A method and related apparatus for determining a range

Abstract

Embodiments of the present application disclose a kind of endurance range determination method and related device, can be applied to map, traffic or car networking field, the method comprises: according to the current position and endurance distance of target vehicle, determine reference terminal selection range;In reference terminal selection range, select m (integer greater than 1) reference terminal;According to the current position of target vehicle and m reference terminal, determine the reference path corresponding to each of m reference terminal, reference path is the path from the current position of target vehicle to reach corresponding reference terminal;For each reference path, according to the current remaining energy of target vehicle and the road attribute of section on the reference path, determine the target terminal that target vehicle can reach on the reference path as the target terminal corresponding to the reference path;According to the target terminal corresponding to each reference path, determine the target endurance range of target vehicle.The method can reduce the computing resources consumed when determining endurance range.

Description

Technical Field

[0001] This application relates to the field of map technology, and in particular to a method and related apparatus for determining driving range. Background Technology

[0002] Currently, a vehicle's driving range is generally expressed as a numerical range. Specifically, a vehicle can calculate its driving range based on its remaining energy (such as battery power and fuel level) and display that range so that the driver can easily understand the vehicle's current driving range.

[0003] However, numerical range is often too abstract for drivers, making it difficult for them to concretely understand the vehicle's actual mileage. To address this issue, a method has been proposed to determine a vehicle's range by traversing the road network topology. This involves starting from the vehicle's current location and traversing the road network topology. During this traversal, the furthest possible destination with the vehicle's remaining energy is determined, and the vehicle's range is then calculated based on these destinations.

[0004] In the above method of determining the vehicle's driving range by traversing the road network topology, as the range of the traversed road network topology expands, the amount of computation required will increase rapidly in an exponential relationship. This puts a heavy computational burden on computing devices, requires a large amount of computing resources, and the efficiency of determining the driving range is extremely low. Summary of the Invention

[0005] This application provides a method and related apparatus for determining driving range, which can provide driving range in the form of regions, reduce the computing resources required to determine driving range, and improve the efficiency of driving range determination.

[0006] In view of this, the first aspect of this application provides a method for determining battery range, the method comprising:

[0007] The reference destination selection range is determined based on the target vehicle's current location and its remaining range; the remaining range is determined based on the target vehicle's current remaining energy.

[0008] Select m reference endpoints from the range of reference endpoints; where m is an integer greater than 1.

[0009] Based on the current location of the target vehicle and the m reference endpoints, determine the reference path corresponding to each of the m reference endpoints; the reference path is the path from the current location of the target vehicle to the corresponding reference endpoint.

[0010] For each reference path, based on the target vehicle's current remaining energy and the road attributes of the road segments on the reference path, the target destination that the target vehicle can reach on the reference path is determined and used as the target destination corresponding to the reference path.

[0011] The target range of the target vehicle is determined based on the target destination corresponding to each of the reference paths.

[0012] A second aspect of this application provides a range determination device, the device comprising:

[0013] The destination selection range determination module is used to determine a reference destination selection range based on the current location of the target vehicle and the remaining driving range of the target vehicle; the remaining driving range is determined based on the current remaining energy of the target vehicle.

[0014] A reference endpoint selection module is used to select m reference endpoints within the reference endpoint selection range; where m is an integer greater than 1.

[0015] The path planning module is used to determine the reference path corresponding to each of the m reference endpoints based on the current position of the target vehicle and the m reference endpoints; the reference path is the path from the current position of the target vehicle to the corresponding reference endpoint.

[0016] The target endpoint determination module is used to determine, for each reference path, the target endpoint that the target vehicle can reach on the reference path based on the current remaining energy of the target vehicle and the road attributes of the road segments on the reference path, and use it as the target endpoint corresponding to the reference path.

[0017] The range determination module is used to determine the target range of the target vehicle based on the target destination corresponding to each of the reference paths.

[0018] A third aspect of this application provides a computer device, the device comprising a processor and a memory:

[0019] The memory is used to store computer programs;

[0020] The processor is configured to perform the steps of the range determination method as described in the first aspect above, according to the computer program.

[0021] A fourth aspect of this application provides a computer-readable storage medium for storing a computer program for performing the steps of the range determination method described in the first aspect.

[0022] A fifth aspect of this application provides a computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the steps of the battery range determination method described in the first aspect.

[0023] As can be seen from the above technical solutions, the embodiments of this application have the following advantages:

[0024] This application provides a method for determining the driving range of a target vehicle. When determining the driving range of a target vehicle using this method, firstly, a range of reference endpoints is determined based on the target vehicle's current location and remaining driving distance. Then, m (an integer greater than 1) reference endpoints are selected within this range. Next, based on the target vehicle's current location and the selected m reference endpoints, a reference path is determined for each of the m reference endpoints. This reference path is the path from the target vehicle's current location to the corresponding reference endpoint. Furthermore, for each reference path, based on the target vehicle's current remaining energy and the road attributes of the road segments along the reference path, a target endpoint that the target vehicle can reach on that reference path is determined, which is then used as the target endpoint corresponding to that reference path. Finally, based on the target endpoints corresponding to each reference path, the target driving range of the target vehicle in the form of a region is determined. Since the computational cost of pathfinding based on a clearly defined starting and ending point is far less than that of pathfinding by traversing the road network topology, compared to related technologies that determine the vehicle's reachable destination by traversing the road network topology, this embodiment of the application plans a reference path based on the target vehicle's current position and m reference endpoints, and then determines the target endpoint on the planned reference path. This significantly reduces the computational cost required to determine the driving range and improves the efficiency of driving range determination. Furthermore, when planning reference paths, this embodiment of the application can perform batch path planning based on multiple reference endpoints, increasing the concurrency of the pathfinding algorithm, which further reduces the computational cost and improves computational efficiency. Attached Figure Description

[0025] Figure 1 This is a schematic diagram illustrating an application scenario of the battery range determination method provided in the embodiments of this application;

[0026] Figure 2 A flowchart illustrating the method for determining battery range provided in this application embodiment;

[0027] Figure 3 An exemplary schematic diagram illustrating the determination of a reference endpoint selection range provided for embodiments of this application;

[0028] Figure 4A schematic diagram illustrating an exemplary backward pathfinding implementation process provided in this application embodiment;

[0029] Figure 5 This is a schematic diagram of the structure of the range determination device provided in the embodiments of this application;

[0030] Figure 6 This is a schematic diagram of the structure of the terminal device provided in the embodiments of this application;

[0031] Figure 7 This is a schematic diagram of the server structure provided in an embodiment of this application. Detailed Implementation

[0032] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0033] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a particular order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0034] The method of determining the driving range of a vehicle by traversing the road network topology in related technologies has problems such as large computational load and low efficiency in determining the driving range when the traversed road network topology range is large.

[0035] To address the aforementioned issues, this application provides a method for determining driving range. This method can determine the target driving range in the form of a region for a target vehicle, allowing the driver to more intuitively understand the geographical locations that the target vehicle can reach based on its current remaining energy. Furthermore, the computational load required to determine the target driving range is relatively small, resulting in high efficiency in determining the target driving range.

[0036] Specifically, in the range determination method provided in this application embodiment, a reference endpoint selection range is determined based on the target vehicle's current location and its remaining range, where the remaining range is determined based on the target vehicle's current remaining energy. Then, m (an integer greater than 1) reference endpoints are selected within this range. Next, based on the target vehicle's current location and the m reference endpoints, a reference path is determined for each of the m reference endpoints, where the reference path is the path from the target vehicle's current location to the corresponding reference endpoint. Furthermore, for each reference path, based on the target vehicle's current remaining energy and the road attributes of the road segments along that reference path, a target endpoint that the target vehicle can reach on that reference path is determined, which is then used as the target endpoint corresponding to that reference path. Finally, the target range of the target vehicle is determined based on the target endpoints corresponding to each reference path.

[0037] In the aforementioned method for determining the driving range, a range of reference endpoints is first determined based on the target vehicle's current location and driving distance. Multiple reference endpoints are then selected within this range. Next, a reference path is planned to determine the target endpoint based on the target vehicle's current location and the selected reference endpoints. Since the computational cost of pathfinding based on a clearly defined starting and ending point is far less than that of pathfinding by traversing the road network topology, compared to related technologies that determine the vehicle's reachable endpoint by traversing the road network topology, this embodiment significantly reduces the computational cost of determining the driving range and improves the efficiency of driving range determination by planning a reference path based on the target vehicle's current location and m reference endpoints, and then determining the target endpoint on the planned reference path. Furthermore, this embodiment can perform batch path planning based on multiple reference endpoints when planning the reference path, increasing the concurrency of the pathfinding algorithm, which further reduces the computational cost and improves computational efficiency.

