CN117314061B - A joint dispatching method of mobile charging vehicle and electric bus based on mobile on-the-go charging technology - Google Patents

Abstract

The invention provides a mobile charging vehicle and electric bus joint scheduling method based on a mobile on-road charging technology. Based on the determined bus operation route, different bus routes are divided according to the bus shifts, the bus route combinations to be served are distributed to different electric bus operations, and a mobile charging vehicle dispatching strategy and an in-transit charging plan in continuous operation and charging strategies of two vehicles in stations are decided. The method realizes that the mobile charging vehicle moves and charges the electric bus in transit when the electric bus serves the bus route, determines in-transit charging time and station charging time according to the charging requirement of the electric bus, and has the effects of reducing the electric bus team scale and further reducing the operation cost of an electric bus system.

Description

A joint dispatching method of mobile charging vehicles and electric buses based on mobile on-the-go charging technology

Technical Field

The present invention relates to the technical field of urban public transportation, and in particular to a method for jointly dispatching a mobile charging vehicle and an electric bus based on a mobile on-the-go charging technology.

Background Art

With the increasing awareness of sustainable development and the popularization of environmental protection concepts, promoting green development of transportation has become a focus of attention for various cities. Electric buses have received widespread attention as an important measure. Compared with traditional fuel buses, electric buses have many advantages, including lower operating costs, zero emissions, high energy efficiency and rapid deployment. However, due to the limitation of battery capacity, the cruising range of electric buses has certain limitations and cannot meet the needs of continuous bus operation. They need to return to the station for charging and replenishment during operation intervals. The power limit leads to an increase in idle time and charging time at the station, which reduces the operating efficiency of electric buses and increases the pressure on the overall operating cost of the electric bus system.

In order to solve the limitation of charging methods at the station, mobile on-the-way charging technology has become a new solution. A mobile charging vehicle with mobile on-the-way charging technology is a mobile vehicle equipped with an energy storage system and a dynamic wireless charging system, which can provide dynamic wireless charging services for electric buses during their travel. The mobile charging vehicle can flexibly follow the operating route of the electric bus, and perform instant charging according to its charging needs, thereby increasing the bus's range and improving the operating efficiency of the electric bus. However, in the prior art, this complex design method for the joint scheduling of mobile charging vehicles and electric buses that takes into account mobile on-the-way charging has the following deficiencies:

(1) In the existing electric bus system, only the charging strategy of full charging at the station is considered. The charging method at the station is limited by the charging facilities at the station. Fast charging technology cannot be popularized on a large scale. The ordinary charging method takes too long, which further prolongs the charging time of electric buses at the station, greatly reducing the operating efficiency of electric buses. The charging method and charging strategy of the existing technology are single, and it is impossible to organically combine the opportunity charging strategy with the operation of bus lines.

(2) In the existing electric bus dispatching method, the bus line operation adopts the traditional operation mode of fixed bus fixed line, which cannot flexibly dispatch vehicles according to the bus schedule. When an electric bus on a line goes to the station to charge, additional vehicles need to be dispatched to this line to meet the bus schedule, which greatly increases the overall cost of the electric bus system.

Summary of the invention

According to the above-mentioned technical problems such as the reduction of operating time of idle buses caused by charging plans at stations in the existing electric bus route service, and the reduction of operating efficiency due to charging at bus stations, a method for joint scheduling of mobile charging vehicles and electric buses based on mobile on-the-go charging technology is provided. Under the premise of meeting the bus schedule of the route bus service and the battery capacity constraints of the electric bus, the method of the present invention aims to minimize the total system cost including the fixed vehicle use cost and the vehicle operating cost, and realizes the simultaneous optimization of the joint scheduling and charging plan of electric buses and mobile charging vehicles.

The technical means adopted by the present invention are as follows:

A joint dispatching method of a mobile charging vehicle and an electric bus based on mobile on-the-go charging technology, comprising:

S1, collecting initial information of each electric bus route, and pre-processing the collected initial information to obtain the electric bus itinerary;

S2. Construct a total objective function that minimizes both the fixed cost of vehicle use and the charging cost. Combined with the operation experience of electric buses and the charging and discharging characteristics of mobile charging vehicles, the constructed total objective function is initialized to obtain the battery parameters, power consumption coefficient and charging rate of the initialized electric buses and mobile charging vehicles.

S3. Based on the electric bus itinerary obtained in step S1, and under the condition that the bus itinerary schedule is met, a decision is made on the on-the-way charging strategy of the mobile charging vehicle when the electric bus arrives at each station, so as to determine whether it is necessary to charge between two stations, the charging time between the two stations, and the waiting time after charging, so as to meet the electric bus power threshold constraint, so as to obtain the initial driving route of each electric bus and the mobile charging vehicle;

S4. According to the initial driving route obtained in step S3, the waiting time of the electric bus between the service bus trips is determined, and the charging strategy of the electric bus and the mobile charging vehicle after arriving at the station is determined to determine whether charging is required, the charging time and the waiting time after charging. According to the charging strategy, an initial timetable corresponding to the initial driving route of each electric bus and the initial driving route of each mobile charging vehicle and the initial timetable corresponding to the route are generated;

S5. According to the initial driving routes and initial schedules of the electric bus and mobile charging vehicle obtained in step S4, the current initial driving routes and schedules are optimized by collaboratively optimizing the vehicle driving plan, the station charging plan, and the on-the-way charging plan until the optimal driving routes and schedules of the electric bus and mobile charging vehicle are obtained.

Furthermore, the step S1 specifically includes:

S11. Collecting the initial information of each electric bus route, including the initial position of the electric bus and the mobile charging vehicle at the bus station, the location information of each station on the electric bus operation route, the time required to travel between different stations, and the arrival schedule of the electric bus at each bus station;

S12. Based on the bus routes that need to be served, according to the bus schedule and the bus schedule, a bus schedule is regarded as an independent bus trip, and the bus stops that need to be served in each independent bus trip are set as virtual stops. The same bus stops in different trips are expressed as different virtual stops in the same geographical location;

S13. According to the divided itinerary, the arrival time at the bus stop in the bus schedule is matched with the virtual stops in the itinerary one by one to form a bus schedule and obtain the electric bus itinerary.

