WO2013094045A1 - Energy consumption prediction device, energy consumption prediction method, and energy consumption prediction program - Google Patents

Abstract

This energy consumption prediction device (100) is for predicting energy to be consumed when a vehicle travels a scheduled travel route to a destination, the energy consumption prediction device comprising: a scheduled travel route calculating unit (101) that calculates a scheduled travel route corresponding to a destination; a speed calculating unit (102) that calculates speed information indicating the speed on the scheduled travel route; a travel resistance value calculating unit (103) that calculates a travel resistance value on the basis of the speed information; a driving force calculating unit (104) that calculates the driving force of the vehicle on the basis of the travel resistance value; a torque calculating unit (105) that calculates torque information indicating the torque for the scheduled travel route on the basis of the driving force; an efficiency map acquiring unit (106) that acquires an efficiency map of a motor which drives the vehicle; and an energy consumption calculating unit (107) that calculates energy consumption on the basis of the speed information, the torque information, and the efficiency map for the scheduled travel route.

Description

Energy consumption prediction apparatus, energy consumption prediction method, and energy consumption prediction program

The present invention relates to an energy consumption prediction apparatus, an energy consumption prediction method, and an energy consumption prediction program for supplying power to a motor of a vehicle to drive the vehicle. However, the use of the present invention is not limited to the above-described consumption energy prediction apparatus, consumption energy prediction method, and consumption energy prediction program.

Conventionally, an electric vehicle (EV) that is a moving body is provided with a motor and a wheel is driven, and an in-wheel motor structure is provided in which the motor is provided on the wheel. Is disclosed.

For example, when estimating the energy consumption of a motor on a planned travel route, there is a technique for estimating the amount of energy consumption in consideration of travel resistance and other resistances that occur in a traveling vehicle (for example, see Patent Document 1 below). .) In addition, there is a technique for estimating a power saving route and power consumption using a vehicle speed and a road gradient (see, for example, Patent Document 2 below).

JP 2009-67350 A JP 2011-122926 A

However, in any of the above technologies, the efficiency of the motor provided in the vehicle is not taken into consideration, and the efficiency varies from motor to motor. It is considered that there is a problem that the battery runs out because it is different from the estimation after traveling.

In order to solve the above-described problems and achieve the object, the energy consumption predicting apparatus according to the present invention is an energy consumption predicting apparatus that predicts energy consumed when a vehicle travels on a planned travel route to a destination. A planned travel route calculating means for calculating the planned travel route corresponding to the destination, a speed calculating means for calculating speed information indicating a speed on the planned travel route, and a travel resistance value based on the speed information. A running resistance value calculating means for calculating, a driving force calculating means for calculating a driving force of the vehicle based on the running resistance value, and a torque for calculating torque information indicating torque of the planned traveling route based on the driving force. A calculation means; an efficiency map acquisition means for acquiring an efficiency map of a drive means for driving the vehicle; the speed information on the planned travel route; Click information, and on the basis of the efficiency map, characterized in that it comprises, a consumption energy calculating means for calculating the consumption energy.

The energy consumption prediction method according to the present invention is a consumption energy prediction method of a consumption energy prediction device for predicting consumption energy consumed when a vehicle travels on a planned travel route to a destination. A scheduled travel route calculation step for calculating the corresponding planned travel route, a speed calculation step for calculating speed information indicating a speed on the planned travel route, and a travel resistance value calculation for calculating a travel resistance value based on the speed information A driving force calculating step of calculating a driving force of the vehicle based on the driving resistance value, a torque calculating step of calculating torque information indicating a torque of the planned traveling route based on the driving force, and the vehicle An efficiency map acquisition step of acquiring an efficiency map of drive means for driving the vehicle, the speed information, the torque information, and the Based on the fine the efficiency map, characterized in that it comprises a and a consumption energy calculating step of calculating the consumption energy.