[0038] It should be understood that the battery range determination method provided in this application embodiment can be executed by a computer device, which can be a terminal device or a server. Specifically, the terminal device can be a mobile phone, computer, smart voice interaction device, smart home appliance, vehicle terminal, aircraft, etc. The server can specifically be an application server or a web server. In actual deployment, it can be a standalone server, a cluster server composed of multiple physical servers, or a cloud server.

[0039] To facilitate understanding of the battery range determination method provided in this application embodiment, the following example uses a server as the execution subject of the battery range determination method to illustrate the application scenarios of the battery range determination method.

[0040] See Figure 1 , Figure 1 This is a schematic diagram illustrating an application scenario for the battery range determination method provided in this application embodiment. For example... Figure 1 As shown, this application scenario includes an in-vehicle terminal 110 and a server 120, which can communicate via a network. The in-vehicle terminal 110 is a terminal device deployed on the target vehicle, capable of acquiring information such as the target vehicle's current location, remaining energy, and driving range. The server 120 executes the driving range determination method provided in this embodiment to determine the geographical locations that the target vehicle can reach based on its current remaining energy.

[0041] In practical applications, the vehicle-mounted terminal 110 can send the target vehicle's current location, remaining energy, and driving range to the server 120. The target vehicle's current location can be the location information determined by the vehicle-mounted terminal 110 using the Global Positioning System (GPS). The target vehicle's remaining energy can be the remaining battery power, fuel level, etc. The target vehicle's driving range can be the driving distance determined by the vehicle-mounted terminal 110 based on the target vehicle's remaining energy.

[0042] After receiving the target vehicle's current location and remaining range from the vehicle-mounted terminal 110, server 120 can determine a range of reference endpoints based on these information. This range provides a clear pathfinding endpoint for subsequent reference path planning. After determining the range, server 120 can select m reference endpoints within this range, where m is an integer greater than 1.

[0043] Then, server 120 can determine the reference path corresponding to each of the m selected reference endpoints based on the current location of the target vehicle and the selected m reference endpoints. The reference path corresponding to each reference endpoint is essentially the path from the current location of the target vehicle to that reference endpoint. In this embodiment, when server 120 determines the reference path corresponding to each of the m reference endpoints based on the current location of the target vehicle, it can use a batch path planning algorithm to converge the backward pathfinding graph during the pathfinding process. This improves the concurrency of the pathfinding process, reduces the computational load, and increases pathfinding efficiency.

[0044] After determining the reference paths corresponding to each of the m reference endpoints, server 120 can, for each reference path, determine the farthest possible destination that the target vehicle can reach on that reference path based on the target vehicle's current remaining energy and the road attributes of the road segments along that reference path, and then use that destination as the target endpoint corresponding to that reference path. When determining the target endpoint corresponding to a reference path, server 120 can call a pre-trained energy consumption model to determine the energy required for the target vehicle to reach each road segment along the reference path from its current position, and then determine the farthest possible destination that the target vehicle can reach on that reference path with its current remaining energy.

[0045] Finally, server 120 can determine the target driving range of the target vehicle based on the target endpoints corresponding to each reference path. For example, server 120 can connect the target endpoints corresponding to each reference path in a preset order to obtain a target driving range in the form of a closed region. This target driving range is then sent to vehicle terminal 110 for display.

[0046] It should be understood that Figure 1 The application scenarios shown are merely examples. In practical applications, the range determination method provided in this application embodiment can also be applied to other scenarios. For example, the range determination method provided in this application embodiment can be executed independently by the vehicle terminal 110. Or, other forms of terminal devices (such as terminal devices running navigation applications) can cooperate with the server 120 to complete the range determination method provided in this application embodiment. No limitations are made here on the application scenarios applicable to the range determination method provided in this application embodiment.

[0047] The following describes in detail the method for determining the battery range provided in this application through method embodiments.

[0048] See Figure 2 , Figure 2 This is a flowchart illustrating the battery range determination method provided in this application. For ease of description, the following embodiments will still use a server as the execution subject of this battery range determination method. Figure 2 As shown, the method for determining the driving range includes the following steps:

[0049] Step 201: Determine the reference destination selection range based on the current location of the target vehicle and the remaining range of the target vehicle; the remaining range is determined based on the current remaining energy of the target vehicle.

[0050] In practical applications, the server can obtain the target vehicle's current location and remaining range from the relevant terminal device. Then, based on this information, the server can determine the range for selecting a reference destination. Alternatively, the server can obtain the target vehicle's current location and remaining energy from the relevant terminal device, determine its remaining range based on the remaining energy, and then determine the range for selecting a reference destination based on this information.

[0051] It should be noted that the reference endpoint selection range is a range used to select reference endpoints. Points included within this range are locations that the target vehicle cannot easily reach based on its current remaining energy. In other words, it is difficult for the target vehicle to reach any location within the reference endpoint selection range based on its current remaining energy. Therefore, embodiments of this application can select reference endpoints within the reference endpoint selection range to plan a reference path based on the target vehicle's current location and the selected reference endpoint. This allows for the determination of the furthest possible target endpoint that the target vehicle can reach based on its current remaining energy along this reference path. In other words, the reference path planned based on the target vehicle's current location and the reference endpoint selected within the reference endpoint selection range will necessarily include the furthest possible target endpoint that the target vehicle can reach, and the furthest possible target endpoint that the target vehicle can reach based on its current remaining energy will not exceed the reference endpoints on this reference path.

[0052] It should be noted that, in the embodiments of this application, the current remaining energy of the target vehicle can refer to the total remaining energy of the target vehicle, or it can refer to a portion of the remaining energy of the target vehicle. In an exemplary application scenario, the driver of the target vehicle can specify a reference energy consumption and request to view the driving range corresponding to the reference energy consumption. At this time, the terminal device can determine the driving range of the target vehicle based on the reference energy consumption, or the terminal device can send the reference energy consumption to the server so that the server can calculate the driving range of the target vehicle based on the reference energy consumption; thereby enabling the server to determine the driving range that the target vehicle can reach based on the reference energy consumption. It should be understood that the above-mentioned reference energy consumption should be less than or equal to the total remaining energy of the target vehicle; in addition, in practical applications, the above-mentioned reference energy consumption can also be specified by default by the terminal device.

[0053] In one possible implementation, the vehicle-mounted terminal can calculate the target vehicle's remaining range based on its current remaining energy (which could be the target vehicle's total remaining energy or a reference energy consumption specified by the driver or the vehicle-mounted terminal); then, it sends the target vehicle's current location, current remaining energy, and remaining range to the server. It should be understood that the transmitted current remaining energy and remaining range should correspond, meaning the transmitted remaining range is calculated based on the transmitted current remaining energy.

[0054] In another possible implementation, a navigation application running on the terminal device can provide a range determination function for the user. When using this function, the user can input the target vehicle's current location and its current remaining energy (which could be the vehicle's total remaining energy or a reference energy consumption specified by the user). After the terminal device detects that the user has confirmed the input, it can send the target vehicle's current location and remaining energy to the server, allowing the server to calculate the target vehicle's remaining range based on this remaining energy. In practical applications, to ensure the accuracy of the determined range, the user can also input other types of information related to the target vehicle, such as the vehicle's model and age.

[0055] It should be understood that the above implementation is merely an example. In practical applications, the server can also obtain the current location and remaining range of the target vehicle through other means, and this application does not impose any limitations on this. Furthermore, when the execution subject of the method provided in this application embodiment is an in-vehicle terminal, the in-vehicle terminal can directly obtain the current location and remaining range of the target vehicle; when the execution subject of the method provided in this application embodiment is a terminal device running a navigation application, the terminal device can also directly obtain the current location and remaining range of the target vehicle input by the user.

[0056] In one possible implementation, the server can determine the reference endpoint selection range by drawing a circle on the map with the target vehicle's current location as the center and the target vehicle's reference range as the radius, thus obtaining the initial endpoint selection range; here, the reference range corresponds to the reference energy consumption, which is less than or equal to the target vehicle's current remaining energy; based on this initial endpoint selection range, the reference endpoint selection range is determined.

