充电桩组合(j x1,j x2,…j xk) T，用(j x0,j x1,j x2,…j xk,j xk+1) T表示路径l z的分段点有向序列矩阵，其中j x0对应为出发地O，j xk+1对应为目的地D，其余一一对应为(j x1,j x2,…j xk) T中的充电桩。
假设电动汽车i从出发地O沿路径l z依序到达(j x0,j x1,j x2,…j xk,j xk+1) T中各分段点，分别按以上方法三预估电动汽车i分段路径耗能；依序对(j x0,j x1,j x2,…j xk,j xk+1) T中每一个充电桩j w，
Figure PCTCN2022092902-appb-000313
分别按以上方法六预估电动汽车i到达充电桩j w的时刻t w，分别按以上方法七预估电动汽车i在到达充电桩j w时刻t w的剩余电量RE i(t w)；分别按以上方法十预估电动汽车i在充电桩j w的预约分配电量TP w、电动汽车i在充电桩j w的充电时长
Figure PCTCN2022092902-appb-000314
电动汽车i在充电桩j w的预约开始充电时刻
Figure PCTCN2022092902-appb-000315
及对应的充电桩剩余电量
Figure PCTCN2022092902-appb-000316
预约充电结束时刻
Figure PCTCN2022092902-appb-000317
及对应的充电桩剩余电量
Figure PCTCN2022092902-appb-000318
5)、若充电桩组合(j x1,j x2,…j xk) T中的每一个充电桩j w，按步骤4)所得的电动汽车i从当前分段点到下一个分段点的耗能EC w,w+1、电动汽车i到达充电桩j w的时刻t w、电动汽车i在到达充电桩j w时刻t w的剩余电量RE i(t w)、电动汽车i在充电桩j w的预约分配电量TP w均满足以下不等式组2-1-1，则该充电桩组合(j x1,j x2,…j xk) T能使该最短路径l z满足电动汽车i的全程续航要求，否则转去执行步骤6)。
Figure PCTCN2022092902-appb-000319
不等式组2-1-1中，bat_cap str为电动汽车i出发时刻t 0动力电池的初始剩余电量；
Figure PCTCN2022092902-appb-000320
表示电动汽车i在充电桩组合(j x1,j x2,…j xk) T中的所有预约充电桩的预约分配电量总和；EC 0,n+1表示电动汽车i从出发地O沿最短路径l z到达目的地D的全程能耗，为采用以上方法三预估电动汽车i的分段路径耗能后累计而得。
当最短路径l z满足全程续航要求则生成全程预约方案，结束本次预约；全程预约方案包括指派最短路径l z沿途分布的充电桩组合(j x1,j x2,…j xk) T为电动汽车i依序预约充电，一一对应预约分配电量为(TP x1,TP x2,…TP xk) T，以及各预约充电桩的预约充电起止时刻。并根据所述全程预约方案和步骤4)所得更新(j x1,j x2,…j xk) T中的每一个充电桩j w的预约服 务列表。当所述电动汽车从出发地O出发后，所述调度系统平台按所述全程预约方案引导所述电动汽车出行及充电。
6)若充电桩组合(j x1,j x2,…j xk) T不能使路径l z满足电动汽车i的全程续航要求，则从步骤3)的
Figure PCTCN2022092902-appb-000321
种电动汽车i可选择充电的充电桩组合中排除充电桩组合(j x1,j x2,…j xk) T，如果步骤3)的
Figure PCTCN2022092902-appb-000322
种电动汽车i可选择充电的充电桩组合均已经排除完，则说明路径l z不满足全程续航要求，转去执行步骤7)；否则从
Figure PCTCN2022092902-appb-000323
种电动汽车i可选择充电的充电桩组合排除充电桩组合(j x1,j x2,…j xk) T后剩余的组合中选择另一种组合，转去步骤4)循环执行至步骤6)。
7)从步骤2)的路径集合L＝{l 1,…,l a}排除路径l z，如果路径集合L＝{l 1,…,l a}中的路径已经被排除至为空集合，则返回客户预约失败信息，结束预约；如果路径集合L的路径还未被排除至为空集合，则z＝z+1，从剩余的路径集合L找新的最短路径l z，转去步骤3)开始循环执行至步骤6)。
作为本实施例的另一种变换，考虑到路况及汽车用户驾驶情况等实际因素的影响可能使电动汽车i提前或延迟到达预约充电桩j w，为了不影响预约，预估电动汽车i到达充电桩j w的时刻t w可以用t w-θ或t w+θ代替，其中θ为自定义时长值。其余方法和步骤不变。
作为本实施例的另一种变换，若
Figure PCTCN2022092902-appb-000324
种电动汽车i可选择充电的充电桩组合中有N种组合均能使路径l z满足电动汽车i的全程续航要求，则选择其中预约充电次数最少即预约充电桩最少的组合生成全程预约方案。其余方法和步骤不变。
作为本实施例的另一种变换，考虑司机驾驶疲劳度，途中充电即为休息停歇点，可采取等分为若干个时点选择充电桩，在步骤(3)的
Figure PCTCN2022092902-appb-000325
种组合选择其中包含所述必选预约充电的充电桩的组合代替，其余方法和步骤不变。
作为本实施例的另一种变换，考虑到物流电动汽车有指定作业点，所述指定作业点有充电桩则作为物流电动汽车必选预约充电的充电桩，则步骤(2)中只能选择包含所述必选预约充电的充电桩的路径，在步骤(3)的
Figure PCTCN2022092902-appb-000326
种组合只能选择其中包含所述必选预约充电的充电桩的组合代替，其余方法和步骤不变。
作为本实施例的另一种变换，每经过一个Δt时间，调度系统平台按方法九重新公布充电桩组合(j x1,j x2,…j xk) T中每一个储能充电桩j w的空闲时间段类型及对应的可分配电量，更新每一个储能充电桩j w的预约服务列表；按方法十重新预估每一个储能充电桩j w的预约分 配电量TP w，按方法六重新预估电动汽车i到达充电桩j w的时刻t w，然后从步骤4)开始循环执行至步骤6)，重新规划电动汽车电量路径。