The energy consumption prediction program according to the present invention is a program applied to an energy consumption prediction apparatus for predicting energy consumption consumed when a vehicle travels on a planned travel route to a destination. Travel planned route calculating means for calculating the planned travel route corresponding to the destination, speed calculating means for calculating speed information indicating the speed on the planned travel route, and travel for calculating a travel resistance value based on the speed information A resistance value calculating means; a driving force calculating means for calculating the driving force of the vehicle based on the running resistance value; and a torque calculating means for calculating torque information indicating the torque of the planned traveling route based on the driving force. , Efficiency map acquisition means for acquiring an efficiency map of the drive means for driving the vehicle, and the speed information on the planned travel route The torque information, and on the basis of the efficiency map, wherein the function as the consumption energy calculating means, for calculating the consumption energy.

FIG. 1 is a block diagram illustrating a configuration of the energy consumption prediction apparatus according to the embodiment. FIG. 2 is a flowchart illustrating the processing contents of the energy consumption prediction apparatus according to the embodiment. FIG. 3 is a block diagram illustrating a hardware configuration example of the energy consumption prediction apparatus. FIG. 4 is a diagram for explaining the outline of speed prediction. FIG. 5 is a chart showing speed changes in a certain section. FIG. 6 is a flowchart showing details of speed prediction. FIG. 7 is a chart showing an example of speed prediction. FIG. 8 is a chart showing an example of position calculation calculated based on speed prediction. FIG. 9 is a chart showing a gradient calculation example calculated based on the position change. FIG. 10 is a diagram illustrating a configuration example of the driving force observer. FIG. 11 is a chart showing a motor efficiency map. FIG. 12 is a chart showing the energy consumption after calculation.

(Embodiment)
Exemplary embodiments of a consumption energy prediction apparatus, a consumption energy prediction method, and a consumption energy prediction program according to the present invention will be described below in detail with reference to the accompanying drawings. In the following description, an in-wheel type configuration in which a motor is provided for each wheel of the vehicle will be described as an example. However, the present invention is for predicting energy consumption of a vehicle having a motor, and the motor is an in-wheel motor. It is applicable not only to.

(Configuration of energy consumption prediction device)
FIG. 1 is a block diagram illustrating a configuration of the energy consumption prediction apparatus according to the embodiment. The energy consumption prediction apparatus 100 predicts energy consumption consumed when a vehicle travels on a planned travel route to a destination. The energy consumption prediction apparatus 100 includes a planned travel route calculation unit 101, a speed calculation unit 102, a travel resistance value calculation unit 103, a driving force calculation unit 104, a torque calculation unit 105, an efficiency map acquisition unit 106, A consumption energy calculation unit 107. Moreover, it is good also as a structure provided with the gradient acquisition part 108 which acquires the gradient information which shows the gradient in a driving planned route.

The planned travel route calculation unit 101 calculates the planned travel route to the destination based on the input of the destination of the vehicle. The speed calculation unit 102 calculates speed information indicating the speed on the planned travel route. The running resistance value calculation unit 103 calculates a running resistance value based on the speed information. The driving force calculation unit 104 calculates the driving force of the vehicle based on the running resistance value. The torque calculation unit 105 calculates torque information indicating the torque of the planned travel route based on the driving force.

The efficiency map acquisition unit 106 acquires a driving means for driving the vehicle, that is, an efficiency map of the motor. The efficiency map is a map for obtaining the efficiency of the motor from the torque and the speed, and has characteristics specific to the motor of the vehicle. The energy consumption calculation unit 107 calculates energy consumption based on speed information, torque information, and an efficiency map on the planned travel route. The calculated energy consumption information is displayed on a display unit (not shown) or output to the outside.

Also, the running resistance value calculation unit 103 can calculate the running resistance value based on the speed information calculated by the speed calculation unit 102 and the gradient information acquired by the gradient acquisition unit 108.