Furthermore, in step S2, the overall objective function constructed is specifically:

Wherein, J is the total objective function, λ _k is the fixed cost of electric bus use, λ _c is the fixed cost of mobile charging vehicle use, λ _s is the unit charging cost of electric bus system, V＝O∪I∪S is the set of electric bus nodes, O is the set of electric bus stations, I is the set of electric bus line stations, S is the set of charging stations, K is the set of electric bus vehicles, c is the set of mobile charging vehicles, ^Ak is a variable with a value of 0 or 1, indicating whether electric bus k is used; ^Ac is a variable with a value of 0 or 1, indicating whether mobile charging vehicle c is used; is a non-negative continuous variable, which represents the amount of electricity consumed by electric bus k when traveling between points i and j; is a non-negative continuous variable, which represents the power consumed by the mobile charging vehicle c when traveling between points i and j; γ is a parameter, which represents the charging loss coefficient of the mobile charging vehicle in the process of charging the electric bus; is a non-negative continuous variable, indicating the amount of electricity consumed by the mobile charging vehicle c when charging the electric bus k between points i and j.

Furthermore, the step S3 specifically includes:

S31, according to the electric bus itineraries obtained in step S1, under the condition of satisfying the corresponding bus itinerary schedule, ignoring the power threshold constraint condition, allocating different itinerary combinations that need to be served to different electric bus operations, and generating an initial driving route for each electric bus;

S32, based on the generated initial driving route of each electric bus, decide on the on-the-way charging strategy of the mobile charging vehicle when the electric bus arrives at each station, determine whether it is necessary to perform on-the-way charging between two stations and the charging time between the two stations, so as to meet the power threshold condition of the electric bus;

S33. According to the decided on-the-go charging strategy of the mobile charging vehicle and the initial driving route of each electric bus, the vehicle route combination of the mobile charging vehicle in the on-the-go charging strategy is allocated to different mobile charging vehicles under the condition of ensuring the power threshold limit, so as to generate the initial driving route of each mobile charging vehicle.

Furthermore, the step S31 specifically includes:

S311. Set constraints to ensure that each bus trip can only be served by one electric bus, as follows:

Among them, H is the bus itinerary set, is a variable with a value of 0 or 1, indicating whether the electric bus k has been assigned to serve the bus trip h;

S312. Set the constraints to ensure that all electric buses must depart from the station and return to the station as follows:

Among them, M is the first stop set of the bus trip, and L is the last stop set of the bus trip. is a variable with a value of 0 or 1, indicating whether electric bus k passes from station o to station j; is a variable with a value of 0 or 1, indicating whether electric bus k passes through station j to station o;

S313. Set constraints to ensure that the electric bus can serve its assigned bus trips, as follows:

Among them, H is the bus trip set, I _h is the bus trip h stop set, and b _ij is an input variable with a value of 0 or 1, indicating that the assigned electric bus k must go from stop i to stop j;

S314. Set constraints to ensure the in-and-out balance of electric buses as follows:

S315. Set constraints to ensure that the route is generated only when the electric bus is in use, as follows:

S316. Set constraints to ensure that no path is generated between the station and the charging station, as follows:

S317. Set the constraints to ensure that the electric bus route is unique, as follows:

S318. Set the constraint conditions for eliminating the electric bus sub-route as follows:

in, is the auxiliary variable in the subpath elimination constraint, n is the coefficient of the subpath elimination constraint;

S319, set the constraint conditions to ensure that the electric bus arrives at the station in accordance with the bus itinerary arrival schedule, as follows:

in, is the time when electric bus k arrives at station i, _Ti is the time when the electric bus should arrive at station i, and M is a sufficiently large real number used to assist in the calculation.

Furthermore, the step S32 specifically includes:

S321. Set the constraint conditions to ensure the initialization of the electric bus power as follows:

in, is the amount of electricity required for electric bus k to arrive at station i, The upper limit of the electric bus power threshold;

S322. Calculate the power consumption of the electric bus between two stations. The calculation formula is as follows:

Among them, α is the power consumption coefficient related to the travel time of the electric bus, τ _ij is the travel time of the electric bus between stations i and j;

S323. Calculate the continuity of power consumption of the electric bus from the station to the first stop of any bus trip. The calculation formula is as follows:

S324. Calculate the continuity of power consumption of the electric bus from the bus stop to any stop. The calculation formula is as follows:

S325. Set constraints to ensure that the electric bus meets the power threshold limit, as follows:

Among them, ^θs is the charging power of charging station s, is the charging time of electric bus k at charging station s, The lower limit of the electric bus power threshold;

S326. Calculate the power consumption of the mobile charging vehicle between the two stations. The calculation formula is as follows:

Among them, β is the power consumption coefficient related to the driving time of the electric bus, Whether the mobile charging vehicle c passes from station i to station j;

S327. Set constraints to ensure that mobile on-the-go charging is performed only when both the electric bus and the mobile charging vehicle pass through two stations, as follows:

in, is a variable with a value of 0 or 1, indicating whether the mobile charging vehicle c is charging the electric bus k on the move between stations i and j;

S328. Calculate the charging power consumption of the mobile charging vehicle between the two stations. The calculation formula is as follows:

Among them, ^θe is the time-dependent on-the-way charging power of the mobile charging vehicle, f is the time parameter, which represents the service time of the electric bus at the bus stop, is a non-negative continuous variable, which indicates the charging time of the mobile charging vehicle c for the electric bus k between stations i and j;