[0057] It should be noted that the reference energy consumption is the energy consumption corresponding to the target driving range to be determined. This reference energy consumption can be the target vehicle's current total remaining energy, or it can be a portion of the target vehicle's current remaining energy (such as the energy consumption specified by the driver or relevant terminal device). Corresponding to the above description of the target vehicle's current remaining energy, the relevant terminal device can provide this reference energy consumption to the server so that the server can determine the target vehicle's target driving range. In other words, the target vehicle's current remaining energy provided by the relevant terminal device to the server is essentially this reference energy consumption. The target vehicle's reference driving range is determined based on this reference energy consumption. This reference driving range is essentially also the target vehicle's current driving range provided by the relevant terminal device to the server, or the current driving range determined by the server based on the current remaining energy provided by the relevant terminal device.

[0058] In this embodiment, point A corresponds to the current location of the target vehicle. When determining the initial destination selection range, the server can use point A as the center and the reference driving range of the target vehicle as the radius to draw a circle. The resulting circle is the initial destination selection range. Furthermore, the server can determine a reference destination selection range based on this initial destination selection range. As an example, the server can directly determine the initial destination selection range as the reference destination selection range, or the server can adjust the initial destination selection range to obtain the reference destination selection range.

[0059] Thus, by drawing a circle with the target vehicle's current position as the center and the target vehicle's reference range as the radius, and using the circumference of the circle as the initial endpoint selection range, and determining the reference endpoint selection range based on this initial endpoint selection range, the accuracy of the determined reference endpoint selection range can be guaranteed. That is, the area surrounded by the determined reference endpoint selection range can encompass the location that the target vehicle can reach based on the reference energy consumption.

[0060] As an example, the server can adjust the initial destination selection range to determine the reference destination selection range by: determining whether the initial destination selection range includes invalid ranges that pass through unreachable areas; if so, determining the reference destination selection range based on the remaining ranges in the initial destination selection range excluding invalid ranges.

[0061] It should be noted that the aforementioned inaccessible areas refer to areas that the target vehicle cannot reach, such as oceans, areas outside the boundaries of specific regions, etc. The invalid range in the initial destination selection range refers to the range that passes through inaccessible areas within that initial destination selection range.

[0062] In this embodiment, if a portion of the determined initial endpoint selection range lies within the ocean, the server can remove this invalid portion within the ocean from the initial endpoint selection range and determine the reference endpoint selection range based on the remaining range. For example, the server can directly ignore the area corresponding to the invalid range in the initial endpoint selection range and directly use the remaining range as the reference endpoint selection range. Alternatively, the server can obtain the boundary line corresponding to the invalid range, such as a coastline or regional boundary line, and integrate the remaining range in the initial endpoint selection range with the boundary line corresponding to the invalid range to obtain the reference endpoint selection range.

[0063] Thus, by removing invalid ranges that pass through unreachable areas when determining the range of reference endpoints, unnecessary pathfinding operations can be avoided when planning reference paths in the future, thereby reducing the amount of computation required for subsequent reference path planning.

[0064] As an example, the server can adjust the initial destination selection range to determine the reference destination selection range in the following way: decompose the initial destination selection range to obtain multiple sub-initial destination selection ranges; for each sub-initial destination selection range, determine the path selection area corresponding to the sub-initial destination selection range based on the current location of the target vehicle and the sub-initial destination selection range; adjust the sub-initial destination selection range according to the road type of the roads included in the path selection area to obtain the sub-reference destination selection range corresponding to the sub-initial destination selection range; and then determine the reference destination selection range based on the sub-reference destination selection ranges corresponding to each sub-initial destination selection range.

[0065] Figure 3 This is an exemplary schematic diagram illustrating the determination of a reference endpoint selection range, provided as an embodiment of this application. For the initial endpoint selection range, the server can decompose it according to preset decomposition rules to obtain multiple sub-initial endpoint selection ranges. For example, as... Figure 3 As shown in (a), the server can divide the circumference corresponding to the initial endpoint selection range into multiple arcs according to a preset arc angle (i.e., the angle corresponding to the arc). Each arc is a sub-initial endpoint selection range. It should be understood that for irregular boundary line parts on the initial endpoint selection range (e.g., the part of the initial endpoint selection range perfected by using the boundary line corresponding to the invalid range), the server can take the boundary line part corresponding to the preset arc angle as a sub-initial endpoint selection range.

[0066] After the server breaks down the initial destination selection range into multiple sub-initial destination selection ranges, it can determine the path selection area corresponding to each sub-initial destination selection range based on the target vehicle's current position and the range itself. For example, the server can determine the form of the path selection area based on prior knowledge, such as defining a rectangular area of ​​a specific size or a sector area of ​​a specific size as the path selection area; for example... Figure 3 As shown in (b), taking the path selection area as a sector area as an example, for each sub-initial endpoint selection range, the server can deploy the path selection area corresponding to the sub-initial endpoint selection range on the map according to the location of the sub-initial endpoint selection range and the current location of the target vehicle. It should be understood that the path selection area is usually larger than the area enclosed by the sub-initial endpoint selection range, the two endpoints of the sub-initial endpoint selection range and the current location of the target vehicle.

[0067] For each sub-initial endpoint selection range corresponding to the path selection area, the server can obtain the road type of the roads included in the path selection area; for example, the road type can be distinguished according to the region to which the road belongs, such as urban roads, rural roads, highways, etc.; or, for example, the road type can be distinguished according to the speed limit of the road, such as roads with a speed limit of 30km / h, roads with a speed limit of 60km / h, roads with a speed limit of 100km / h, etc. Furthermore, the server can adjust the sub-initial endpoint selection range based on the proportion of roads of various road types included in the path selection area. For example, assuming a path selection area includes 30% urban roads, 20% rural roads, and 50% highways, the server can determine the indentation distance corresponding to the sub-initial endpoint selection range based on the scaling ratios of urban roads, rural roads, and highways (which can be preset based on prior knowledge), the proportion of roads of these three road types in the path selection area, and the distance between the sub-initial endpoint selection range and the center of the circle. Then, along the direction from the circumference to the center of the circle corresponding to the initial endpoint selection range, the sub-initial endpoint selection range is translated based on this indentation distance to obtain the sub-reference endpoint selection range corresponding to the sub-initial endpoint selection range, such as... Figure 3 As shown in (c), the sub-initial endpoint selection range P is adjusted to obtain the corresponding sub-reference endpoint selection range P'. It should be understood that a similar method can be used to adjust the sub-initial endpoint selection range for other road types, which will not be elaborated here.

[0068] After the server adjusts the selection range of each sub-initial endpoint through the above operations and obtains the sub-reference endpoint selection range corresponding to each sub-initial endpoint selection range, it can combine the sub-reference endpoint selection ranges into a reference endpoint selection range.

[0069] In this way, by adjusting the initial destination selection range in the above manner, a corresponding reference destination selection range can be obtained. This can reduce the pathfinding area when the pathfinding is performed based on the reference destination and the current position of the target vehicle, thereby reducing the amount of computation required for pathfinding and improving pathfinding efficiency.

[0070] It should be understood that in practical applications, the server may also use other methods to determine the range of reference endpoints. This application does not impose any restrictions on the method of determining the range of reference endpoints.

[0071] Step 202: Select m reference endpoints within the range of reference endpoint selection; where m is an integer greater than 1.

[0072] After the server determines the range of reference endpoints, it can select m reference endpoints within that range, where m is an integer greater than 1. The selected reference endpoints are the endpoints used in subsequent pathfinding algorithm planning. When performing path planning based on the target vehicle's current position (a clear pathfinding starting point) and the selected multiple reference endpoints (clear pathfinding endpoints), the parallelism and efficiency of path planning can be effectively improved, while reducing the amount of computation.

[0073] This application provides several exemplary methods for selecting reference endpoints, which are described below.

[0074] The first method involves sampling m reference endpoints within a selected range according to a preset sampling rule. As an example, the server can randomly select a first reference endpoint within the selected range. Then, starting from this first reference endpoint, it determines a point within the selected range that is at a preset arc interval angle from the first reference endpoint, following a preset point-finding direction (e.g., counter-clockwise or clockwise), as the second reference endpoint. This process continues until the arc interval between the found reference endpoint and the first reference endpoint is less than the preset arc interval angle. As another example, the server can pre-set the required number of reference endpoints, i.e., pre-set the value of m; then, it uniformly collects m reference endpoints within the selected range.