作为本实施例的另一种变换，如果是包含多个充电桩的充电站，只需设充电站中的各充电桩之间的距离为极小值比如1米，同样适用上述实施例2的方法进行充电路径规划，就能实现电动汽车i在一个充电站中预约不同充电桩充电。
现有技术中，有些直流充电桩与供电电源的连接结构为：风力发电机产生的交流电通过整流后转化为直流传入共用直流母线，光伏发电产生的直流电通过变压器传入共用直流母线，或者还包括市电通过整流后转化为直流传入共用直流母线，充电桩的储能电池产生的直流电经过变压器传入共用直流母线，共用直流母线连接电动汽车。当充电桩的储能电池电量不足时，光伏发电、风力发电或市电可以同时为该储能电池和电动汽车充电，此时电动汽车为慢充，相当于电网直供充电桩；当充电桩的储能电池电量足够时，通过充电桩的储能电池为电动汽车充电，此时电动汽车为快充，相当于储能式充电桩。同样适用本实施例方法。
实施例3
本实施例全路网的充电桩同实施例1。
兼容储能充电桩的电动运载工具电量路径规划方法，本实施例电动运载工具为电动汽车，还包括调整前车的方法，步骤如下：
1、设在电动汽车i预约前已有前车按实施例2的方法各自预约充电路径，分别生成各自的全程预约方案。本实施例所述前车指的是：与电动汽车i至少有一个共同预约充电的充电桩简称共用桩，包括当电动汽车i预计到达共用桩时，已预约但尚未出发的车；还包括预约后已出发但当电动汽车i预计到达共用桩时，尚未行驶到该共用桩的车。
2、电动汽车i按实施例2的方法进行预约，从实施例2步骤1)开始执行，步骤2)选择的是从出发地O到目的地D的路径集合L＝{l 1,…,l a}中的最短路径l z，当执行至步骤6)得出结论为最短路径l z不满足全程续航要求时，则按执行以下步骤3调整前车；
3、按实施例2步骤3)在最短路径l z电动汽车i可选择充电的充电桩组合有
Figure PCTCN2022092902-appb-000327
Figure PCTCN2022092902-appb-000328
种，从中选择任意一种充电桩组合进行预约充电，假设为(j x1,j x2,…j xk) T，当执行到步骤5)电动汽车i在充电桩j w预约电量但无法满足式2-1-1时，即电动汽车i在充电桩j w预约电量但不能行驶至下一个分段点j w+1，j w和j w+1均为(j x0,j x1,j x2,…j xk,j xk+1) T中的分段点；则对前车进行全程预约方案的调整。可以是对任意一个共用桩或者多个共用桩调整前车的全程预约方案。调整方法包含但并不限于以下几种：
调整方法1)、取消前车在一个或多个共用桩的预约分配电量，取消的预约分配电量重新合并计入各自对应充电桩的剩余电量中，再按实施例2的步骤3)至6)的方法，分别对电动汽车i的最短路径l z、前车原全程预约方案的路径进行判断是否各自满足电动汽车i、前车的续航要求，若满足则调度系统平台为所述电动汽车i生成全程预约方案，为所述前车生成新的全程预约方案，调整成功；若不满足电动汽车i或前车续航要求，则无法调整前车，恢复前车的原全程预约方案。
调整方法2)、减少前车在一个或多个共用桩的预约分配电量，前车减少的预约分配电量总和大于等于电动汽车i在充电桩j w预约电量后行驶至下一个分段点j w+1预计还缺少的电量ΔTP i，ΔTP i按下式3-1-1估算：
ΔTP i＝EC w,w+1-RE i(t w)-TP w      3-1-1
其中：EC w,w+1表示电动汽车i从当前充电桩j w到下一个分段点的耗能、t w为预估电动汽车i到达充电桩j w的时刻、RE i(t w)为预估电动汽车i在到达充电桩j w时刻t w的剩余电量、TP w为电动汽车i在充电桩j w的预约分配电量。
各共用桩减少的预约分配电量重新合并计入各自的剩余电量中，再按实施例2的步骤3)至6)的方法，分别对电动汽车i的最短路径l z、前车原全程预约方案的路径进行判断是否各自满足电动汽车i、前车的续航要求，若均满足则调度系统平台为所述电动汽车i生成全程预约方案，为所述前车生成新的全程预约方案，调整成功；若不满足电动汽车i或前车续航要求，则无法调整前车，恢复前车的原全程预约方案。
通过调度系统平台对运载工具进行充电调度，将原来由用户基于桩位的自行指定无序预约提升为由调度平台基于全网用户能量需求和充电桩资源进行统一规划和分配，并对用户进行指令性调度，实现了资源利用最大化，满足更多运载工具的行驶需求。
实施例4
本实施例全路网的充电桩同实施例1。
兼容储能充电桩的电动运载工具电量路径规划方法，本实施例电动运载工具为电动汽车，还包括校正的方法如下：
电动汽车按实施例2或3的兼容储能充电桩的电动汽车电量路径规划方法生成全程预约方案。
由于电动汽车的全程预约方案为提前预约，为了避免在出发时或出发后实际的车辆参数或充电桩参数与预约时产生较大的变化而影响电动汽车按全程预约方案顺利出行充电，分 别采用以下几种校正方法对电动汽车的全程预约方案进行校正：
校正方法1：如果电动汽车在出发前，确定参数包括出发时刻、车载质量m 负和电动汽车动力电池的初始剩余电量与申请预约时提交的信息有变化，则按确定参数重新向调度系统平台提交，调度系统平台根据确定参数采用实施例2或实施例3的电量路径规划方法重新生成全程预约方案，当所述电动汽车从出发地O出发后，所述调度系统平台按所述新的全程预约方案引导所述电动汽车出行及充电。如果按实施例2或实施例3的电量路径规划方法无法生成新的全程预约方案，则预约失败。
校正方法2：电动汽车出发后，当行驶一段时间或距离后，电动汽车根据行驶的实际参数包括电动汽车动力电池的剩余电量、行驶里程的变化，计算出平均行驶速度和平均能耗和汽车负载，向调度系统平台再次提交，调度系统平台根据实际参数采用实施例2或实施例3的电量路径规划方法重新生成全程预约方案引导电动汽车出行和充电。实际参数可以是通过电动汽车自身检测获得并通过无线网络或司机电话或车载终端语音方式提报给调度系统平台，也可以是司机根据经验值估算后提报给调度系统平台。
校正方法3：每当调度系统平台为一辆电动汽车生成全程预约方案，或者是电动汽车按全程预约方案实施充电行动后，调度系统平台将更新对应预约充电桩的服务列表内容。