FIG. 2 is a flowchart showing the processing contents of the energy consumption prediction apparatus according to the embodiment. The energy consumption prediction apparatus 100 predicts energy consumption in the following processing order. First, the planned travel route calculation unit 101 searches for a route (planned route) to the destination based on the input of the destination of the vehicle (step S201). Map information is used for this search. Next, the speed calculation unit 102 predicts speed information indicating the speed on the planned travel route (step S202). At this time, the position and distance of the vehicle for each hour on the planned route can be obtained based on the calculated speed (step S203). In the following processing, the energy consumption at this position is calculated based on the position of the vehicle that is different every time.

First, based on the position of the vehicle on the planned route, the gradient acquisition unit 108 calculates the gradient at this position from the map information (step S204). Then, the running resistance value calculation unit 103 calculates a running resistance value based on the calculated speed information and gradient information (step S205). Thereafter, the driving force calculation unit 104 calculates the driving force of the vehicle based on the calculated running resistance value (step S206).

Next, the torque calculation unit 105 calculates a necessary torque at this position based on the calculated driving force (step S207). Thereafter, the efficiency map acquisition unit 106 acquires an efficiency map of the vehicle motor, and calculates the efficiency at this position using the efficiency map based on the calculated speed and torque (step S208).

Thereafter, the consumed energy calculation unit 107 calculates consumed energy based on the speed information, torque information, and efficiency map at this position (step S209). The calculated energy consumption information is displayed on a display unit (not shown) or output to the outside. The processing after step S204 is repeatedly executed for each position of the planned route. For example, the planned route is divided into predetermined sections (for example, a node-node link (edge)), and energy consumption is calculated for each section.

According to the above configuration, in consideration of the characteristics of the motor mounted on the vehicle, the torque on the planned route is calculated, and the efficiency of the motor of the vehicle is obtained from the torque and speed. The energy consumption of the planned route can be predicted. As a result, the energy consumed before the vehicle travels can be accurately predicted.

(Hardware configuration of energy consumption prediction device)
Next, examples of the above embodiment will be described. FIG. 3 is a block diagram illustrating a hardware configuration example of the energy consumption prediction apparatus. 3, the energy consumption prediction apparatus 100 includes a CPU 301, a ROM 302, a RAM 303, a communication I / F 304, a GPS unit 305, and various sensors 306. Each component 301 to 306 is connected by a bus 307.

The CPU 301 governs overall control of the energy consumption prediction apparatus 100. The ROM 302 records and holds programs such as a boot program and an energy prediction program. The RAM 303 is used as a work area for the CPU 301. That is, the CPU 301 executes the program recorded in the ROM 302 while using the RAM 303 as a work area.

The communication I / F 304 is connected to the network via wireless and functions as an interface between the energy consumption prediction apparatus 100 and the CPU 301. The communication network functioning as a network includes a public line network, a mobile phone network, DSRC (Dedicated Short Range Communication), LAN, WAN, and the like. The communication I / F 304 is, for example, a public line connection module, an ETC unit, an FM tuner, a VICS (Vehicle Information and Communication System (registered trademark)) / beacon receiver, or the like.

The GPS unit 305 receives radio waves from GPS satellites and outputs information indicating the current position of the vehicle. The output information of the GPS unit 305 is used when the CPU 301 calculates the current position of the vehicle together with output values of various sensors such as a speed sensor, an acceleration sensor, and a yaw rate sensor. The information indicating the current position is information for specifying one point on the map data, such as latitude / longitude and altitude.

Each configuration shown in FIG. 1 realizes its function by the CPU 301 executing a predetermined program using programs and data recorded in the ROM 302, RAM 303, and the like. And the energy consumption prediction apparatus 100 shown in FIG. 3 can be made into one function of a navigation apparatus.

(About speed prediction)
FIG. 4 is a diagram for explaining the outline of speed prediction. The process of step S202 will be described. The figure shows a planned travel route of the vehicle. A predetermined route (scheduled travel route) 401 that starts from the departure point (S) and returns to the destination (G, the same position as the departure point in the illustrated example) is shown. An example is shown.