[0075] It should be understood that in practical applications, the above-mentioned preset sampling rules can be set according to actual needs, and this application does not impose any limitations on the preset sampling rules.

[0076] The second approach involves selecting m reference endpoints within the selected range that meet preset access criteria in terms of access popularity. Specifically, the server can obtain the access popularity of each candidate reference endpoint within the selected range. These candidate reference endpoints can be, for example, specific types of locations accessible to objects within the selected range, such as restaurants, shopping malls, parks, supermarkets, and business establishments. The access popularity of a candidate reference endpoint is determined based on its search popularity (e.g., the number of objects searching for that location through navigation applications) within a preset time period (e.g., the most recent week, the most recent month, etc.). Furthermore, the server can select reference endpoints with access popularity exceeding a preset access popularity threshold as reference endpoints; alternatively, the server can sort the access popularity of each candidate reference endpoint in descending order and select the top m candidate reference endpoints based on their access popularity ranking as reference endpoints.

[0077] The third method involves selecting m reference endpoints within the range of reference endpoint selection that match the travel characteristics of the driver of the target vehicle. Specifically, the server can obtain the travel characteristics of the driver of the target vehicle. For example, it can determine the driver's travel characteristics based on the locations navigated to by the driver through a navigation application on the vehicle terminal. Alternatively, it can obtain the driving trajectory of the target vehicle and determine the driver's travel characteristics based on the obtained driving trajectory. This application does not limit the method of obtaining the driver's travel characteristics in any way. Based on the obtained travel characteristics of the driver, the server can determine the driver's travel preferences, such as the characteristics of the locations the driver frequently visits. Furthermore, the server can select m reference endpoints within the range of reference endpoint selection that match the driver's travel characteristics. For example, assuming that the driver's travel characteristics determine that the driver frequently visits restaurants and shopping malls, the server can correspondingly select locations corresponding to restaurants or shopping malls as reference endpoints within the range of reference endpoint selection.

[0078] It should be noted that before the server obtains the locations navigated to by the driver through the navigation application and the driving trajectory of the target vehicle in order to determine the driver's travel characteristics, it will first request the driver to grant relevant permissions, such as permission to obtain historical navigation locations, permission to obtain driving trajectories, and permission to analyze its travel characteristics. Only after the server obtains the relevant permissions granted by the driver can it perform the above operations.

[0079] It should be understood that the three methods for selecting a reference endpoint within the range of reference endpoint selection described above are merely examples. In practical applications, other methods can also be used to select a reference endpoint within the range of reference endpoint selection according to actual needs. This application does not impose any restrictions on the method of selecting a reference endpoint.

[0080] Step 203: Based on the current position of the target vehicle and the m reference endpoints, determine the reference path corresponding to each of the m reference endpoints; the reference path is the path from the current position of the target vehicle to the corresponding reference endpoint.

[0081] After selecting m reference endpoints within the range of reference endpoint selection, the server can further use the current position of the target vehicle as the pathfinding starting point and all m selected reference endpoints as pathfinding endpoints. Then, the pathfinding algorithm is used to plan the path based on the pathfinding starting point and the m pathfinding endpoints to obtain the reference path corresponding to each of the m reference endpoints.

[0082] It should be noted that the reference path corresponding to the reference endpoint is the path from the current position of the target vehicle to the reference endpoint. One reference endpoint can correspond to one reference path or multiple reference paths. This application does not make any limitation in this regard.

[0083] To improve the efficiency of planning reference paths, this application proposes a batch path planning method. In this method, the server can determine a forward path map corresponding to the m reference endpoints based on the target vehicle's current position and m reference endpoints. This forward path map includes forward path paths obtained by traversing the direction from the target vehicle's current position to the reference endpoints. Furthermore, the server can also determine a backward path map corresponding to the m reference endpoints based on the target vehicle's current position and the m reference endpoints. This backward path map includes backward path paths obtained by traversing the direction from the reference endpoints to the target vehicle's current position. During the determination of the backward path map, the server merges at least two backward path paths whose positional relationships satisfy a merging condition, based on the positional relationships between the backward path paths corresponding to each of the m reference endpoints. Finally, the server can determine the reference path corresponding to each of the m reference endpoints based on the forward and backward path maps.

[0084] Specifically, during the planning of the reference path, the server can start from two directions: from the current position of the target vehicle to the reference endpoint, and from the reference endpoint to the current position of the target vehicle, to perform forward pathfinding and backward pathfinding, so as to obtain the corresponding forward pathfinding map and backward pathfinding map.

[0085] During the forward pathfinding process, for each reference endpoint, the server can use a pathfinding algorithm to find a path from the target vehicle's current position toward that reference endpoint, thus obtaining the forward pathfinding path corresponding to that reference endpoint. Since the endpoints of each forward pathfinding path are different, the forward pathfinding processes for each reference endpoint are independent of each other.

[0086] During backward pathfinding, for each reference endpoint, the server can use a pathfinding algorithm to find the path from that reference endpoint to the current position of the target vehicle, thus obtaining the backward pathfinding path corresponding to that reference endpoint. During backward pathfinding, the backward pathfinding paths corresponding to multiple reference endpoints may intersect. Considering that the backward pathfinding direction of each reference endpoint points to the current position of the target vehicle, intersecting backward pathfinding paths can be merged to achieve convergence of the backward pathfinding graph and improve the concurrency of backward pathfinding.

[0087] More specifically, in the process of determining the backward path map, if the server determines that there are at least two backward path paths intersecting in the backward path paths corresponding to each of the m reference endpoints, then it can merge these at least two backward path paths starting from the intersection point. The merging process here is used to find the path along the direction from the intersection point to the current position of the target vehicle to obtain the merged backward path.

[0088] Figure 4 This is a schematic diagram illustrating an exemplary backward pathfinding implementation process provided in an embodiment of this application. For example... Figure 4 As shown, assuming point A is the current position of the target vehicle, and points B and C are the two selected reference endpoints; during the backward pathfinding process, the server starts from points B and C and performs backward pathfinding along the direction pointing to point A, as follows... Figure 4 As shown, the backward path from point B intersects with the backward path from point C at point D. Since the destination of both backward paths from point B and point C is point A, the server can merge these two backward paths starting from the intersection point, point D. That is, it only performs one backward path to point A from point D, resulting in the merged backward path DE, where point E is the destination of the forward path. At this point, the backward path corresponding to point B is a combination of paths DE and BD, and the backward path corresponding to point C is a combination of paths DE and CD.

[0089] In other words, in this embodiment, during backward pathfinding, if multiple backward pathfinding paths are found to intersect, these paths can be merged. Specifically, for each intersecting path, backward pathfinding is no longer performed independently; instead, from the intersection point, these multiple paths are considered as a single backward path, and backward pathfinding continues only based on this single path. Compared to independently performing backward pathfinding from each reference endpoint, this embodiment effectively reduces the computational load required during backward pathfinding and improves pathfinding efficiency.

[0090] It should be noted that for each reference endpoint, the termination condition for its corresponding forward and backward pathfinding processes is that the forward pathfinding path corresponding to the reference endpoint intersects with the backward pathfinding path corresponding to the reference endpoint; that is, if the forward pathfinding path corresponding to a certain reference endpoint intersects with the backward pathfinding path, then the forward pathfinding path and the backward pathfinding path can be combined as the reference path corresponding to the reference endpoint.

[0091] Step 204: For each reference path, based on the target vehicle's current remaining energy and the road attributes of the road segments on the reference path, determine the target destination that the target vehicle can reach on the reference path, and use it as the target destination corresponding to the reference path.

[0092] After obtaining the reference paths corresponding to each reference endpoint through path planning, the server can determine the farthest target endpoint that the target vehicle can reach on the reference path for each reference path based on the target vehicle's current remaining energy (i.e., the energy value obtained from the vehicle terminal or terminal device, which can be the target vehicle's current total remaining energy or the target vehicle's current remaining partial energy) and the road attributes of the road segment on the reference path, and then use the target endpoint as the target endpoint corresponding to the reference path.

[0093] It should be noted that the target destination is the farthest point that the target vehicle can reach on the reference path based on its current remaining energy (the energy value provided by the vehicle terminal or terminal equipment to the server). This target destination is also the boundary point of the driving range corresponding to the current remaining energy.

