Abstract:

In order to achieve optimal energy consumption， an optimal path planning algorithm is proposed for electric vehicles considering intersection signal and energy consumption， with minimizing vehicle driving energy consumption as objective. An energy consumption model is established according to the factors of vehicle driving energy consumption and braking energy recovery. Based on the vehicle?road coordination technology， the position and timing information of traffic lights at the intersections of each road segment are obtained in advance， with which an energy?saving driving model for the vehicle passing through the signalized intersection is set up. Based on the conversion probability of traffic light and the energy consumption model of electric vehicle， the traffic flow passing through signalized intersection can be approximately divided into four stages， namely the green light constant speed passing， the uniform acceleration before red light ， the red light uniform deceleration and the red light stop and waiting. Combined with the transform probability of traffic lights and the passing through energy consumption in four states， an improved A* algorithm is finally put forward to find the feasible path with the lowest energy consumption， which is then verified on a calculation example. The results show that the method proposed can find the path with optimal energy consumption， saving some 13% energy.

Key words: electric vehicle, path planning, A* algorithm, signalized intersection, energy recovery