校正方法4：
已知在电动汽车的全程预约方案中包括预估到达充电桩j w的时刻为t w、预估电动汽车在充电桩j w的预约分配电量TP w、电动汽车在充电桩j w的充电时长
Figure PCTCN2022092902-appb-000329
电动汽车在充电桩j w的预约开始充电时刻
Figure PCTCN2022092902-appb-000330
及对应的充电桩剩余电量
Figure PCTCN2022092902-appb-000331
预约充电结束时刻
Figure PCTCN2022092902-appb-000332
及对应的充电桩剩余电量
Figure PCTCN2022092902-appb-000333
电动汽车上路后，行驶途中，车上的地图软件实时提供当前位置P a、当前时间t a、与最近的预约充电桩j w的距离D aw、从P a到j w的行驶时间t aw；
电动汽车定时判断若发生|(t a+t aw)-t w|＞θ，其中θ为自定义时长值，则电动汽车用户向调度系统平台申请修改在充电桩j w的预约，调度系统平台查询充电桩j w的预约服务列表，若在(t a+t aw)时刻之后存在空闲时间段≥充电时长
Figure PCTCN2022092902-appb-000334
且该空闲时间段对应的可分配电量≥预约分配电量TP w，则将该空闲时间段分配给电动汽车，修改预估到达充电桩j w的时刻及预约开始充电时刻均为(t a+t aw)，在充电桩j w的预约充电时长和预约分配电量不变，更新电动汽车的全程预约方案；同时取消电动汽车在充电桩j w的原预约，再更新充电桩j w的预约服务列表。
如果在(t a+t aw)时刻之后不存在空闲时间段≥充电时长
Figure PCTCN2022092902-appb-000335
且该空闲时间段对应的可分配电量≥预约分配电量TP w，那么调度系统平台通知用户无法修改在充电桩j w的预约，电动汽车应当就当前的时间和位置向调度系统平台申请按按实施例2或3的兼容储能充电桩的电动汽车电量路径规划方法重新规划新的电量路径。
实施例5
储能充电桩的电量预约方法，步骤如下：
(1)、储能充电桩建立并存储本桩的预约服务列表，预约服务列表的字段内容包括电动汽车用户名、电动汽车牌号、车型、预约开始充电时刻及对应于此时刻的充电桩剩余电量、预约充电结束时刻及对应于此时刻的充电桩剩余电量、预约分配电量、充电时长、空闲时间段类型及对应的可分配电量；
(2)储能充电桩在不影响前车在本桩已经预约充电的时间段和预约分配电量的条件下，储能充电桩按以上方法九公布本桩每一段空闲时间段的类型及对应的可分配电量；
(3)电动汽车车载终端通过无线网络连接储能充电桩，获取步骤(2)公布的空闲时间段类型及对应的可分配电量，电动汽车用户根据需要选择适合的空闲时间段通过电动汽车车载终端向储能充电桩进行预约充电。
(4)所述电动汽车预约后，储能充电桩根据步骤(3)的预约结果更新本桩的预约服务列表。
作为本实施例的另一种变换，本储能充电桩在不影响本桩预约服务列表的前提下，通过无线或有线连接调度系统平台，与全网其他储能充电桩一样，按实施例2或3或4的电量路经规划方法参与调度系统平台的统筹管理。反之，实施例2或3或4的全网储能充电桩在不影响各自的预约服务列表前提下，均可按实施例5的上述储能充电桩电量预约方法为电动汽车提供电量预约。
通过此方法在储能充电桩储电预测的基础上对储能充电桩的多用户充电行为和储能电桩的放电行为在时间维度上实现了统一运算，实现了对储能充电桩电量的多用户预约。
本发明的实施例1至实施例5的方法，不仅适用于电动汽车，同样也适用于电动飞行器或电动船，在考虑适航区域和气象条件修正后进行预约及电量路径规划。

Claims (14)

  1. 兼容储能充电桩的电动运载工具电量路径规划方法，储能充电桩供电来源为新能源发电或向电网购电的互补式储能，其特征在于：包括以下步骤：
    1)、全网所有的充电桩分别向调度系统平台提交本桩状态信息，电动汽车用户出发前通过网络连接向所述调度系统平台提出从出发地O到目的地D的电量申请预约，所述电量申请预约包括以下信息：电动汽车车型、汽车负载质量、出发时刻、出发地O、目的地D及出发时刻电动汽车动力电池的剩余电量；
    2)、所述调度系统平台在现有地图上寻找从出发地O到目的地D的最短路径l z，z＝1；
    3)所述调度系统平台根据各充电桩提交的本桩状态信息，以及电动汽车用户提交的电量预约申请，判断当所述电动汽车选择在所述最短路径l z沿途一个或多个充电桩分别预约充电，在各预约充电桩的预约分配电量是否满足所述电动汽车从出发地O行驶至目的地D的续航要求；若“是”则执行步骤4)，若“否”则转去执行步骤5)；
    4)所述调度系统平台为所述电动汽车生成全程预约方案，所述全程预约方案包括为所述电动汽车指派所述最短路径l z上各预约充电桩及对应的预约分配电量，且返回预约成功的信息给所述电动汽车用户，结束本次预约；当所述电动汽车从出发地O出发后，所述调度系统平台按所述全程预约方案引导所述电动汽车出行及充电；
    5)、所述调度系统平台排除所述最短路径l z，z＝z+1，从出发地O到目的地D的剩余路径中再寻找新的最短路径l z，如果找到新的最短路径l z则循环执行步骤3)至5)，如果找不到新的最短路径l z则返回预约失败的信息给所述电动汽车用户。
  2. 如权利要求1所述的兼容储能充电桩的电动运载工具电量路径规划方法，其特征在于，所述步骤3)中，所述电动汽车选择在所述最短路径l z沿途一个或多个充电桩分别预约充电，选择方法如下：设最短路径l z沿途分布有n个充电桩，则所述电动汽车可选择充电的充电桩组合有
    Figure PCTCN2022092902-appb-100001
    种，从中选择任意一种充电桩组合或预约使用充电桩数量最少的充电桩组合进行预约充电。
  3. 如权利要求1所述的兼容储能充电桩的电动运载工具电量路径规划方法，其特征在于，所述步骤3)中，判断当所述电动汽车在所述最短路径l z沿途一个或多个充电桩分别预约充电，在各预约充电桩的预约分配电量是否满足所述电动汽车从出发地O行驶至目的地D的续航要求，具体判断方法如下：