S329. Calculate the continuity of power consumption of the mobile charging vehicle from the bus station to any station. The calculation formula is as follows:

in, is the amount of electricity required by mobile charging vehicle c to reach station i, is the amount of electricity required by mobile charging vehicle c to reach station j, The upper limit of the power threshold of the mobile charging vehicle;

S330, setting constraints to ensure that the mobile charging vehicle and the electric bus can only be charged one-to-one between the two stations, as follows:

Furthermore, the step S33 specifically includes:

S331. Set the constraint that all mobile charging vehicles must start from the station and return to the station as follows:

S332. Set constraints to ensure the balance of inflow and outflow of mobile charging vehicles as follows:

S333. Set constraints to ensure that the path is generated only when the mobile charging vehicle is in use, as follows:

S334. Set constraints to ensure that no path is generated between the station and the charging station, as follows:

S335. Set constraints to ensure that the mobile charging vehicle path is unique, as follows:

S336. Set the constraint conditions for eliminating the path of the mobile charging vehicle as follows:

in, are auxiliary variables in the subpath elimination constraints;

S337. Set constraints to ensure the initialization of the power of the mobile charging station, as follows:

S338. Calculate the continuity of power consumption of the mobile charging vehicle from the station to any bus stop. The calculation formula is as follows:

S339. Set constraints to ensure that the mobile charging vehicle meets the power threshold limit, as follows:

in, is the charging time of mobile charging vehicle c at charging station s, It is the lower limit of the power threshold of the mobile charging vehicle.

Furthermore, the step S4 specifically includes:

S41. Based on the initial travel route of the electric bus, without considering the waiting time for departure, the charging time at the station, and the waiting time after charging, and only considering the travel time and waiting time at the bus stop, generate an initial timetable for the electric bus based on the travel time and the waiting time at the bus stop;

S42, according to the initial timetable of the electric bus generated in step S41, decide the charging strategy after the electric bus arrives at the station to determine whether charging is needed, the charging time and the waiting time after charging, so as to minimize the total objective function value;

S43, adding the departure waiting time of the electric bus, the charging time at the station and the waiting time at the station after charging to the initial timetable of the driving time, and finally generating an initial timetable corresponding to the initial driving route;

S44, based on the initial driving route of the mobile charging vehicle, without considering the departure time, charging time at the station and waiting time at the station, and only considering the driving time and waiting time at the bus stop, generate an initial timetable for the mobile charging vehicle based on the driving time and the station waiting time;

S45. According to the initial schedule of the mobile charging vehicle generated in step S44, a charging strategy is determined after the mobile charging vehicle arrives at the station to determine whether charging is required, the charging time, and the waiting time after charging, so as to minimize the total objective function value;

S46. Add the departure waiting time of the mobile charging vehicle, the charging time at the station, and the waiting time at the station after charging to the initial timetable of driving time and station waiting time, and generate an initial timetable corresponding to the initial driving route.

Furthermore, the constraints set in steps S41 to S43 and the constraints set in steps S44 to S46 specifically include:

The constraints to ensure the time continuity of electric bus service bus trips are set as follows:

The constraints to ensure the time continuity between two bus trips served by the electric bus are set as follows:

in, is a non-negative continuous variable, representing the parking waiting time of electric bus k at station i;

The constraints to ensure the time continuity of the electric bus service after the bus trip are set as follows:

The constraints to ensure the continuity of power consumption of electric buses from the charging station to any station are set as follows:

in, is the amount of electricity required by electric bus k to reach charging station s;

The constraints to ensure the continuity of charging time for electric buses at charging stations are set as follows:

in, is the time it takes for electric bus k to arrive at charging station s, is a non-negative continuous variable, which represents the waiting time of electric bus k after charging at charging station s;

Calculate the initialization time of the electric bus at the station, the calculation formula is as follows:

The constraints to ensure the time continuity of the electric bus leaving the station are set as follows:

in, is a non-negative continuous variable, representing the waiting time of electric bus k at station o;

The constraints to ensure the time continuity of the mobile charging vehicle from the bus station to any station are set as follows:

in, is the time when mobile charging vehicle c arrives at station i, is a non-negative continuous variable, representing the waiting time of mobile charging vehicle c at station i;

The constraints to ensure that the mobile charging vehicle is synchronized with the electric bus during the on-the-go charging period are set as follows:

The constraints to ensure the continuity of power consumption of the mobile charging vehicle from the charging station to any bus stop are set as follows:

in, is a non-negative continuous variable, representing the charging time of the mobile charging vehicle c at the charging station s;

The constraints to ensure the continuity of charging time of the mobile charging vehicle at the charging station are set as follows:

in, is the time when the mobile charging vehicle c arrives at the charging station s, is a non-negative continuous variable, which represents the waiting time of the mobile charging vehicle c after charging at the charging station s;

Set the constraints for initializing the mobile charging vehicle time at the station as follows:

The constraints for the time continuity of the mobile charging vehicle leaving the station are set as follows:

in, is a non-negative continuous variable, which represents the waiting time of mobile charging vehicle c at station o.

Furthermore, the step S5 specifically includes:

S51, obtaining the initial travel route and initial timetable of the electric bus and the mobile charging vehicle;

S52, optimizing the current initial driving route and schedule, searching for a service trip combination plan, and then updating the currently obtained initial driving route and initial schedule;

S53, based on the service trip combination plan, determining whether the updated driving route conflicts with the bus trip schedule;

S54. According to the service trip combination plan, the vehicle driving plan and the station charging strategy are collaboratively optimized until the optimal driving route and schedule of the electric response bus are obtained.

Compared with the prior art, the present invention has the following advantages:

1. The joint dispatching method of mobile charging vehicles and electric buses based on mobile on-the-go charging technology provided by the present invention adds mobile charging vehicles with on-the-go charging function to the daily operation of electric buses, combines the two opportunity charging plans of electric bus station opportunity charging and mobile charging vehicle on-the-go opportunity charging, and considers the mutual influence of the driving route and the charging plan on the basis of completing the coordinated optimization of the driving route of the mobile charging vehicle and the electric bus, thus forming a new optimization mechanism for the joint route design of mobile charging vehicles and electric buses and the feedback fusion of dual opportunity charging plans.