1. First, in the speed prediction, a route is divided into several sections based on map information, and a graph using feature points such as a signal p and a corner as a node is used. In addition, the edge (link) between the nodes has distance information for each edge, speed information, presence / absence of a signal, presence / absence of a corner, etc. as information necessary for speed prediction. Further, it is possible to have a configuration in which each edge has rolling resistance coefficient and gradient information for each edge. These can be acquired not only from sensor detection but also from map information.

2. Next, the traveling speed for each section is predicted based on the edge information. At this time, the traveling speed is determined according to a predetermined rule. For example,
a. The acceleration / deceleration is 0.1 [G].
b. When there is a signal at the edge of the corner, the speed at that point is set to 0 [km / h].
c. When the edge end is a corner and there is no signal, the speed at that point is set to 10 [km / h].
d. If the edge is not a corner but a signal, the speed is set to 0 [km / h].
Etc.
Moreover, in speed prediction, not only the above-described rule is used, but also probe data obtained by actually traveling the vehicle can be used.

3. Next, the speed for each section is predicted based on the edge information. FIG. 5 is a chart showing speed changes in a certain section. In the figure, Vmax is a speed based on edge information (upper limit speed), Vstart which is the start point is the end speed in the previous section, a is the acceleration determined based on the rule, and -a is based on the rule. The determined deceleration, Vstop, is the terminal speed in this section determined based on the rule.

Each time in this one section can be obtained by the following formula.
Acceleration time ta = (Vmax−Vstart) / a
Deceleration time td = (Vmax−Vstop) / a
Constant speed travel time tc = [X − ((Vstart · ta) / 2) + ((Vstop · td) / 2) / Vmax} − [(ta / 2) + (td / 2)]
(However, X is the distance of this section)

FIG. 6 is a flowchart showing the detailed contents of speed prediction. A detailed processing example of step S202 in FIG. 2 will be described. First, it moves to the first node in the section (step S601). Then, it is determined whether this node is not the destination (step S602). If it is the destination (step S602: No), the process is terminated. If it is not the destination (step S602: Yes), the following process is performed. Do.

First, the distance to the next node is calculated based on the map information or the like (step S603). Then, the acceleration time ta, the deceleration time td, and the constant speed traveling time tc between the nodes are calculated from the distance / speed information between the nodes and the set acceleration / deceleration (step S604). Thereafter, the speed between nodes is calculated from the calculated acceleration time ta, deceleration time td, constant speed traveling time tc, speed information between the nodes, and the set acceleration / deceleration (step S605). Thereafter, the node moves to the next node (step S606), and returns to step S602.

FIG. 7 is a chart showing an example of speed prediction. The horizontal axis is distance, and the vertical axis is speed. The change of the speed for every time in the driving | running route 401 of FIG. 4 is shown. In this figure, the actual measurement result and the predicted speed (predicted speed) are described.

(About position and gradient calculation)
Next, position calculation and gradient calculation will be described. For position calculation, position changes are calculated in time series based on the speed prediction. The position calculation is performed based on the following formula.

FIG. 8 is a chart showing an example of position calculation calculated based on speed prediction. The horizontal axis is time, and the vertical axis is distance. An example calculated based on the predicted speed of FIG. 7 is shown. As shown in the figure, the distance is integrated every time.

Next, gradient calculation calculates time-series gradient change from position change. FIG. 9 is a chart showing a gradient calculation example calculated based on the position change. The horizontal axis is time, and the vertical axis is gradient (angle). This gradient θ [deg] can be obtained from the map information, and the gradient for each position is obtained. The map information is stored in, for example, the ROM 302 or the external storage unit illustrated in FIG. Or it can acquire from an external server etc. via communication I / F304.