    设所述电动汽车在最短路径l z沿途依序预约充电的充电桩组合为(j x1,j x2,…j xk) T，依序判断其中的每个充电桩j w，对应的预约分配电量是否满足不等式组2-1-1，如果都满足则 所述最短路径l z满足所述电动汽车从出发地O行驶至目的地D的续航要求；否则所述最短路径l z不满足所述电动汽车从出发地O行驶至目的地D的续航要求；
    Figure PCTCN2022092902-appb-100002
    不等式组2-1-1中，RE i(t w)为预估电动汽车在到达充电桩j w时刻t w的剩余电量，TP w表示电动汽车在充电桩j w的预约分配电量，EC w,w+1表示预估电动汽车从当前充电桩j w到下一个充电桩j w+1的耗能，如果充电桩j w为最短路径l z最后一个充电桩，则EC w,w+1表示预估电动汽车从当前充电桩j w到目的地D的能耗；bat_cap str为电动汽车出发时刻t 0动力电池的初始剩余电量；
    Figure PCTCN2022092902-appb-100003
    表示电动汽车在充电桩组合(j x1,j x2,…j xk) T中的所有预约充电桩的预约分配电量总和；EC 0,n+1表示预估电动汽车从出发地O沿最短路径l z到达目的地D的全程能耗。
  4. 如权利要求3所述的兼容储能充电桩的电动运载工具电量路径规划方法，其特征在于，所述电动汽车到达充电桩j w时刻t w，按下式6-1预估：
    t w＝t 0+在先预约充电时长的总和+在先排队等待充电时长的总和+t 0,w 6-1
    式6-1中，t 0表示所述电动汽车出发时刻；t 0,w表示预估所述电动汽车从出发地O沿最短路径l z到达充电桩j w的行驶时长；在先预约充电时长的总和指的是预估所述电动汽车从出发地O沿最短路径l z到达充电桩j w时，已经在沿途其他充电桩预约充电的预约充电时长累计值；在先排队等待充电时长的总和指的是预估所述电动汽车从出发地O沿最短路径l z到达充电桩j w时，已经在沿途其他充电桩预约充电的排队等待充电时长累计值。
  5. 如权利要求3所述的兼容储能充电桩的电动运载工具电量路径规划方法，其特征在于，所述电动汽车在到达充电桩j w时刻t w的剩余电量RE i(t w)，按下式7-1的预估：
    RE i(t w)＝bat_cap str+在先预约分配电量总和-EC 0,w 7-1
    式7-1中，bat_cap str为所述电动汽车出发时的初始剩余电量；在先预约分配电量总和是指截止所述电动汽车从出发地O沿最短路径l z到达充电桩j w时刻t w，已经在沿途其他充电桩预约的预约分配电量累计值；EC 0,w表示预估所述电动汽车从出发地O沿最短路径l z行驶到充电桩j w的能耗。
  6. 如权利要求3所述的兼容储能充电桩的电动运载工具电量路径规划方法，其特征在于，所述电动汽车在充电桩j w的预约分配电量TP w，当充电桩j w为储能式充电桩时，预约分配电量 TP w的预估方法具体步骤如下：
    (10-1-1)、设所述电动汽车为电动汽车i，首先预设电动汽车i到达充电桩j w的时刻t w之后的排队等待时限σ，σ为自定义时长值；
    (10-1-2)、根据充电桩j w的预约服务列表，查在t w至t w+σ之间充电桩j w的空闲时间段类型，如果查到的空闲时间段类型都为储能时段，则充电桩j w不能让电动汽车i预约充电，即预约分配电量TP w＝0；如果查到的空闲时间段类型是可分配电量空闲时段则转去执行步骤(10-1-3)；
    (10-1-3)、查充电桩j w预约服务列表，如果在t w至t w+σ之间充电桩j w的空闲时间段为
    Figure PCTCN2022092902-appb-100004
    表示在
    Figure PCTCN2022092902-appb-100005
    之后尚无任何车预约充电，即
    Figure PCTCN2022092902-appb-100006
    为可分配电量空闲时段且为无限长；如果在t w至t w+σ之间充电桩j w的空闲时间段不是无限长则转去执行步骤(10-1-4)；设有前车i 1已经在
    Figure PCTCN2022092902-appb-100007
    时间段预约充电，其中t 1、
    Figure PCTCN2022092902-appb-100008
    分别对应为前车i 1的预约开始充电时刻和预约充电结束时刻，E(t 1)、
    Figure PCTCN2022092902-appb-100009
    一一对应为预估在t 1、
    Figure PCTCN2022092902-appb-100010
    时刻充电桩j w的剩余电量，前车i 1的预约分配电量为
    Figure PCTCN2022092902-appb-100011
    电动汽车i在充电桩j w的预约开始充电时刻
    Figure PCTCN2022092902-appb-100012
    按下式10-1估算：
    Figure PCTCN2022092902-appb-100013
    充电桩j w在
    Figure PCTCN2022092902-appb-100014
    内的可分配电量
    Figure PCTCN2022092902-appb-100015
    按以下方程组10-2估算：
    Figure PCTCN2022092902-appb-100016
    方程组10-2的约束条件如下：
    Figure PCTCN2022092902-appb-100017
    电动汽车i在充电桩j w的
    Figure PCTCN2022092902-appb-100018
    内的预约分配电量TP w按式10-3估算：
    Figure PCTCN2022092902-appb-100019
    电动汽车i在充电桩j w的预约充电时长
    Figure PCTCN2022092902-appb-100020