2. The mobile charging vehicle and electric bus joint dispatching method based on mobile on-the-go charging technology provided by the present invention divides the electric buses operating on fixed routes into different electric bus trips according to the shifts, so that the electric buses can be flexibly dispatched without being restricted to fixed bus routes. Under the flexible dispatching mode, the number of electric bus departures can be reduced and the operating efficiency of the electric buses can be improved.

Based on the above reasons, the present invention can be widely promoted in the fields of urban public transportation.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

FIG1 is a flow chart of the method of the present invention.

DETAILED DESCRIPTION

In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

As shown in FIG1 , the present invention provides a method for jointly dispatching a mobile charging vehicle and an electric bus based on a mobile on-the-go charging technology, comprising:

S1, collecting initial information of each electric bus route, and pre-processing the collected initial information to obtain the electric bus itinerary;

S2. Construct a total objective function that minimizes both the fixed cost of vehicle use and the charging cost. Combined with the operation experience of electric buses and the charging and discharging characteristics of mobile charging vehicles, the constructed total objective function is initialized to obtain the battery parameters, power consumption coefficient and charging rate of the initialized electric buses and mobile charging vehicles.

S3. Based on the electric bus itinerary obtained in step S1, and under the condition that the bus itinerary schedule is met, the on-the-way charging strategy of the mobile charging vehicle of the electric bus arriving at each station is decided to determine whether it is necessary to charge between two stations, the charging time between the two stations, and the waiting time after charging, so as to meet the electric bus power threshold constraint, thereby obtaining the initial driving route of each electric bus and the mobile charging vehicle;

S4. According to the initial driving route obtained in step S3, the waiting time of the electric bus between the service bus trips is determined, and the charging strategy of the electric bus and the mobile charging vehicle after arriving at the station is determined to determine whether charging is required, the charging time and the waiting time after charging. According to the charging strategy, an initial timetable corresponding to the initial driving route of each electric bus and the initial driving route of each mobile charging vehicle and the initial timetable corresponding to the route are generated;

S5. According to the initial driving routes and initial schedules of the electric bus and mobile charging vehicle obtained in step S4, the current initial driving routes and schedules are optimized by collaboratively optimizing the vehicle driving plan, the station charging plan, and the on-the-way charging plan until the optimal driving routes and schedules of the electric bus and mobile charging vehicle are obtained.

In specific implementation, as a preferred embodiment of the present invention, the step S1 specifically includes:

S11. Collecting initial information of each electric bus line, including the initial position of the electric bus and the mobile charging vehicle at the bus station, the position information of each station of the electric bus operation line, the time required for traveling between different stations, and the arrival schedule of the electric bus at each bus station; in this embodiment, the initial information specifically includes: electric bus operation parameters, such as battery parameters of each electric bus, such as battery capacity, upper limit of battery capacity, lower limit of battery capacity; charging rate, that is, charging power at the station; power consumption coefficient, that is, power consumption coefficient related to driving time; mobile charging vehicle operation parameters, such as battery parameters of each mobile charging vehicle, such as battery capacity, upper limit of battery capacity, lower limit of battery capacity; charging rate, that is, charging power at the station; power consumption coefficient, that is, power consumption coefficient related to driving time, power consumption coefficient related to charging time of the electric bus.

S12. Based on the bus routes that need to be served, according to the bus schedule and the bus schedule, a bus schedule is regarded as an independent bus trip, and the bus stops that need to be served in each independent bus trip are set as virtual stops. The same bus stops in different trips are expressed as different virtual stops in the same geographical location;

S13. According to the divided itinerary, the arrival time at the bus stop in the bus schedule is matched with the virtual stops in the itinerary one by one to form a bus schedule and obtain the electric bus itinerary.

In specific implementation, as a preferred embodiment of the present invention, in step S2, the overall objective function constructed is specifically:

Wherein, J is the total objective function, λ _k is the fixed cost of electric bus use, λ _c is the fixed cost of mobile charging vehicle use, λ _s is the unit charging cost of electric bus system, V = O ∪ I ∪ S is the set of electric bus nodes, O is the set of electric bus stations, 1 is the set of electric bus line stations, S is the set of charging stations, K is the set of electric bus vehicles, c is the set of mobile charging vehicles, Ak is a variable with a value of 0 or 1, indicating whether electric bus k is used; ^Ac is a variable with a value of 0 or 1, indicating whether mobile charging vehicle c is used; is a non-negative continuous variable, which represents the amount of electricity consumed by electric bus k when traveling between points i and j; is a non-negative continuous variable, which represents the power consumed by the mobile charging vehicle c when traveling between points i and j; γ is a parameter, which represents the charging loss coefficient of the mobile charging vehicle in the process of charging the electric bus; is a non-negative continuous variable, which represents the amount of electricity consumed by the mobile charging vehicle c when charging the electric bus k between points i and j. In this embodiment, the total objective function includes four items: the first item is the fixed cost of the electric bus; the second item is the fixed cost of the mobile charging vehicle; the third item is the operating cost of the electric bus; and the fourth item is the operating cost of the mobile charging vehicle.