[0094] In one possible implementation, the server can use an energy consumption model to determine the furthest possible destination that the target vehicle can reach on the reference path. That is, the server can use the energy consumption model to determine the energy consumption of each road segment on the reference path based on its respective road attributes; here, the energy consumption of a road segment represents the energy required for the target vehicle to travel from its current position to the end of that road segment on the reference path. Furthermore, the destination of the road segment whose corresponding energy consumption is less than or equal to the reference energy consumption and is the furthest from the current position on the reference path is determined as the possible destination that the target vehicle can reach on the reference path; here, the reference energy consumption is less than or equal to the target vehicle's current remaining energy.

[0095] It should be noted that the road segments on the reference path here can be, for example, divided by the smallest segmentation unit of the road network, a link; that is, a road segment is a link. Furthermore, the energy consumption model is used to predict the energy consumed by a vehicle traveling from one location to another, and this energy consumption model can be pre-trained based on a large number of training samples.

[0096] Specifically, for each segment on a reference path, the server can use an energy consumption model to determine the energy required for a target vehicle to travel from its current location to the end of that segment, i.e., determine the energy consumption corresponding to that segment. For example, when determining the energy consumption for a specific segment on the reference path, the server can construct a corresponding road attribute sequence based on the road attributes of each segment (including the segment itself) located between the target vehicle's current location and that segment. This road attribute sequence includes the road attributes of each segment arranged in order of location (from closest to furthest from the target vehicle's current location). These road attributes may include, but are not limited to, speed limits, number of lanes, road gradient, traffic congestion level, and road construction status. The server can then input this road attribute sequence into the energy consumption model, which analyzes and processes the input sequence to output the corresponding energy consumption for that segment.

[0097] After determining the energy consumption of each segment on the reference path using the above method, the server can identify the endpoint of the segment whose energy consumption is less than or equal to the reference energy consumption (the current remaining energy of the target vehicle provided to the server by the vehicle terminal or terminal device) and is farthest from the current location of the target vehicle on the reference path. This endpoint can be considered the farthest possible destination that the target vehicle can reach on the reference path. For example, assuming the energy consumption of each segment on the reference path is C1, C2, ..., C... n Here, the subscript of the energy consumption is related to the distance between the road segment on the reference path and the current position of the target vehicle. The closer the road segment is to the current position of the target vehicle, the smaller the subscript of the energy consumption corresponding to the road segment. Assuming that the current remaining energy of the target vehicle (i.e., the reference energy consumption) is C, this embodiment of the application aims to find a value that satisfies C in this step. i < the largest subscript j of C, C j The endpoint of the corresponding road segment is the target endpoint of the reference path.

[0098] In this embodiment, the server can determine the corresponding target endpoint on each reference path. Furthermore, to further improve the accuracy of the determined target endpoint, this embodiment can also combine the driving characteristics of the target vehicle's driver to determine the energy consumption of each road segment on the reference path. That is, the server can use an energy consumption model to determine the energy consumption of each road segment on the reference path based on its road attributes and the driving characteristics of the target vehicle's driver.

[0099] Considering the strong correlation between the actual energy consumed by the target vehicle during its operation and the driving characteristics of the driver, this embodiment of the application can also combine the driving characteristics of the driver to determine the energy consumption of each road segment on the reference path. Specifically, the server can first obtain the driving characteristics of the driver of the target vehicle. For example, the server can obtain the driving characteristics of the target vehicle through the vehicle terminal and determine the driving characteristics of the driver, such as aggressive, moderate, etc. When determining the corresponding energy consumption for each road segment on the reference path, the server can construct a corresponding road attribute sequence based on the road attributes of each road segment (including the road segment itself) located between the current position of the target vehicle and the road segment on the reference path. The server then concatenates the road attribute sequence with the driving characteristics of the driver of the target vehicle to obtain the input data for the energy consumption model. Subsequently, the server can input the input data into the energy consumption model, which can analyze and process the input data to output the corresponding energy consumption of the road segment.

[0100] It should be understood that in practical applications, in addition to using energy consumption models to determine the farthest target destination that the target vehicle can reach on the reference path, the server can also use other methods to determine the target destination. This application does not impose any restrictions on the method of determining the target destination.

[0101] Step 205: Determine the target range of the target vehicle based on the target destination corresponding to each of the reference paths.

[0102] Once the server determines the target endpoints for each reference path, it can determine the target driving range of the target vehicle based on these endpoints. For example, the server can connect the target endpoints to obtain a closed-loop target driving range. This target driving range is the area that the target vehicle can reach based on its current remaining energy (the energy value obtained from the onboard terminal or terminal device, which can be the total remaining energy of the target vehicle or a portion of its current remaining energy).

[0103] After the server determines the target range of the target vehicle, it can send the rendering data related to the target range to the corresponding vehicle terminal or terminal device. The vehicle terminal or terminal device can then render and display the target range of the target vehicle on the display interface based on the rendering data, so that the driver of the target vehicle or the user of the navigation application can intuitively know the area that the target vehicle can reach based on its current remaining energy.

[0104] In one possible implementation, to avoid the final target range appearing as an unsightly jagged polygon due to disordered connection of target endpoints when determining the target range, this application proposes a method to connect target endpoints in a fixed order to obtain a more aesthetically pleasing target range. Specifically, for each target endpoint, the server can determine the line connecting the target endpoint to the current position of the target vehicle, and determine the angle between this line and a preset reference direction, which serves as the angle corresponding to the target endpoint. Then, the server can connect the target endpoints according to a preset range determination method, based on the angles corresponding to each target endpoint, thereby obtaining the target range of the target vehicle.

[0105] For example, the server can determine any fixed direction as a preset reference direction, such as the horizontal x-axis direction. For each target endpoint, the server can construct a line connecting the target vertex and the current position of the target vehicle, and determine the angle between the line and the preset reference direction as the angle corresponding to the target endpoint; it should be understood that the angle corresponding to the target endpoint can be determined within the angle range of -180° to +180°, or within the angle range of 0° to 360°.

[0106] After determining the included angles corresponding to each target endpoint, the target endpoints can be connected according to a preset range determination method, such as according to a preset angle change trend (e.g., from large to small, or from small to large). For example, the target endpoints can be connected according to the rule of the included angles corresponding to the target endpoints from small to large, thereby obtaining the corresponding target range.

[0107] In this way, by connecting the target endpoints in the prescribed direction using the above method, a relatively aesthetically pleasing target range will be obtained, which will further help the driver of the target vehicle or the user of the navigation application to intuitively understand the target range of the target vehicle.

[0108] In one possible implementation, in order to simplify the target range as much as possible and make the target range more intuitive for the viewer, the server can first perform thinning processing on each target endpoint based on the distribution location of each target endpoint before determining the target range according to the target endpoint corresponding to each reference path; then, based on the target endpoints retained after thinning processing, the target range of the target vehicle is determined.

[0109] Specifically, if multiple target endpoints are densely distributed in similar locations, the server can perform a thinning process on these target endpoints. For example, it can select one target endpoint located in a relatively central position and retain it, while deleting the others. Then, based on the target endpoints retained after the thinning process, the server can determine the target range of the target vehicle.

[0110] Thus, the above-mentioned thinning process avoids making the determined target range too complex, which could lead to a poor viewing experience. Furthermore, as mentioned in step 201 of this embodiment, when determining the reference destination selection range based on the initial destination selection range, invalid ranges within the initial destination selection range that pass through inaccessible areas can be removed, and the reference destination selection range is determined based on the remaining range within the initial destination selection range. In this case, if the server only determines the reference destination selection range based on the remaining range within the initial destination selection range, and does not consider the areas in the directions corresponding to invalid ranges during the selection of the reference destination and planning of the reference path, it is possible that the final target range determined based on the target destination may not include the current position of the target vehicle.

[0111] In this embodiment of the application, since the initial destination selection range determined based on the current position and current driving range of the target vehicle passes through the ocean area, when determining the reference destination selection range based on the initial destination selection range, the invalid range within the initial destination selection range that passes through the ocean area is discarded. That is, the reference destination selection range is determined only based on a portion of the arc of the initial destination selection range, and the target driving range is determined based on the reference destination selection range. Obviously, the determined target driving range does not include the current position of the target vehicle, and strictly speaking, the target driving range is inaccurate.

[0112] To address the aforementioned issues, in this embodiment of the application, the server can obtain the boundary of the unreachable area corresponding to the invalid range; then, based on the target endpoint corresponding to each reference path and the boundary of the unreachable area, the target range of the target vehicle can be determined.