    按式10-4估算：
    Figure PCTCN2022092902-appb-100021
    充电桩j w对应预约开始充电时刻
    Figure PCTCN2022092902-appb-100022
    的剩余电量为
    Figure PCTCN2022092902-appb-100023
    充电桩j w对应预约充电结束时刻
    Figure PCTCN2022092902-appb-100024
    的剩余电量为
    Figure PCTCN2022092902-appb-100025
    步骤(10-1-3)以上各式的变量统一定义如下：
    Figure PCTCN2022092902-appb-100026
    为电动汽车i在充电桩j w的预约开始充电时刻；t w为预估电动汽车i到达充电桩j w的时刻；
    Figure PCTCN2022092902-appb-100027
    为充电桩j w在
    Figure PCTCN2022092902-appb-100028
    内的可分配电量；
    Figure PCTCN2022092902-appb-100029
    为对应前车i 1的预约充电结束时刻
    Figure PCTCN2022092902-appb-100030
    充电桩j w的剩余电量；p 蓄(t)为预测对应t时刻充电桩j w的储能功率，通过现有技术预测方法获得；
    Figure PCTCN2022092902-appb-100031
    为充电桩j w的恒定输出功率；E 额为充电桩j w储能电池的额定电量；t 额为在
    Figure PCTCN2022092902-appb-100032
    内充电桩j w储能达到额定电量E 额的时刻；bat_cap i为电动汽车i动力电池的额定电量，RE i(t w)为预估电动汽车i在到达充电桩j w时刻t w的剩余电量；TP w为电动汽车i在充电桩j w的
    Figure PCTCN2022092902-appb-100033
    内的预约分配电量；
    Figure PCTCN2022092902-appb-100034
    为电动汽车i在充电桩j w的预约充电时长；
    (10-1-4)、如果在t w至t w+σ之间充电桩j w的空闲时间段为可分配电量空闲时段且为有限长，设前车i 1已经在
    Figure PCTCN2022092902-appb-100035
    时间段在充电桩j w预约充电，预约分配电量为
    Figure PCTCN2022092902-appb-100036
    Figure PCTCN2022092902-appb-100037
    有前车i 2已经在
    Figure PCTCN2022092902-appb-100038
    时间段在充电桩j w预约充电，预约分配电量为
    Figure PCTCN2022092902-appb-100039
    Figure PCTCN2022092902-appb-100040
    其中t 1、
    Figure PCTCN2022092902-appb-100041
    分别对应为前车i 1的预约开始充电时刻和预约充电结束时刻，t 2、
    Figure PCTCN2022092902-appb-100042
    分别为前车i 2的预约开始充电时刻和预约充电结束时刻；
    Figure PCTCN2022092902-appb-100043
    E(t 1)、
    Figure PCTCN2022092902-appb-100044
    E(t 2)、
    Figure PCTCN2022092902-appb-100045
    一一对应为预估在t 1、
    Figure PCTCN2022092902-appb-100046
    t 2、
    Figure PCTCN2022092902-appb-100047
    时刻充电桩j w的剩余电量；
    Figure PCTCN2022092902-appb-100048
    为所述的可分配电量空闲时段，充电桩j w在可分配电量空闲时段
    Figure PCTCN2022092902-appb-100049
    允许电动汽车i插队预约充电的前提条件，是不能影响已经预约在该时间段
    Figure PCTCN2022092902-appb-100050
    后充电的其他前车的预约分配电量和预约充电起止时刻，即首先须保证前车i 2在预约充电时段
    Figure PCTCN2022092902-appb-100051
    的预约分配电量TP 2不变，也即须满足下式10-5：
    Figure PCTCN2022092902-appb-100052
    式10-5的约束条件：
    Figure PCTCN2022092902-appb-100053
    由式10-5及其约束条件可推算得充电桩j w允许电动汽车i插队预约充电时电动汽车i的最晚充电结束时刻
    Figure PCTCN2022092902-appb-100054
    则充电桩j w在该可分配电量空闲时段
    Figure PCTCN2022092902-appb-100055
    的可分配电量
    Figure PCTCN2022092902-appb-100056
    按如下方程组10-6预估：
    Figure PCTCN2022092902-appb-100057
    上式10-5和式10-6中，电动汽车i在充电桩j w的预约开始充电时刻
    Figure PCTCN2022092902-appb-100058
    按下式10-7估算：
    Figure PCTCN2022092902-appb-100059
    根据式10-6所得