(About running resistance / driving force calculation, torque calculation)
Next, traveling resistance and driving force calculation will be described. The running resistance is calculated based on the above speed and gradient. The driving force is calculated from this running resistance. Driving force = air resistance + rolling resistance + gradient resistance + acceleration resistance + internal resistance, and can be calculated based on the following formula.
Fd [N] = 1/2 · ρC _D Av ² + μrmg + mg sin θ + m (dv / dt) + Ri
(Fd: driving force, [rho: air density, C _D: C _D value, A: front projected area, .mu.r: rolling resistance coefficient, m: vehicle weight, g: gravitational acceleration, Ri: Internal resistance)
The internal resistance is a resistance component other than air resistance, rolling resistance, gradient resistance, and acceleration resistance, including mechanical loss of the drive system, and is assumed to be a known one here.

The torque is calculated from the above driving force. FIG. 10 is a diagram illustrating a configuration example of the driving force observer. Here, the torque T can be obtained by calculating back and forth the input / output of the driving force observer 1000 having the configuration shown in the figure. That is,
T = J · (dω / dt) + rFd
Can be obtained. The torque T is the total torque per vehicle.
(Where T: torque [Nm], J: tire inertia [Nms ² ], ω: tire rotation speed [rad / s], r: tire radius [m])

As numerical examples of the above parameters, for example, ρ = 1.29 [kg / m ³ ], C _D = 0.530, A = 1.28 [m ² ], μr = 0.0185, m = 395 [ kg].

(About efficiency calculation)
FIG. 11 is a chart showing a motor efficiency map. This efficiency map 1100 shows the relationship between the rotational speed on the horizontal axis and the torque on the vertical axis and the efficiency. The efficiency map 1100 has different characteristics for each motor mounted on the vehicle. For example, the efficiency map 1100 is stored in advance in the ROM 302 or the external storage unit illustrated in FIG. Or it can acquire from an external server etc. via communication I / F304. By using this efficiency map 1100, the efficiency η can be obtained from the intersection corresponding to the rotational speed and the torque.

The efficiency η can be expressed by an approximate expression as a function relating to torque and rotational speed as follows.
η = f (T, ω)

The torque T is the total torque for each vehicle, and when the vehicle includes one motor, one efficiency map 1100 is used. When the vehicle has a plurality of motors each having an in-wheel motor on each wheel, the torque is different for each wheel. For example, when an in-wheel motor is provided for each of the four wheels, the total torque is simply divided by four to drive each motor, but the torque distribution of each wheel differs depending on the curve, gradient, and the like. For this reason, a vehicle equipped with such a plurality of motors is provided with an efficiency map 1100 for the number of motors, resulting in an independent torque for each motor of each wheel, and correspondingly different efficiency.

(About energy consumption calculation)
The consumed energy is calculated based on the speed, torque, and efficiency after each calculation described above. The consumed energy E is calculated by the following formula.

FIG. 12 is a chart showing the energy consumption after calculation. The horizontal axis represents the distance, and the vertical axis represents the amount of electric power. The integrated value of the amount of energy consumed when the travel route 401 from the starting point to the destination shown in FIG. 4 is traced is shown. The calculated energy consumption amount can be output as an integrated amount as shown in FIG. 12 on a display unit or the like as a graph or numerical value, or output outside the apparatus.

According to the result shown in FIG. 12, it becomes possible to easily know the tendency and extent of the increase in the amount of energy consumption and the final amount of energy consumed before reaching the destination.

In the above embodiment, the vehicle is provided with all the functions of the energy consumption estimation device. However, the present invention is not limited to this. For example, the configuration shown in FIG. 1 and FIG. 3, that is, the configuration relating to the energy consumption estimation may be provided in an external server, and the vehicle may be configured to include a terminal having only a function of communicating with the server. In this case, the server executes processing related to the energy consumption estimation, and the terminal of the vehicle is configured so that the server can detect information that can identify the motor mounted on the vehicle, such as the communication function with the server and the type of the vehicle. do it. With such a configuration, the apparatus cost and processing burden on the vehicle side can be reduced.