In specific implementation, as a preferred embodiment of the present invention, step S3 specifically includes:

S31, according to the electric bus itineraries obtained in step S1, under the condition of satisfying the corresponding bus itinerary schedule, ignoring the power threshold constraint condition, allocating different itinerary combinations that need to be served to different electric bus operations, and generating an initial driving route for each electric bus;

In specific implementation, as a preferred embodiment of the present invention, step S31 specifically includes:

S311. Set constraints to ensure that each bus trip can only be served by one electric bus, as follows:

Among them, H is the bus itinerary set, is a variable with a value of 0 or 1, indicating whether the electric bus k has been assigned to serve the bus trip h;

S312. Set the constraints to ensure that all electric buses must depart from the station and return to the station as follows:

Among them, M is the first stop set of the bus trip, and L is the last stop set of the bus trip. is a variable with a value of 0 or 1, indicating whether electric bus k passes from station o to station j; is a variable with a value of 0 or 1, indicating whether electric bus k passes through station j to station o;

S313. Set constraints to ensure that the electric bus can serve its assigned bus trips, as follows:

Among them, H is the bus trip set, I _h is the bus trip h stop set, and b _ij is an input variable with a value of 0 or 1, indicating that the assigned electric bus k must go from stop i to stop j;

S314. Set constraints to ensure the in-and-out balance of electric buses as follows:

S315. Set constraints to ensure that the route is generated only when the electric bus is in use, as follows:

S316. Set constraints to ensure that no path is generated between the station and the charging station, as follows:

S317. Set the constraints to ensure that the electric bus route is unique, as follows:

S318. Set the constraint conditions for eliminating the electric bus sub-route as follows:

in, is the auxiliary variable in the subpath elimination constraint, n is the coefficient of the subpath elimination constraint;

S319, set the constraint conditions to ensure that the electric bus arrives at the station in accordance with the bus itinerary arrival schedule, as follows:

in, is the time when electric bus k arrives at station i, _Ti is the time when the electric bus should arrive at station i, and M is a sufficiently large real number used to assist in the calculation.

S32, based on the generated initial driving route of each electric bus, decide on the on-the-way charging strategy of the mobile charging vehicle when the electric bus arrives at each station, determine whether it is necessary to perform on-the-way charging between two stations and the charging time between the two stations, so as to meet the power threshold condition of the electric bus;

In specific implementation, as a preferred embodiment of the present invention, step S32 specifically includes:

S321. Set the constraint conditions to ensure the initialization of the electric bus power as follows:

in, is the amount of electricity required for electric bus k to arrive at station i, The upper limit of the electric bus power threshold;

S322. Calculate the power consumption of the electric bus between two stations. The calculation formula is as follows:

Among them, α is the power consumption coefficient related to the travel time of the electric bus, τ _ij is the travel time of the electric bus between stations i and j;

S323. Calculate the continuity of power consumption of the electric bus from the station to the first stop of any bus trip. The calculation formula is as follows:

S324. Calculate the continuity of power consumption of the electric bus from the bus stop to any stop. The calculation formula is as follows:

S325. Set constraints to ensure that the electric bus meets the power threshold limit, as follows:

Among them, ^θs is the charging power of charging station s, is the charging time of electric bus k at charging station s, The lower limit of the electric bus power threshold;

S326. Calculate the power consumption of the mobile charging vehicle between the two stations. The calculation formula is as follows:

Among them, β is the power consumption coefficient related to the driving time of the electric bus, Whether the mobile charging vehicle c passes from station i to station j;

S327. Set constraints to ensure that mobile on-the-go charging is performed only when both the electric bus and the mobile charging vehicle pass through two stations, as follows:

in, is a variable with a value of 0 or 1, indicating whether the mobile charging vehicle c is charging the electric bus k on the move between stations i and j;

S328. Calculate the charging power consumption of the mobile charging vehicle between the two stations. The calculation formula is as follows:

Among them, ^θc is the time-dependent on-the-way charging power of the mobile charging vehicle, f is the time parameter, which represents the service time of the electric bus at the bus stop, is a non-negative continuous variable, which indicates the charging time of the mobile charging vehicle c for the electric bus k between stations i and j;

S329. Calculate the continuity of power consumption of the mobile charging vehicle from the bus station to any station. The calculation formula is as follows:

in, is the amount of electricity required by mobile charging vehicle c to reach station i, is the amount of electricity required by mobile charging vehicle c to reach station j, The upper limit of the power threshold of the mobile charging vehicle;

S330, setting constraints to ensure that the mobile charging vehicle and the electric bus can only be charged one-to-one between the two stations, as follows:

S33. According to the decided on-the-go charging strategy of the mobile charging vehicle and the initial driving route of each electric bus, the vehicle route combination of the mobile charging vehicle in the on-the-go charging strategy is allocated to different mobile charging vehicles under the condition of ensuring the power threshold limit, so as to generate the initial driving route of each mobile charging vehicle.

In specific implementation, as a preferred embodiment of the present invention, step S33 specifically includes:

S331. Set the constraint that all mobile charging vehicles must start from the station and return to the station as follows:

S332. Set constraints to ensure the balance of inflow and outflow of mobile charging vehicles as follows:

S333. Set constraints to ensure that the path is generated only when the mobile charging vehicle is in use, as follows:

S334. Set constraints to ensure that no path is generated between the station and the charging station, as follows:

S335. Set constraints to ensure that the mobile charging vehicle path is unique, as follows:

S336. Set the constraint conditions for eliminating the path of the mobile charging vehicle as follows:

in, are auxiliary variables in the subpath elimination constraints;

S337. Set constraints to ensure the initialization of the power of the mobile charging station, as follows:

S338. Calculate the continuity of power consumption of the mobile charging vehicle from the station to any bus stop. The calculation formula is as follows:

S339. Set constraints to ensure that the mobile charging vehicle meets the power threshold limit, as follows:

in, is the charging time of mobile charging vehicle c at charging station s, It is the lower limit of the power threshold of the mobile charging vehicle.