    Figure PCTCN2022092902-appb-100060
    电动汽车i在充电桩j w的
    Figure PCTCN2022092902-appb-100061
    内的预约分配电量TP w按下式10-8估算：
    Figure PCTCN2022092902-appb-100062
    由式10-8所得TP w，电动汽车i在充电桩j w的预约充电时长
    Figure PCTCN2022092902-appb-100063
    按下式10-9估算：
    Figure PCTCN2022092902-appb-100064
    如果还有其他前车比电动汽车i先在充电桩j w预约充电，但是预约充电的时间在前车i 2预约充电时段
    Figure PCTCN2022092902-appb-100065
    之后，则充电桩j w在可分配电量空闲时段
    Figure PCTCN2022092902-appb-100066
    允许电动汽车i插队预约充电的前提条件，除了须保证前车i 2在预约充电时段
    Figure PCTCN2022092902-appb-100067
    的预约分配电量TP 2不变，还要保证所有所述的其他前车的预约起止时间和预约分配电量不变，具体方法如下：
    设还有其他前车i 4比电动汽车i先预约在
    Figure PCTCN2022092902-appb-100068
    时间段充电，预约分配电量为TP 4，其中
    Figure PCTCN2022092902-appb-100069
    则TP w还要满足以下公式10-10：
    Figure PCTCN2022092902-appb-100070
    如果TP w不满足式10-10，则减少TP w，相应的
    Figure PCTCN2022092902-appb-100071
    按式10-9推算也减少，直到满足式10-10；
    如果前车i 4的预约充电时段
    Figure PCTCN2022092902-appb-100072
    之后依次还有其他前车i 5、i 6……均比电动汽车i先在充电桩j w预约充电，则分别比照前车i 4的方法处理；直到TP w能保证所有所述的其他前车的预约起止时间和预约分配电量不变；如果TP w减少到预设的阀值，但均不能保证所有所述的其他前车的预约起止时间和预约分配电量不变，则充电桩j w不允许电动汽车i在空闲时间段
    Figure PCTCN2022092902-appb-100073
    插队预约充电，即令预约分配电量TP w＝0；
    如果最终所得的TP w≠0，则充电桩j w对应预约开始充电时刻
    Figure PCTCN2022092902-appb-100074
    的剩余电量为
    Figure PCTCN2022092902-appb-100075
    充电桩j w对应预约充电结束时刻
    Figure PCTCN2022092902-appb-100076
    的剩余电量为
    Figure PCTCN2022092902-appb-100077
    步骤(10-1-4)以上各式的变量统一定义如下：TP 2为前车i 2在预约充电时段
    Figure PCTCN2022092902-appb-100078
    的预约分配电量；
    Figure PCTCN2022092902-appb-100079
    为对应前车i 1的预约充电结束时刻
    Figure PCTCN2022092902-appb-100080
    充电桩j w的剩余电量；p 蓄(t)为预测对应t时刻充电桩j w的储能功率，通过现有技术预测方法获得；
    Figure PCTCN2022092902-appb-100081
    为充电桩j w的恒定输出功率；
    Figure PCTCN2022092902-appb-100082
    为电动汽车i在充电桩j w的预约开始充电时刻；t w为预估电动汽车i到达充电桩j w的时刻；E 额为充电桩j w储能电池的额定电量；
    Figure PCTCN2022092902-appb-100083
    为充电桩j w允许电动汽车i插队预约充电时电动汽车i的最晚充电结束时刻；
    Figure PCTCN2022092902-appb-100084
    为预估充电桩j w在
    Figure PCTCN2022092902-appb-100085
    内的可分配电量；t 额为预估在
    Figure PCTCN2022092902-appb-100086
    内充电桩j w储能达到额定电量E 额的时刻；bat_cap i为电动汽车i动力电池的额定电量，RE i(t w)为预估电动汽车i在到达充电桩j w时刻t w的剩余电量；TP w为电动汽车i在充电桩j w的
    Figure PCTCN2022092902-appb-100087
    内的预约分配电量；
    Figure PCTCN2022092902-appb-100088
    为电动汽车i在充电桩j w的预约充电时长；TP 4为前车i 4在
    Figure PCTCN2022092902-appb-100089
    时间段的预约分配电量。
  7. 如权利要求6所述的兼容储能充电桩的电动运载工具电量路径规划方法，其特征在于，还包括步骤(10-1-5)：每经过一个Δt时间，调度系统平台根据重新更新的充电桩j w的预约 服务列表，从步骤(10-1-2)开始执行至步骤(10-1-4)，重新预估预约分配电量TP w。
  8. 如权利要求3所述的兼容储能充电桩的电动运载工具电量路径规划方法，其特征在于，所述电动汽车在充电桩j w的预约分配电量TP w，当充电桩j w为电网直供充电桩时，预约分配电量TP w的预估方法具体步骤如下：
    (10-2-1)、设所述电动汽车为电动汽车i，首先设置电动汽车i到达充电桩j w的时刻t w之后的排队等待时限σ，σ为自定义时长值；