[0113] In this embodiment, taking the unreachable area traversed by the initial endpoint selection range as an example of an ocean area, the server can construct a square frame with the target vehicle's current position as the center and twice the target vehicle's current range (i.e., the range determined based on the current remaining energy) as the side length, and obtain the coastline corresponding to the ocean area enclosed by the square frame. Furthermore, the server can determine the target range of the target vehicle based on the target endpoints corresponding to each reference path and the coastline. For example, for the target endpoints corresponding to each reference path, the server can connect the target endpoints in a preset direction to obtain an open target range boundary line. Then, the server can obtain a closed target range by correspondingly connecting the two endpoints of the target range boundary line and the two endpoints of the coastline. This target range includes the target vehicle's current position, making it more accurate and aesthetically pleasing.

[0114] When determining the range of a target vehicle using the above-described range determination method, firstly, based on the target vehicle's current location and remaining range, a range of reference endpoints is determined, and m (an integer greater than 1) reference endpoints are selected within this range. Then, based on the target vehicle's current location and the selected m reference endpoints, a reference path is determined for each of the m reference endpoints; this reference path is the path from the target vehicle's current location to the corresponding reference endpoint. Furthermore, for each reference path, based on the target vehicle's current remaining energy and the road attributes of the road segments along the reference path, the target endpoint that the target vehicle can reach on that reference path is determined, serving as the target endpoint for that reference path. Finally, based on the target endpoints corresponding to each reference path, the target range of the target vehicle in the form of a region is determined. Since the computational cost of pathfinding based on a clearly defined starting and ending point is far less than that of pathfinding by traversing the road network topology, compared to related technologies that determine the vehicle's reachable destination by traversing the road network topology, this embodiment of the application plans a reference path based on the target vehicle's current position and m reference endpoints, and then determines the target endpoint on the planned reference path. This significantly reduces the computational cost required to determine the driving range and improves the efficiency of driving range determination. Furthermore, when planning reference paths, this embodiment of the application can perform batch path planning based on multiple reference endpoints, increasing the concurrency of the pathfinding algorithm, which further reduces the computational cost and improves computational efficiency.

[0115] In response to the above-described method for determining the driving range, this application also provides a corresponding device for determining the driving range, so that the above-described method for determining the driving range can be applied and implemented in practice.

[0116] See Figure 5 , Figure 5 This is consistent with the above text Figure 2 The diagram shows a schematic of a range determination device 1100 corresponding to the range determination method illustrated. (See attached diagram.) Figure 5 As shown, the range determination device 1100 includes:

[0117] The endpoint selection range determination module 1101 is used to determine a reference endpoint selection range based on the current location of the target vehicle and the remaining range of the target vehicle; the remaining range is determined based on the current remaining energy of the target vehicle.

[0118] The reference endpoint selection module 1102 is used to select m reference endpoints within the reference endpoint selection range; where m is an integer greater than 1.

[0119] The path planning module 1103 is used to determine the reference path corresponding to each of the m reference endpoints based on the current position of the target vehicle and the m reference endpoints; the reference path is the path from the current position of the target vehicle to the corresponding reference endpoint.

[0120] The target destination determination module 1104 is used to determine, for each reference path, the target destination that the target vehicle can reach on the reference path based on the current remaining energy of the target vehicle and the road attributes of the road segments on the reference path, and use it as the target destination corresponding to the reference path.

[0121] The range determination module 1105 is used to determine the target range of the target vehicle based on the target destination corresponding to each of the reference paths.

[0122] Optionally, the path planning module 1103 is specifically used for:

[0123] Based on the current position and the m reference endpoints, a forward pathfinding graph corresponding to the m reference endpoints is determined. The forward pathfinding graph includes a forward pathfinding path obtained by traversing along the direction from the current position to the reference endpoint.

[0124] Based on the current position and the m reference endpoints, a backward pathfinding map corresponding to the m reference endpoints is determined. The backward pathfinding map includes backward pathfinding paths obtained by traversing along the direction from the reference endpoints to the current position. In the process of determining the backward pathfinding map, according to the positional relationship between the backward pathfinding paths corresponding to each of the m reference endpoints, at least two backward pathfinding paths whose positional relationship satisfies the merging condition are merged.

[0125] Based on the forward and backward routing maps corresponding to the m reference endpoints, determine the reference path corresponding to each of the m reference endpoints.

[0126] Optionally, the path planning module 1103 is specifically used for:

[0127] In the process of determining the backward path map, if there are at least two backward path paths that intersect in the backward path paths corresponding to each of the m reference endpoints, then the at least two backward path paths are merged starting from the intersection point of the at least two backward path paths; the merging process is used to find a path along the direction from the intersection point to the current position to obtain the merged backward path.

[0128] Optionally, the endpoint selection range determination module 1101 is specifically used for:

[0129] On the map, draw a circle with the current position of the target vehicle as the center and the reference driving range of the target vehicle as the radius to obtain the initial destination selection range; the reference driving range corresponds to the reference energy consumption, and the reference energy consumption is less than or equal to the total remaining energy of the target vehicle.

[0130] The reference endpoint selection range is determined based on the initial endpoint selection range.

[0131] Optionally, the endpoint selection range determination module 1101 is specifically used for:

[0132] Determine whether the initial destination selection range includes invalid ranges that pass through unreachable areas;

[0133] If so, the reference endpoint selection range is determined based on the remaining range excluding the invalid range in the initial endpoint selection range.

[0134] Optionally, if the initial destination selection range includes the invalid range, the range determination module 1105 is specifically used for:

[0135] Obtain the boundary of the unreachable region corresponding to the invalid range;

[0136] The target range of the target vehicle is determined based on the target endpoint corresponding to each of the reference paths and the boundary of the inaccessible area.

[0137] Optionally, the endpoint selection range determination module 1101 is specifically used for:

[0138] The initial endpoint selection range is broken down to obtain multiple sub-initial endpoint selection ranges;

[0139] For each sub-initial endpoint selection range, a path selection area corresponding to the sub-initial endpoint selection range is determined based on the current position of the target vehicle and the sub-initial endpoint selection range; the sub-initial endpoint selection range is adjusted according to the road type of the roads included in the path selection area to obtain a sub-reference endpoint selection range corresponding to the sub-initial endpoint selection range.

[0140] The reference endpoint selection range is determined based on the corresponding sub-reference endpoint selection range for each of the sub-initial endpoint selection ranges.

[0141] Optionally, the reference endpoint selection module 1102 is specifically used for:

[0142] According to the preset sampling rules, m reference endpoints are sampled within the range of the selected reference endpoints;

[0143] Alternatively, within the range of reference endpoints, select the m reference endpoints whose access popularity meets the preset access conditions;

[0144] Alternatively, within the range of reference endpoint selection, select the m reference endpoints that match the travel characteristics of the driver of the target vehicle.

[0145] Optionally, the target endpoint determination module 1104 is specifically used for:

[0146] The energy consumption model determines the energy consumption of each road segment on the reference path based on its respective road attributes. The energy consumption of each road segment is used to characterize the energy required for the target vehicle to travel from its current position to the end of the road segment on the reference path.

[0147] The endpoint of the road segment on the reference path that corresponds to an energy consumption less than or equal to a reference energy consumption and is farthest from the current position is determined as the target endpoint that the target vehicle can reach on the reference path; the reference energy consumption is less than or equal to all the remaining energy of the target vehicle.

[0148] Optionally, the target endpoint determination module 1104 is specifically used for:

[0149] The energy consumption model determines the energy consumption of each road segment on the reference path based on its road attributes and the driving characteristics of the target vehicle.

[0150] Optionally, the range determination module 1105 is specifically used for:

[0151] For each target endpoint, a line connecting the target endpoint and the current position of the target vehicle is determined, and the angle between the line and a preset reference direction is determined as the angle corresponding to the target endpoint.

[0152] According to a preset range determination method, based on the included angles corresponding to each of the target endpoints, the target range of the target vehicle is obtained by connecting each of the target endpoints.

[0153] Optionally, the range determination module 1105 is specifically used for:

[0154] Based on the distribution location of each target endpoint, the target endpoints are thinned out.

[0155] The target driving range of the target vehicle is determined based on the target endpoint retained after thinning.