In specific implementation, as a preferred embodiment of the present invention, step S4 specifically includes:

S41. Based on the initial travel route of the electric bus, without considering the waiting time for departure, the charging time at the station, and the waiting time after charging, and only considering the travel time and waiting time at the bus stop, generate an initial timetable for the electric bus based on the travel time and the waiting time at the bus stop;

S42, according to the initial timetable of the electric bus generated in step S41, decide the charging strategy after the electric bus arrives at the station to determine whether charging is needed, the charging time and the waiting time after charging, so as to minimize the total objective function value;

S43, adding the departure waiting time of the electric bus, the charging time at the station and the waiting time at the station after charging to the initial timetable of the driving time, and finally generating an initial timetable corresponding to the initial driving route;

S44, based on the initial driving route of the mobile charging vehicle, without considering the departure time, charging time at the station and waiting time at the station, and only considering the driving time and waiting time at the bus stop, generate an initial timetable for the mobile charging vehicle based on the driving time and the station waiting time;

S45. According to the initial schedule of the mobile charging vehicle generated in step S44, a charging strategy is determined after the mobile charging vehicle arrives at the station to determine whether charging is required, the charging time, and the waiting time after charging, so as to minimize the total objective function value;

S46. Add the departure waiting time of the mobile charging vehicle, the charging time at the station, and the waiting time at the station after charging to the initial timetable of driving time and station waiting time, and generate an initial timetable corresponding to the initial driving route.

In specific implementation, as a preferred embodiment of the present invention, the constraints set in steps S41 to S43 and the constraints set in steps S44 to S46 specifically include:

The constraints to ensure the time continuity of electric bus service bus trips are set as follows:

The constraints to ensure the time continuity between two bus trips served by the electric bus are set as follows:

in, is a non-negative continuous variable, representing the parking waiting time of electric bus k at station i;

The constraints to ensure the time continuity of the electric bus service after the bus trip are set as follows:

The constraints to ensure the continuity of power consumption of electric buses from the charging station to any station are set as follows:

in, is the amount of electricity required by electric bus k to reach charging station s;

The constraints to ensure the continuity of charging time for electric buses at charging stations are set as follows:

in, is the time it takes for electric bus k to arrive at charging station S, is a non-negative continuous variable, which represents the waiting time of electric bus k after charging at charging station s;

Calculate the initialization time of the electric bus at the station, the calculation formula is as follows:

The constraints to ensure the time continuity of the electric bus leaving the station are set as follows:

in, is a non-negative continuous variable, representing the waiting time of electric bus k at station o;

The constraints to ensure the time continuity of the mobile charging vehicle from the bus station to any station are set as follows:

in, is the time when mobile charging vehicle c arrives at station i, is a non-negative continuous variable, representing the waiting time of mobile charging vehicle c at station i;

The constraints to ensure that the mobile charging vehicle is synchronized with the electric bus during the on-the-go charging period are set as follows:

The constraints to ensure the continuity of power consumption of the mobile charging vehicle from the charging station to any bus stop are set as follows:

in, is a non-negative continuous variable, representing the charging time of the mobile charging vehicle c at the charging station s;

The constraints to ensure the continuity of charging time of the mobile charging vehicle at the charging station are set as follows:

in, is the time when the mobile charging vehicle c arrives at the charging station s, is a non-negative continuous variable, which represents the waiting time of the mobile charging vehicle c after charging at the charging station s;

Set the constraints for initializing the mobile charging vehicle time at the station as follows:

The constraints for the time continuity of the mobile charging vehicle leaving the station are set as follows:

in, is a non-negative continuous variable, which represents the waiting time of mobile charging vehicle c at station o.

In specific implementation, as a preferred embodiment of the present invention, step S5 specifically includes:

S51, obtaining the initial travel route and initial timetable of the electric bus and the mobile charging vehicle;

S52, optimizing the current initial driving route and schedule, searching for a service trip combination plan, and then updating the currently obtained initial driving route and initial schedule;

S53, based on the service trip combination plan, determining whether the updated driving route conflicts with the bus trip schedule;

S54. According to the service trip combination plan, the vehicle driving plan and the station charging strategy are collaboratively optimized until the optimal driving route and schedule of the electric response bus are obtained.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. However, these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims (5)