    (10-2-2)、根据充电桩j w的预约服务列表查找电动汽车i到达充电桩j w的时刻t w至t w+σ之间是否有空闲时间段；如果没有空闲时间段，则预估充电桩j w能提供给电动汽车i的可分配电量Q w(i)＝0；电动汽车i在充电桩j w的预约分配电量TP w＝0；如果有空闲时间段则转去执行步骤(10-2-3)；
    (10-2-3)、如果空闲时间段为无限长，记为
    Figure PCTCN2022092902-appb-100090
    其中
    Figure PCTCN2022092902-appb-100091
    对应为前车i 1的预约充电结束时刻且
    Figure PCTCN2022092902-appb-100092
    之后无其他前车预约充电；则电动汽车i在充电桩j w的预约分配电量TP w按式10-11估算：
    TP w＝bat_cap i-RE i(t w) 10-11
    式10-11中，bat_cap i为电动汽车i动力电池的额定电量，RE i(t w)为预估电动汽车i在到达充电桩j w时刻t w的剩余电量；
    电动汽车i在充电桩j w的预约开始充电时刻
    Figure PCTCN2022092902-appb-100093
    其中t w为预估电动汽车i在到达充电桩j w时刻；
    由式10-11所得的TP w，预约充电时长
    Figure PCTCN2022092902-appb-100094
    其中
    Figure PCTCN2022092902-appb-100095
    为充电桩j w的恒定输出功率；
    (10-2-4)、如果空闲时间段是有限长，即设前车i 1已经在
    Figure PCTCN2022092902-appb-100096
    时间段在充电桩j w预约充电；有前车i 2已经在
    Figure PCTCN2022092902-appb-100097
    时间段在充电桩j w预约充电；其中t 1、
    Figure PCTCN2022092902-appb-100098
    分别对应为前车i 1的预约开始充电时刻和预约充电结束时刻，t 2、
    Figure PCTCN2022092902-appb-100099
    分别为前车i 2的预约开始充电时刻和预约充电结束时刻；
    Figure PCTCN2022092902-appb-100100
    则按以下式10-12估算电动汽车i在充电桩j w的预约分配电量TP w：
    Figure PCTCN2022092902-appb-100101
    式10-12中，bat_cap i为电动汽车i动力电池的额定电量，RE i(t w)为预估电动汽车i在到 达充电桩j w时刻t w的剩余电量；
    Figure PCTCN2022092902-appb-100102
    为充电桩j w的恒定输出功率；
    Figure PCTCN2022092902-appb-100103
    为电动汽车i在充电桩j w的预约开始充电时刻，
    Figure PCTCN2022092902-appb-100104
    电动汽车i在充电桩j w的预约充电时长
    Figure PCTCN2022092902-appb-100105
  9. 如权利要求6或8所述的兼容储能充电桩的电动运载工具电量路径规划方法，其特征在于，所述电动汽车在到达充电桩j w时刻t w，用t w-θ或t w+θ代替，其中θ为自定义时长值。
  10. 如权利要求1至8之一所述的兼容储能充电桩的电动运载工具电量路径规划方法，其特征在于，还包括调整前车的方法如下：
    设在电动汽车i预约前已有前车各自预约充电且分别生成各自的全程预约方案；当电动汽车i按所述的兼容储能充电桩的电动运载工具电量路径规划方法进行预约充电，当所选择的从出发地O到目的地D的路径集合L＝{l 1,…,l a}中的最短路径l z不满足全程续航要求时，则调整前车的全程预约方案，包括取消或减少前车在一个或多个共用桩的预约分配电量，再分别对电动汽车i的最短路径l z、前车原全程预约方案的路径进行判断是否各自满足电动汽车i、前车的全程续航要求，若都满足则调度系统平台为所述电动汽车i生成全程预约方案，为所述前车生成新的全程预约方案，调整成功；若有任一车不满足全程续航要求，则无法调整前车，恢复前车的原全程预约方案。
  11. 储能充电桩的电量预约方法，其特征在于，包括以下步骤：
    (1)、储能充电桩建立并存储本桩的预约服务列表，预约服务列表的字段内容包括电动汽车用户名、电动汽车牌号、车型、预约开始充电时刻及对应于此时刻的充电桩剩余电量、预约充电结束时刻及对应于此时刻的充电桩剩余电量、预约分配电量、预约充电时长、空闲时间段的类型及对应的可分配电量；
    (2)储能充电桩在不影响前车在本桩已经预约充电的时间段和预约分配电量的条件下，公布本桩每一段空闲时间段的类型及对应的可分配电量；
    (3)电动汽车车载终端通过无线网络连接储能充电桩，获取步骤(2)公布的空闲时间段的类型及对应的可分配电量，电动汽车用户根据需要选择适合的空闲时间段通过电动汽车车载终端向储能充电桩进行预约充电；
    (4)所述电动汽车预约后，储能充电桩根据步骤(3)的预约结果更新本桩的预约服务列表。
  12. 如权利要求11所述的储能充电桩的电量预约方法，其特征在于，所述步骤(2)储 能充电桩公布本桩每一段空闲时间段的类型及对应的可分配电量，具体方法如下：
    空闲时间段分为储能充电桩j w的储能时段和可分配电量空闲时段两种类型；查找储能充电桩j w预约服务列表，设有空闲时间段
    Figure PCTCN2022092902-appb-100106
    前后均已经有车预约充电，如有前车i 1已经在
    Figure PCTCN2022092902-appb-100107
    时间段预约充电，预约分配电量为