[0156] When determining the range of a target vehicle using the aforementioned range determination device, the process first involves determining a range of reference endpoints based on the target vehicle's current location and remaining range, and then selecting m (an integer greater than 1) reference endpoints within this range. Next, based on the target vehicle's current location and the selected m reference endpoints, a reference path is determined for each of the m reference endpoints. This reference path is the path from the target vehicle's current location to the corresponding reference endpoint. Furthermore, for each reference path, based on the target vehicle's current remaining energy and the road attributes of the road segments along the reference path, a target endpoint that the target vehicle can reach on that reference path is determined, which is then used as the target endpoint for that reference path. Finally, based on the target endpoints corresponding to each reference path, the target range of the target vehicle in the form of a region is determined. Since the computational cost of pathfinding based on a clearly defined starting and ending point is far less than that of pathfinding by traversing the road network topology, compared to related technologies that determine the vehicle's reachable destination by traversing the road network topology, this embodiment of the application plans a reference path based on the target vehicle's current position and m reference endpoints, and then determines the target endpoint on the planned reference path. This significantly reduces the computational cost required to determine the driving range and improves the efficiency of driving range determination. Furthermore, when planning reference paths, this embodiment of the application can perform batch path planning based on multiple reference endpoints, increasing the concurrency of the pathfinding algorithm, which further reduces the computational cost and improves computational efficiency.

[0157] This application also provides a computer device for determining battery life. This computer device may specifically be a terminal device or a server. The terminal device and server provided in this application will be described below from the perspective of hardware implementation.

[0158] See Figure 6 , Figure 6 This is a schematic diagram of the structure of the terminal device provided in the embodiments of this application. For example... Figure 6 As shown, for ease of explanation, only the parts related to the embodiments of this application are shown. For specific technical details not disclosed, please refer to the method section of the embodiments of this application. The terminal can be any terminal device including mobile phones, tablets, personal digital assistants (PDAs), point-of-sale (POS) terminals, in-vehicle computers, etc. Taking an in-vehicle terminal as an example:

[0159] Figure 6 This diagram illustrates a partial structure of an in-vehicle terminal related to the terminal provided in the embodiments of this application. (Reference) Figure 6 The vehicle-mounted terminal includes: a radio frequency (RF) circuit 1210, a memory 1220, an input unit 1230 (including a touch panel 1231 and other input devices 1232), a display unit 1240 (including a display panel 1241), a sensor 1250, an audio circuit 1260 (which can connect to a speaker 1261 and a microphone 1262), a wireless fidelity (WiFi) module 1270, a processor 1280, and a power supply 1290, etc. Those skilled in the art will understand that... Figure 6 The vehicle terminal structure shown does not constitute a limitation on the vehicle terminal and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0160] The memory 1220 can be used to store software programs and modules. The processor 1280 executes various functional applications and data processing of the vehicle terminal by running the software programs and modules stored in the memory 1220. The memory 1220 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, application programs required for at least one function (such as sound playback function, image playback function, etc.), etc.; the data storage area may store data created according to the use of the vehicle terminal (such as audio data, phone book, etc.). In addition, the memory 1220 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0161] The processor 1280 is the control center of the vehicle-mounted terminal. It connects various parts of the terminal via interfaces and lines, and performs various functions and processes data by running or executing software programs and / or modules stored in the memory 1220 and calling data stored in the memory 1220. Optionally, the processor 1280 may include one or more processing units; preferably, the processor 1280 may integrate an application processor and a modem processor, wherein the application processor mainly handles the operating system, user interface, and applications, and the modem processor mainly handles wireless communication. It is understood that the modem processor may not be integrated into the processor 1280.

[0162] In this embodiment of the application, the processor 1280 included in the terminal is also used to execute the steps of any implementation of the battery range determination method provided in this embodiment of the application.

[0163] See Figure 7 , Figure 7 This is a schematic diagram of the structure of a server 1300 provided in an embodiment of this application. The server 1300 can vary significantly due to different configurations or performance, and may include one or more central processing units (CPUs) 1322 (e.g., one or more processors) and memory 1332, and one or more storage media 1330 (e.g., one or more mass storage devices) for storing application programs 1342 or data 1344. The memory 1332 and storage media 1330 can be temporary or persistent storage. The program stored in the storage media 1330 may include one or more modules (not shown in the diagram), each module including a series of instruction operations on the server. Furthermore, the CPU 1322 may be configured to communicate with the storage media 1330 and execute the series of instruction operations stored in the storage media 1330 on the server 1300.

[0164] Server 1300 may also include one or more power supplies 1326, one or more wired or wireless network interfaces 1350, one or more input / output interfaces 1358, and / or one or more operating systems, such as Windows Server. TM Mac OS X TM Unix TM Linux TM FreeBSD TM etc.

[0165] The steps performed by the server in the above embodiments can be based on this Figure 7 The server structure shown.

[0166] The CPU 1322 is used to execute the steps of any implementation of the battery range determination method provided in the embodiments of this application.

[0167] This application also provides a computer-readable storage medium for storing a computer program that executes any one of the implementation methods for determining battery range described in the foregoing embodiments.

[0168] This application also provides a computer program product or computer program that includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform any of the implementation methods for determining battery range described in the foregoing embodiments.

[0169] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0170] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection between apparatuses or units through some interfaces, and may be electrical, mechanical, or other forms.

[0171] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0172] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0173] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing computer programs, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0174] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0175] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A method for determining battery range, characterized in that, The method includes: The reference destination selection range is determined based on the target vehicle's current location and its remaining range; the remaining range is determined based on the target vehicle's current remaining energy. Select m reference endpoints from the range of reference endpoints; where m is an integer greater than 1. Based on the current position and the m reference endpoints, a forward pathfinding graph corresponding to the m reference endpoints is determined. The forward pathfinding graph includes a forward pathfinding path obtained by traversing along the direction from the current position to the reference endpoint. Based on the current position and the m reference endpoints, a backward pathfinding map corresponding to the m reference endpoints is determined. The backward pathfinding map includes backward pathfinding paths obtained by traversing along the direction from the reference endpoints to the current position. In the process of determining the backward pathfinding map, according to the positional relationship between the backward pathfinding paths corresponding to each of the m reference endpoints, at least two backward pathfinding paths whose positional relationship satisfies the merging condition are merged. Based on the forward and backward routing maps corresponding to the m reference endpoints, a reference path is determined for each of the m reference endpoints; the reference path is the path from the current position of the target vehicle to the corresponding reference endpoint. For each reference path, based on the energy consumption model, the current remaining energy of the target vehicle, and the road attributes of the road segments on the reference path, the farthest target destination that the target vehicle can reach on the reference path is determined, which is used as the target destination corresponding to the reference path. The target range of the target vehicle is determined based on the target destination corresponding to each of the reference paths. The selection of m reference endpoints within the range of reference endpoint selection includes any of the following: According to the preset sampling rules, m reference endpoints are sampled within the range of the selected reference endpoints; Within the range of reference endpoints, select m reference endpoints whose access popularity meets the preset access conditions; Within the range of reference endpoint selection, select m reference endpoints that match the travel characteristics of the driver of the target vehicle.

2. The method according to claim 1, characterized in that, In the process of determining the backward pathfinding map, based on the positional relationship between the backward pathfinding paths corresponding to the m reference endpoints, at least two backward pathfinding paths whose positional relationship satisfies the merging condition are merged, including: In the process of determining the backward path map, if there are at least two backward path paths that intersect in the backward path paths corresponding to each of the m reference endpoints, then the at least two backward path paths are merged starting from the intersection point of the at least two backward path paths; the merging process is used to find a path along the direction from the intersection point to the current position to obtain the merged backward path.

3. The method according to claim 1, characterized in that, The step of determining the reference destination selection range based on the target vehicle's current location and its remaining range includes: On the map, draw a circle with the current position of the target vehicle as the center and the reference driving range of the target vehicle as the radius to obtain the initial destination selection range; the reference driving range corresponds to the reference energy consumption, and the reference energy consumption is less than or equal to the total remaining energy of the target vehicle. The reference endpoint selection range is determined based on the initial endpoint selection range.

4. The method according to claim 3, characterized in that, Determining the reference endpoint selection range based on the initial endpoint selection range includes: Determine whether the initial destination selection range includes invalid ranges that pass through unreachable areas; If so, the reference endpoint selection range is determined based on the remaining range excluding the invalid range in the initial endpoint selection range.

5. The method according to claim 4, characterized in that, If the initial destination selection range includes the invalid range, determining the target range of the target vehicle based on the target destination corresponding to each of the reference paths includes: Obtain the boundary of the unreachable region corresponding to the invalid range; The target range of the target vehicle is determined based on the target endpoint corresponding to each of the reference paths and the boundary of the inaccessible area.