1. A joint dispatching method of a mobile charging vehicle and an electric bus based on mobile on-the-go charging technology, characterized by comprising: S1, collecting initial information of each electric bus route, and pre-processing the collected initial information to obtain the electric bus itinerary; S2. Construct a total objective function that minimizes both the fixed cost of vehicle use and the charging cost. Combined with the operation experience of electric buses and the charging and discharging characteristics of mobile charging vehicles, the constructed total objective function is initialized to obtain the battery parameters, power consumption coefficient and charging rate of the initialized electric buses and mobile charging vehicles. In step S2, the constructed total objective function is specifically: Wherein, J is the total objective function, λ _k is the fixed cost of electric bus use, λ _c is the fixed cost of mobile charging vehicle use, λ _s is the unit charging cost of electric bus system, V＝O∪I∪S is the set of electric bus nodes, O is the set of electric bus stations, I is the set of electric bus line stations, S is the set of charging stations, K is the set of electric bus vehicles, C is the set of mobile charging vehicles, ^Ak is a variable with a value of 0 or 1, indicating whether electric bus k is used; ^Ac is a variable with a value of 0 or 1, indicating whether mobile charging vehicle c is used; is a non-negative continuous variable, which represents the amount of electricity consumed by electric bus k when traveling between points i and j; is a non-negative continuous variable, which represents the power consumed by the mobile charging vehicle c when traveling between points i and j; γ is a parameter, which represents the charging loss coefficient of the mobile charging vehicle in the process of charging the electric bus; is a non-negative continuous variable, which represents the amount of electricity consumed by the mobile charging vehicle c when charging the electric bus k between points i and j; S3. Based on the electric bus itinerary obtained in step S1, and under the condition that the bus itinerary schedule is met, a decision is made on the on-the-way charging strategy of the mobile charging vehicle when the electric bus arrives at each station, so as to determine whether it is necessary to charge between two stations, the charging time between the two stations, and the waiting time after charging, so as to meet the electric bus power threshold constraint, so as to obtain the initial driving route of each electric bus and the mobile charging vehicle; the step S3 specifically includes: S31. Based on the electric bus itineraries obtained in step S1, under the condition of satisfying the corresponding bus itinerary schedule, ignoring the power threshold constraint, allocating different itinerary combinations that need to be served to different electric bus operations, and generating the initial driving route of each electric bus; the step S31 specifically includes: S311. Set constraints to ensure that each bus trip can only be served by one electric bus, as follows: Among them, H is the bus itinerary set, is a variable with a value of 0 or 1, indicating whether the electric bus k has been assigned to serve the bus trip h; S312. Set the constraints to ensure that all electric buses must depart from the station and return to the station as follows: Among them, M is the first stop set of the bus trip, and L is the last stop set of the bus trip. is a variable with a value of 0 or 1, indicating whether electric bus k passes from station O to station J; is a variable with a value of 0 or 1, indicating whether the electric bus K passes from station j to station o; S313. Set constraints to ensure that the electric bus can serve its assigned bus trips, as follows: Among them, H is the bus trip set, I _h is the bus trip h stop set, and b _ij is an input variable with a value of 0 or 1, indicating that the assigned electric bus k must go from stop i to stop j; S314. Set constraints to ensure the in-and-out balance of electric buses as follows: S315. Set constraints to ensure that the route is generated only when the electric bus is in use, as follows: S316. Set constraints to ensure that no path is generated between the station and the charging station, as follows: S317. Set the constraints to ensure that the electric bus route is unique, as follows: S318. Set the constraint conditions for eliminating the electric bus sub-route as follows: in, is the auxiliary variable in the subpath elimination constraint, n is the coefficient of the subpath elimination constraint; S319, set the constraint conditions to ensure that the electric bus arrives at the station in accordance with the bus itinerary arrival schedule, as follows: in, is the time when electric bus k arrives at station i, _Ti is the time when electric bus should arrive at station i, and M is a sufficiently large real number used to assist calculation; S32, according to the generated initial driving route of each electric bus, decide the on-the-way charging strategy of the mobile charging vehicle when the electric bus arrives at each station, determine whether it is necessary to perform mobile on-the-way charging between two stations and the charging time between the two stations to meet the power threshold condition of the electric bus; the step S32 specifically includes: S321. Set the constraint conditions to ensure the initialization of the electric bus power as follows: in, is the amount of electricity required for electric bus k to arrive at station i, The upper limit of the electric bus power threshold; S322. Calculate the power consumption of the electric bus between two stations. The calculation formula is as follows: Among them, α is the power consumption coefficient related to the travel time of the electric bus, τ _ij is the travel time of the electric bus between stations i and j; S323. Calculate the continuity of power consumption of the electric bus from the station to the first stop of any bus trip. The calculation formula is as follows: S324. Calculate the continuity of power consumption of the electric bus from the bus stop to any stop. The calculation formula is as follows: S325. Set constraints to ensure that the electric bus meets the power threshold limit, as follows: Among them, ^θs is the charging power of charging station s, is the charging time of electric bus k at charging station s, The lower limit of the electric bus power threshold; S326. Calculate the power consumption of the mobile charging vehicle between the two stations. The calculation formula is as follows: Among them, β is the power consumption coefficient related to the driving time of the electric bus, Whether the mobile charging vehicle c passes from station i to station j; S327. Set constraints to ensure that mobile on-the-go charging is performed only when both the electric bus and the mobile charging vehicle pass through two stations, as follows: in, is a variable with a value of 0 or 1, indicating whether the mobile charging vehicle c is charging the electric bus k on the move between stations i and j; S328. Calculate the charging power consumption of the mobile charging vehicle between the two stations. The calculation formula is as follows: Among them, ^θc is the time-dependent on-the-way charging power of the mobile charging vehicle, f is the time parameter, which represents the service time of the electric bus at the bus stop, is a non-negative continuous variable, which indicates the charging time of the mobile charging vehicle c for the electric bus k between stations i and j; S329. Calculate the continuity of power consumption of the mobile charging vehicle from the bus station to any station. The calculation formula is as follows: in, is the amount of electricity required by mobile charging vehicle c to reach station i, is the amount of electricity required by mobile charging vehicle c to reach station j, The upper limit of the power threshold of the mobile charging vehicle; S330, setting constraints to ensure that the mobile charging vehicle and the electric bus can only be charged one-to-one between the two stations, as follows: S33, according to the decided on-the-way charging strategy of the mobile charging vehicle and the initial driving route of each electric bus, the vehicle route combination of the mobile charging vehicle in the on-the-way charging strategy is allocated to different mobile charging vehicles under the condition of ensuring the power threshold limit, and the initial driving route of each mobile charging vehicle is generated; the step S33 specifically includes: S331. Set the constraint that all mobile charging vehicles must start from the station and return to the station as follows: S332. Set constraints to ensure the balance of inflow and outflow of mobile charging vehicles as follows: S333. Set constraints to ensure that the path is generated only when the mobile charging vehicle is in use, as follows: S334. Set constraints to ensure that no path is generated between