考虑路口车辆排队影响的混动汽车速度规划与能量管理分层优化

doi:10.3901/JME.2025.14.197

机械工程学报 ›› 2025, Vol. 61 ›› Issue (14): 197-211.doi: 10.3901/JME.2025.14.197

• 运载工程 • 上一篇

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考虑路口车辆排队影响的混动汽车速度规划与能量管理分层优化

解少博¹, 张涛¹, 张风奇¹, 樊宁², 胡晓松³

1. 长安大学汽车学院西安 710064;
2. 比亚迪汽车有限公司西安 710075;
3. 重庆大学机械与运载工程学院重庆 400044

收稿日期:2024-07-15 修回日期:2025-03-31 发布日期:2025-08-25
作者简介:解少博，男，1983年出生，博士，教授，博士研究生导师。主要研究方向为新能源车辆动力学、智能网联汽车控制与优化。E-mail:xieshaobo@chd.edu.cn;张风奇(通信作者)，男，1987年出生，博士，副教授，博士研究生导师。主要研究方向为智能网联汽车、智能驾驶与电气化车辆节能控制。E-mail:fengqizhang@chd.edu.cn
基金资助:
国家自然科学基金资助项目(52472398，52072047)。

Hierarchical Optimization of Speed Planning and Energy Management for Hybrid Electric Vehicles Considering the Impact of Vehicle Queuing at Intersections

XIE Shaobo¹, ZHANG Tao¹, ZHANG Fengqi¹, FAN Ning², HU Xiaosong³

1. School of Automobile, Chang'an University, Xi'an 710064;
2. BYD Automobile Co., Ltd., Xi'an 710075;
3. School of Mechanical and Transportation Engineering, Chongqing University, Chongqing 400044

Received:2024-07-15 Revised:2025-03-31 Published:2025-08-25

摘要/Abstract

摘要： 速度规划有助于实现混动汽车高效运行。然而，城市交通场景存在路口车辆排队等现象，严重影响车速规划的经济性和通行效率。针对由连续多个交通信号灯和道路限速路段组成的城市交通场景，提出考虑路口排队影响的混合动力客车速度规划与能量管理分层优化方法。上层控制采用分段全局自适应控制方法(Piecewise global adaptive control method，PGAC)进行速度规划，从全局最优和局部自适应两个视角优化驾驶行为，加速度可在小范围内调整，能够实现平稳行驶，PGAC速度规划的经济性较模型预测控制提高了约10%，且保证了通行效率。下层控制考虑能耗经济性、发动机碳排放和电池温升老化等多目标，利用庞特里亚金最小值原理(Pontryagin’s minimum principle，PMP)进行能量管理分配。结果表明，多目标PMP策略相比于单目标优化策略，综合成本降低了2.26%。

关键词: 混合动力客车, 速度规划, 能量管理, 多目标优化, 电池老化

Abstract: Speed planning helps to achieve efficient operation of hybrid electric vehicles. However, there is a phenomenon of vehicle queuing at intersections in urban traffic scenes, which seriously affects the economy and traffic efficiency of speed planning. For multiple continuous traffic signals and speed limited road sections, a hierarchical optimization method for speed planning and energy management is proposed for hybrid electric buses considering the impact of queuing at intersections. The upper level control adopts the piecewise global adaptive control method(PGAC) for speed planning, optimizing driving behavior from both global optimal and local adaptive perspectives. Acceleration can be adjusted within a small range, achieving smooth driving. The economy of PGAC speed planning is about 10% higher than that of model predictive control, and it ensures traffic efficiency. The lower level considers multiple objectives such as energy consumption economy, engine carbon emissions, and battery temperature rise and aging, and pontryagin’s minimum principle(PMP) is used for energy management. The results show that the multi-objective PMP strategy reduces the overall cost by 2.26% compared to the single objective optimization strategy.

Key words: hybrid electric bus, speed planning, energy management, multi-objective optimization, battery aging

中图分类号:

U461

解少博, 张涛, 张风奇, 樊宁, 胡晓松. 考虑路口车辆排队影响的混动汽车速度规划与能量管理分层优化[J]. 机械工程学报, 2025, 61(14): 197-211.

XIE Shaobo, ZHANG Tao, ZHANG Fengqi, FAN Ning, HU Xiaosong. Hierarchical Optimization of Speed Planning and Energy Management for Hybrid Electric Vehicles Considering the Impact of Vehicle Queuing at Intersections[J]. Journal of Mechanical Engineering, 2025, 61(14): 197-211.

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考虑路口车辆排队影响的混动汽车速度规划与能量管理分层优化

Hierarchical Optimization of Speed Planning and Energy Management for Hybrid Electric Vehicles Considering the Impact of Vehicle Queuing at Intersections

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