6. The method according to claim 3 or 4, characterized in that, Determining the reference endpoint selection range based on the initial endpoint selection range includes: The initial endpoint selection range is broken down to obtain multiple sub-initial endpoint selection ranges; For each sub-initial endpoint selection range, a path selection area corresponding to the sub-initial endpoint selection range is determined based on the current position of the target vehicle and the sub-initial endpoint selection range; the sub-initial endpoint selection range is adjusted according to the road type of the roads included in the path selection area to obtain a sub-reference endpoint selection range corresponding to the sub-initial endpoint selection range. The reference endpoint selection range is determined based on the corresponding sub-reference endpoint selection range for each of the sub-initial endpoint selection ranges.

7. The method according to claim 1 or 3, characterized in that, The step of determining the target destination that the target vehicle can reach on the reference path based on the target vehicle's current remaining energy and the road attributes of the road segments on the reference path includes: The energy consumption model determines the energy consumption of each road segment on the reference path based on its respective road attributes. The energy consumption of each road segment is used to characterize the energy required for the target vehicle to travel from its current position to the end of the road segment on the reference path. The endpoint of the road segment on the reference path that corresponds to an energy consumption less than or equal to a reference energy consumption and is farthest from the current position is determined as the target endpoint that the target vehicle can reach on the reference path; the reference energy consumption is less than or equal to all the remaining energy of the target vehicle.

8. The method according to claim 7, characterized in that, The step of determining the energy consumption of each segment on the reference path based on its road attributes using an energy consumption model includes: The energy consumption model determines the energy consumption of each road segment on the reference path based on its road attributes and the driving characteristics of the target vehicle.

9. The method according to claim 1, characterized in that, Determining the target range of the target vehicle based on the target endpoint corresponding to each of the reference paths includes: For each target endpoint, a line connecting the target endpoint and the current position of the target vehicle is determined, and the angle between the line and a preset reference direction is determined as the angle corresponding to the target endpoint. According to a preset range determination method, based on the included angles corresponding to each of the target endpoints, the target range of the target vehicle is obtained by connecting each of the target endpoints.

10. The method according to claim 1, characterized in that, Determining the target range of the target vehicle based on the target endpoint corresponding to each of the reference paths includes: Based on the distribution location of each target endpoint, the target endpoints are thinned out. The target driving range of the target vehicle is determined based on the target endpoint retained after thinning.

11. A device for determining the range of driving conditions, characterized in that, The device includes: The destination selection range determination module is used to determine a reference destination selection range based on the current location of the target vehicle and the remaining driving range of the target vehicle; the remaining driving range is determined based on the current remaining energy of the target vehicle. A reference endpoint selection module is used to select m reference endpoints within the reference endpoint selection range; where m is an integer greater than 1. The path planning module is used to determine the reference path corresponding to each of the m reference endpoints based on the current position of the target vehicle and the m reference endpoints; the reference path is the path from the current position of the target vehicle to the corresponding reference endpoint. The target endpoint determination module is used to determine the farthest target endpoint that the target vehicle can reach on the reference path for each reference path, based on the energy consumption model, the current remaining energy of the target vehicle, and the road attributes of the road segments on the reference path, and to use this as the target endpoint corresponding to the reference path. The range determination module is used to determine the target range of the target vehicle based on the target destination corresponding to each of the reference paths. The path planning module is specifically used for: Based on the current position and the m reference endpoints, a forward pathfinding graph corresponding to the m reference endpoints is determined. The forward pathfinding graph includes a forward pathfinding path obtained by traversing along the direction from the current position to the reference endpoint. Based on the current position and the m reference endpoints, a backward pathfinding map corresponding to the m reference endpoints is determined. The backward pathfinding map includes backward pathfinding paths obtained by traversing along the direction from the reference endpoints to the current position. In the process of determining the backward pathfinding map, according to the positional relationship between the backward pathfinding paths corresponding to each of the m reference endpoints, at least two backward pathfinding paths whose positional relationship satisfies the merging condition are merged. Based on the forward and backward routing maps corresponding to the m reference endpoints, determine the reference path corresponding to each of the m reference endpoints; The reference endpoint selection module is specifically used for: According to the preset sampling rules, m reference endpoints are sampled within the range of the selected reference endpoints; Alternatively, within the range of reference endpoints, select the m reference endpoints whose access popularity meets the preset access conditions; Alternatively, within the range of reference endpoint selection, select the m reference endpoints that match the travel characteristics of the driver of the target vehicle.

12. The apparatus according to claim 11, characterized in that, The path planning module is specifically used for: In the process of determining the backward path map, if there are at least two backward path paths that intersect in the backward path paths corresponding to each of the m reference endpoints, then the at least two backward path paths are merged starting from the intersection point of the at least two backward path paths; the merging process is used to find a path along the direction from the intersection point to the current position to obtain the merged backward path.

13. The apparatus according to claim 11, characterized in that, The endpoint selection range determination module is specifically used for: On the map, draw a circle with the current position of the target vehicle as the center and the reference driving range of the target vehicle as the radius to obtain the initial destination selection range; the reference driving range corresponds to the reference energy consumption, and the reference energy consumption is less than or equal to the total remaining energy of the target vehicle. The reference endpoint selection range is determined based on the initial endpoint selection range.

14. The apparatus according to claim 13, characterized in that, The endpoint selection range determination module is specifically used for: Determine whether the initial destination selection range includes invalid ranges that pass through unreachable areas; If so, the reference endpoint selection range is determined based on the remaining range excluding the invalid range in the initial endpoint selection range.

15. The apparatus according to claim 14, characterized in that, When the initial destination selection range includes the invalid range, the range determination module is specifically used for: Obtain the boundary of the unreachable region corresponding to the invalid range; The target range of the target vehicle is determined based on the target endpoint corresponding to each of the reference paths and the boundary of the inaccessible area.

16. The apparatus according to claim 13 or 14, characterized in that, The endpoint selection range determination module is specifically used for: The initial endpoint selection range is broken down to obtain multiple sub-initial endpoint selection ranges; For each sub-initial endpoint selection range, a path selection area corresponding to the sub-initial endpoint selection range is determined based on the current position of the target vehicle and the sub-initial endpoint selection range; the sub-initial endpoint selection range is adjusted according to the road type of the roads included in the path selection area to obtain a sub-reference endpoint selection range corresponding to the sub-initial endpoint selection range. The reference endpoint selection range is determined based on the corresponding sub-reference endpoint selection range for each of the sub-initial endpoint selection ranges.

17. The apparatus according to claim 11 or 13, characterized in that, The target endpoint determination module is specifically used for: The energy consumption model determines the energy consumption of each road segment on the reference path based on its respective road attributes. The energy consumption of each road segment is used to characterize the energy required for the target vehicle to travel from its current position to the end of the road segment on the reference path. The endpoint of the road segment whose corresponding energy consumption is less than or equal to the reference energy consumption and is farthest from the current position on the reference path is determined as the target endpoint that the target vehicle can reach on the reference path. The reference energy consumption is less than or equal to the total remaining energy of the target vehicle.

18. The apparatus according to claim 17, characterized in that, The target endpoint determination module is specifically used for: The energy consumption model determines the energy consumption of each road segment on the reference path based on its road attributes and the driving characteristics of the target vehicle.

19. The apparatus according to claim 11, characterized in that, The battery range determination module is specifically used for: For each target endpoint, a line connecting the target endpoint and the current position of the target vehicle is determined, and the angle between the line and a preset reference direction is determined as the angle corresponding to the target endpoint. According to a preset range determination method, based on the included angles corresponding to each of the target endpoints, the target range of the target vehicle is obtained by connecting each of the target endpoints.

20. The apparatus according to claim 11, characterized in that, The battery range determination module is specifically used for: Based on the distribution location of each target endpoint, the target endpoints are thinned out. The target driving range of the target vehicle is determined based on the target endpoint retained after thinning.

21. A computer device, characterized in that, The device includes a processor and a memory; The memory is used to store computer programs; The processor is configured to execute the range determination method according to any one of claims 1 to 10 according to the computer program.

22. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store a computer program for executing the range determination method according to any one of claims 1 to 10.

23. A computer program product, comprising a computer program or instructions, characterized in that, When the computer program or the instructions are executed by the processor, the method for determining the battery range as described in any one of claims 1 to 10 is implemented.

Images