    Figure PCTCN2022092902-appb-100108
    有前车i 2已经在
    Figure PCTCN2022092902-appb-100109
    时间段预约充电，预约分配电量为
    Figure PCTCN2022092902-appb-100110
    其中t 1、
    Figure PCTCN2022092902-appb-100111
    分别对应为前车i 1的预约开始充电时刻和预约充电结束时刻，t 2、
    Figure PCTCN2022092902-appb-100112
    分别为对应前车i 2的预约开始充电时刻和预约充电结束时刻；
    Figure PCTCN2022092902-appb-100113
    E(t 1)、
    Figure PCTCN2022092902-appb-100114
    E(t 2)、
    Figure PCTCN2022092902-appb-100115
    一一对应为预估在t 1、
    Figure PCTCN2022092902-appb-100116
    t 2、
    Figure PCTCN2022092902-appb-100117
    时刻储能充电桩j w的剩余电量；
    (A)、空闲时间段
    Figure PCTCN2022092902-appb-100118
    的类型公布方法如下：
    当满足下式9-1时，公布
    Figure PCTCN2022092902-appb-100119
    为储能充电桩j w的储能时段；
    Figure PCTCN2022092902-appb-100120
    式9-1中，E 额为储能充电桩j w储能电池的额定电量；p 蓄(t)为预测t时刻储能充电桩j w的储能功率，由现有技术方法预测获得；
    储能充电桩j w的储能时段只能用于本桩储能，即对应的可分配电量为0；
    (B)、储能充电桩j w的可分配电量空闲时段的公布方法如下：
    在储能充电桩j w的所有空闲时间段中，排除步骤(A)公布的储能充电桩j w的储能时段后，余下即为储能充电桩j w的可分配电量空闲时段；
    对可分配电量空闲时段按一固定时长ρ进行时点的划分，ρ为自定义的常量，设空闲时间段
    Figure PCTCN2022092902-appb-100121
    为可分配电量空闲时段，可划分为
    Figure PCTCN2022092902-appb-100122
    Figure PCTCN2022092902-appb-100123
    若干个时点，又设电动汽车在可分配电量空闲时段的预约开始充电时刻为
    Figure PCTCN2022092902-appb-100124
    时点；则储能充电桩j w的可分配电量空闲时段须满足下式9-2：
    Figure PCTCN2022092902-appb-100125
    式9-2的约束条件：
    Figure PCTCN2022092902-appb-100126
    式9-2及其约束条件中，p 蓄(t)为预测t时刻储能充电桩j w的储能功率，由现有技术方法预测获得；
    Figure PCTCN2022092902-appb-100127
    为储能充电桩j w的恒定输出功率，E 额为储能充电桩j w储能电池的额定电量；
    Figure PCTCN2022092902-appb-100128
    为电动汽车最晚充电结束时间；
    由式9-2及其约束条件可求得电动汽车最晚充电结束时间
    Figure PCTCN2022092902-appb-100129
    为储能充电桩j w储能时段；
    储能充电桩j w在可分配电量空闲时间段
    Figure PCTCN2022092902-appb-100130
    内
    Figure PCTCN2022092902-appb-100131
    时点的对应可分配电量Q w(t)按以下方程组9-3估算：
    Figure PCTCN2022092902-appb-100132
    方程组9-3中，
    Figure PCTCN2022092902-appb-100133
    t 额表示如果储能充电桩j w储能达到额定电量的时刻，其余变量的定义同式9-2及其约束条件；
    在储能充电桩j w的预约服务列表中公布该可分配电量空闲时段
    Figure PCTCN2022092902-appb-100134
    内
    Figure PCTCN2022092902-appb-100135
    时点的对应可分配电量Q w(t)；其余时点比照
    Figure PCTCN2022092902-appb-100136
    时点公布。
  13. 如权利要求12所述的储能充电桩的电量预约方法，其特征在于，在所述空闲时间段
    Figure PCTCN2022092902-appb-100137
    的类型公布方法中，还包括：每经过一个Δt时间，调度系统平台重新预估式9-1中充电桩j w的综合储能电量
    Figure PCTCN2022092902-appb-100138
    并按式9-1重新估算和公布，更新充电桩j w的预约服务列表。
  14. 如权利要求12所述的储能充电桩的电量预约方法，其特征在于，在所述储能充电桩j w的可分配电量空闲时段的公布方法中，还包括：每经过一个Δt时间，调度系统平台分别重 新预估式9-2中充电桩j w的综合储能电量
    Figure PCTCN2022092902-appb-100139
    和
    Figure PCTCN2022092902-appb-100140
    并分别按式9-2及其约束条件、式9-3重新估算和公布，更新充电桩j w的预约服务列表。
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