the station and the charging station, as follows: S335. Set constraints to ensure that the mobile charging vehicle path is unique, as follows: S336. Set the constraint conditions for eliminating the path of the mobile charging vehicle as follows: in, are auxiliary variables in the subpath elimination constraints; S337. Set constraints to ensure the initialization of the power of the mobile charging station, as follows: S338. Calculate the continuity of power consumption of the mobile charging vehicle from the station to any bus stop. The calculation formula is as follows: S339. Set constraints to ensure that the mobile charging vehicle meets the power threshold limit, as follows: in, is the charging time of mobile charging vehicle c at charging station s, The lower limit of the power threshold of the mobile charging vehicle; S4. According to the initial driving route obtained in step S3, the waiting time of the electric bus between the service bus trips is determined, and the charging strategy of the electric bus and the mobile charging vehicle after arriving at the station is determined to determine whether charging is required, the charging time and the waiting time after charging. According to the charging strategy, an initial timetable corresponding to the initial driving route of each electric bus, as well as an initial driving route of each mobile charging vehicle and an initial timetable corresponding to the route are generated; S5. According to the initial driving routes and initial schedules of the electric bus and mobile charging vehicle obtained in step S4, the current initial driving routes and schedules are optimized by collaboratively optimizing the vehicle driving plan, the station charging plan, and the on-the-way charging plan until the optimal driving routes and schedules of the electric bus and mobile charging vehicle are obtained. 2. The method for jointly dispatching a mobile charging vehicle and an electric bus based on mobile on-the-go charging technology according to claim 1 is characterized in that the step S1 specifically comprises: S11. Collecting the initial information of each electric bus route, including the initial position of the electric bus and the mobile charging vehicle at the bus station, the location information of each station on the electric bus operation route, the time required to travel between different stations, and the arrival schedule of the electric bus at each bus station; S12. Based on the bus routes that need to be served, according to the bus schedule and the bus schedule, a bus schedule is regarded as an independent bus trip, and the bus stops that need to be served in each independent bus trip are set as virtual stops. The same bus stops in different trips are expressed as different virtual stops in the same geographical location; S13. According to the divided itinerary, the arrival time at the bus stop in the bus schedule is matched with the virtual stops in the itinerary one by one to form a bus schedule and obtain the electric bus itinerary. 3. The method for jointly dispatching a mobile charging vehicle and an electric bus based on mobile on-the-way charging technology according to claim 1, characterized in that step S4 specifically comprises: S41. Based on the initial travel route of the electric bus, without considering the waiting time for departure, the charging time at the station, and the waiting time after charging, and only considering the travel time and waiting time at the bus stop, generate an initial timetable for the electric bus based on the travel time and the waiting time at the bus stop; S42, according to the initial timetable of the electric bus generated in step S41, decide the charging strategy after the electric bus arrives at the station to determine whether charging is needed, the charging time and the waiting time after charging, so as to minimize the total objective function value; S43, adding the departure waiting time of the electric bus, the charging time at the station and the waiting time at the station after charging to the initial timetable of the driving time, and finally generating an initial timetable corresponding to the initial driving route; S44, based on the initial driving route of the mobile charging vehicle, without considering the departure time, charging time at the station and waiting time at the station, and only considering the driving time and waiting time at the bus stop, generate an initial timetable for the mobile charging vehicle based on the driving time and the station waiting time; S45. According to the initial schedule of the mobile charging vehicle generated in step S44, a charging strategy is determined after the mobile charging vehicle arrives at the station to determine whether charging is required, the charging time, and the waiting time after charging, so as to minimize the total objective function value; S46. Add the departure waiting time of the mobile charging vehicle, the charging time at the station, and the waiting time at the station after charging to the initial timetable of driving time and station waiting time, and generate an initial timetable corresponding to the initial driving route. 4. The method for jointly dispatching a mobile charging vehicle and an electric bus based on mobile on-the-way charging technology according to claim 1 is characterized in that the constraints set in steps S41 to S43 and the constraints set in steps S44 to S46 specifically include: The constraints to ensure the time continuity of electric bus service bus trips are set as follows: The constraints to ensure the time continuity between two bus trips served by the electric bus are set as follows: in, is a non-negative continuous variable, representing the parking waiting time of electric bus k at station i; The constraints to ensure the time continuity of the electric bus service after the bus trip are set as follows: The constraints to ensure the continuity of power consumption of electric buses from the charging station to any station are set as follows: in, is the amount of electricity required by electric bus k to reach charging station s; The constraints to ensure the continuity of charging time for electric buses at charging stations are set as follows: in, is the time it takes for electric bus k to arrive at charging station s, is a non-negative continuous variable, which represents the waiting time of electric bus k after charging at charging station s; Calculate the initialization time of the electric bus at the station, the calculation formula is as follows: The constraints to ensure the time continuity of the electric bus leaving the station are set as follows: in, is a non-negative continuous variable, representing the waiting time of electric bus k at station o; The constraints to ensure the time continuity of the mobile charging vehicle from the bus station to any station are set as follows: in, is the time when mobile charging vehicle c arrives at station i, is a non-negative continuous variable, representing the waiting time of mobile charging vehicle c at station i; The constraints to ensure that the mobile charging vehicle is synchronized with the electric bus during the on-the-go charging period are set as follows: The constraints to ensure the continuity of power consumption of the mobile charging vehicle from the charging station to any bus stop are set as follows: in, is a non-negative continuous variable, representing the charging time of the mobile charging vehicle c at the charging station s; The constraints to ensure the continuity of charging time of the mobile charging vehicle at the charging station are set as follows: in, is the time when the mobile charging vehicle c arrives at the charging station s, is a non-negative continuous variable, which represents the waiting time of the mobile charging vehicle c after charging at the charging station s; Set the constraints for initializing the mobile charging vehicle time at the station as follows: The constraints for the time continuity of the mobile charging vehicle leaving the station are set as follows: in, is a non-negative continuous variable, which represents the waiting time of mobile charging vehicle c at station o. 5. The method for jointly dispatching a mobile charging vehicle and an electric bus based on mobile on-the-go charging technology according to claim 1, characterized in that step S5 specifically comprises: S51, obtaining the initial travel route and initial timetable of the electric bus and the mobile charging vehicle; S52, optimizing the current initial driving route and schedule, searching for a service trip combination plan, and then updating the currently obtained initial driving route and initial schedule; S53, based on the service trip combination plan, determining whether the updated driving route conflicts with the bus trip schedule; S54. According to the service trip combination plan, the vehicle driving plan and the station charging strategy are collaboratively optimized until the optimal driving route and schedule of the electric response bus are obtained.