As described above, by using information related to the planned route of the vehicle and an efficiency map having characteristics specific to the motor of the vehicle, the amount of energy consumed to reach the destination can be accurately measured before the vehicle travels. Be able to predict. As a result, an appropriate charging point on the planned route can be planned in advance.

Note that the method described in this embodiment can be realized by executing a program prepared in advance on a computer such as a personal computer or a workstation. This program is recorded on a computer-readable recording medium such as a hard disk, a flexible disk, a CD-ROM, an MO, and a DVD, and is executed by being read from the recording medium by the computer. The program may be a transmission medium that can be distributed via a network such as the Internet.

DESCRIPTION OF SYMBOLS 100 Consumption energy estimation apparatus 101 Planned driving | running | working route calculation part 102 Speed calculation part 103 Traveling resistance value calculation part 104 Driving force calculation part 105 Torque calculation part 106 Efficiency map acquisition part 107 Consumption energy calculation part 108 Gradient acquisition part 305 GPS unit 306 Various sensors 307 Bus 401 Traveling route 1000 Driving force observer 1100 Efficiency map

Claims (5)

An energy consumption prediction device for predicting energy consumption consumed when a vehicle travels on a planned travel route to a destination,
A planned travel route calculation means for calculating the planned travel route corresponding to the destination;
Speed calculating means for calculating speed information indicating speed on the planned travel route;
Running resistance value calculating means for calculating a running resistance value based on the speed information;
Driving force calculating means for calculating the driving force of the vehicle based on the running resistance value;
Torque calculating means for calculating torque information indicating the torque of the planned travel route based on the driving force;
Efficiency map acquisition means for acquiring an efficiency map of drive means for driving the vehicle;
Energy consumption calculating means for calculating the energy consumption based on the speed information, the torque information, and the efficiency map in the planned travel route;
A device for predicting energy consumption, comprising: Further comprising gradient acquisition means for acquiring gradient information indicating the gradient in the planned travel route;
The said running resistance value calculation means calculates the said running resistance value based on the said speed information and the said gradient information, The consumption energy prediction apparatus of Claim 1 characterized by the above-mentioned. The torque calculation means includes
When the torque is T, the driving force is Fd, the moment of inertia of a wheel mounted on the vehicle is J, the angular velocity of the wheel is ω, the radius of the wheel is r, and the elapsed time is t,
T = J · (dω / dt) + rFd
The energy consumption prediction apparatus according to claim 1, wherein a change in the torque is calculated by the following. A consumption energy prediction method of a consumption energy prediction device that predicts consumption energy consumed when a vehicle travels on a planned travel route to a destination,
A planned travel route calculating step for calculating the planned travel route corresponding to the destination;
A speed calculating step for calculating speed information indicating a speed in the planned travel route;
A running resistance value calculating step of calculating a running resistance value based on the speed information;
A driving force calculation step of calculating the driving force of the vehicle based on the running resistance value;
A torque calculating step of calculating torque information indicating the torque of the planned travel route based on the driving force;
An efficiency map acquisition step of acquiring an efficiency map of driving means for driving the vehicle;
An energy consumption calculating step of calculating the energy consumption based on the speed information, the torque information, and the efficiency map in the planned travel route;
A method for predicting energy consumption, comprising: An energy consumption prediction program applied to an energy consumption prediction device for predicting energy consumption consumed when a vehicle travels on a planned travel route to a destination,
Computer
A planned travel route calculation means for calculating the planned travel route corresponding to the destination;
Speed calculating means for calculating speed information indicating speed on the planned travel route;
Running resistance value calculating means for calculating a running resistance value based on the speed information;
Driving force calculating means for calculating the driving force of the vehicle based on the running resistance value;
Torque calculating means for calculating torque information indicating the torque of the planned travel route based on the driving force;
Efficiency map acquisition means for acquiring an efficiency map of drive means for driving the vehicle;
Energy consumption calculating means for calculating the energy consumption based on the speed information, the torque information, and the efficiency map in the planned travel route;
Energy consumption prediction program characterized by functioning as

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