Path planning method and device, electronic equipment and storage medium

Abstract

The invention is suitable for the technical field of new energy vehicle charging, and provides a path planning method and device, electronic equipment and a storage medium, and the path planning method comprises the steps: obtaining the position of a vehicle; according to the position of the vehicle, obtaining fused road network data within a preset range of the position of the vehicle, the fused road network data being obtained by fusing road network data within the preset range and one or more energy supplement resource points within the preset range, and the fused road network data comprising at least one first driving path, any one first driving path corresponds to at least one energy supplementing resource point; and determining a target driving path for the vehicle from the at least one first driving path according to the endurance mileage of the vehicle. According to the scheme, the problem that in the prior art, data updating is not timely is solved by obtaining the road network data, dynamic planning is conducted by fusing the driving path and the charging resources, and the problem that the vehicle cannot reach the destination due to the fact that the charging resources matched with the driving path are limited is solved.

Description

Technical Field

[0001] The present application belongs to the field of new energy vehicle charging technology, and in particular, relates to a path planning method, device, electronic device and storage medium. Background Art

[0002] New energy vehicles have limited range, and reasonable route planning can ensure that the vehicle can find charging facilities before the battery runs out, avoiding driving interruptions due to insufficient power. In the current existing technology, there are usually two ways to implement route planning: one is that the map provider provides the driving route, the car company provides its own charging resource data, and displays and selects charging points based on the map provider's route; the other is that the car company directly synchronizes its own charging resource data to the map provider, and the map provider provides customized energy replenishment route planning services. However, these two methods have problems such as untimely data updates and limited charging resources matched to the driving route, resulting in the vehicle being unable to reach the destination. Summary of the invention

[0003] The embodiments of the present application provide a path planning method, device, electronic device and storage medium, which can solve the problems existing in the prior art of untimely data update and limited charging resources matched to the driving route, resulting in the vehicle being unable to reach the destination.

[0004] A first aspect of an embodiment of the present application provides a path planning method, the method comprising: obtaining a location of a vehicle; based on the location of the vehicle, obtaining fused road network data within a preset range of the location of the vehicle, the fused road network data being obtained by fusing the road network data within the preset range and one or more energy replenishment resource points within the preset range, the fused road network data comprising at least one first driving path, the at least one first driving path corresponding to at least one energy replenishment resource point; based on the cruising range of the vehicle, determining a target driving path for the vehicle from the at least one second driving path.

[0005] In a possible implementation, acquiring, according to the position of the vehicle, fused road network data within a preset range of the position of the vehicle includes: acquiring road network data within a preset range of the position of the vehicle and the one or more energy replenishment resource points within the preset range, the road network data including a plurality of first road nodes and a plurality of second driving paths formed by the plurality of the first road nodes;

[0006] The fused road network data is obtained according to the one or more energy replenishment resource points and the plurality of second driving paths.

[0007] In a possible implementation, the fused road network data is obtained based on the one or more energy replenishment resource points and the multiple second driving paths, including: determining at least one of the first driving paths based on the multiple energy replenishment resource points and the multiple second driving paths, the first driving path being obtained by merging the energy replenishment resource point with the corresponding second driving path, or the starting point of the first driving path is the energy replenishment resource point; updating the road network data based on the at least one first driving path to obtain the fused road network data.

[0008] In a possible implementation, the method provided in the embodiment of the present application may also include: determining at least one second driving path (also referred to as a first target driving path) corresponding to any energy replenishment resource point from multiple second driving paths, and the distance between the first target driving path corresponding to any energy replenishment resource point and the energy replenishment resource point is less than or equal to a preset distance threshold.

[0009] According to the distance between each energy replenishment resource point and each of the first target driving paths determined above, a first energy replenishment resource point and / or a second energy replenishment resource point corresponding to any first target driving path are determined from multiple energy replenishment resource points, wherein the first energy replenishment resource point is an energy replenishment resource point among the multiple energy replenishment resource points, except for any of the energy replenishment resource points, and the distance between the first target driving path corresponding to any of the energy replenishment resource points is less than or equal to a first distance threshold; the second energy replenishment resource point is an energy replenishment resource point among the multiple energy replenishment resource points, except for any of the energy replenishment resource points, and the distance between the first target driving path corresponding to any of the energy replenishment resource points is greater than or equal to a second distance threshold.

[0010] In a possible implementation, determining the at least one first driving path according to the plurality of energy replenishment resource points and the plurality of second driving paths includes:

[0011] Determine, according to the distance between each of the energy replenishment resource points and the plurality of the second driving paths, at least one of the second driving paths corresponding to each of the energy replenishment resource points, wherein the distance between any of the energy replenishment resource points and the corresponding second driving path is less than or equal to a preset distance threshold;

[0012] The first energy replenishment resource point among the multiple energy replenishment resource points is integrated into the target second driving path to obtain the first driving path, the target second driving path is one of the at least one second driving paths corresponding to any of the energy replenishment resource points, the first energy replenishment resource point includes any of the energy replenishment resource points and one of the multiple energy replenishment resource points, except any of the energy replenishment resource points, whose distance from the target second driving path is less than or equal to a first distance threshold; and / or, a driving path is determined as the first driving path with the second energy replenishment resource point among the multiple energy replenishment resource points as the path starting point; the second energy replenishment resource point is the energy replenishment resource point among the multiple energy replenishment resource points, whose distance from the second driving path corresponding to any of the energy replenishment resource points is greater than the first distance threshold.

[0013] In a possible implementation, a first energy replenishment resource point among the multiple energy replenishment resource points is integrated into a target second driving path to obtain the first driving path, including: for any target second driving path corresponding to the first energy replenishment resource point, the first energy replenishment resource point is integrated into the target second driving path as a second road node to obtain the first driving path corresponding to the first energy replenishment resource point; the road network data is updated according to the at least one first driving path to obtain the integrated road network data, including: according to the first driving path corresponding to each of the first energy replenishment resource points and other second driving paths among the multiple second driving paths except the target second driving path corresponding to each of the first energy replenishment resource points, the road network data is updated to obtain the integrated road network data.

[0014] In a possible implementation, a first energy replenishment resource point among the multiple energy replenishment resource points is integrated into a target second driving path to obtain the first driving path, including: taking the target second driving path corresponding to the first energy replenishment resource point as the first driving path; recording the intersection information of the first energy replenishment resource point and the first driving path corresponding to the first energy replenishment resource point in the attribute information of the first energy replenishment resource point to update the attribute information of the first energy replenishment resource point, the intersection information including the intersection position of the first energy replenishment resource point and the corresponding first driving path and the number of the first driving path; updating the road network data according to the at least one first driving path to obtain the fused road network data, including: obtaining the fused road network data according to the updated attribute information of the first energy replenishment resource point and the road network data.

[0015] In one possible implementation, a driving path is determined as the first driving path with a second charging resource point among the multiple charging resource points as the path starting point, including: obtaining a target area corresponding to the second charging resource point; if there is a target charging resource point in the target area that has been updated to the fused road network data, the target charging resource point is determined as the path end point to obtain the first driving path; if there is no target charging resource point in the target area, the starting point of the second driving path closest to the second charging resource point in the target area of ​​the second charging resource point is determined as the path end point, and the first driving path is determined based on the path starting point and the path end point.

[0016] In one possible implementation, obtaining the target area corresponding to the second charging resource point includes: constructing a first circular area with a first radius and a second circular area with a second radius with the second length, taking the second charging resource point as the center; dividing the non-overlapping areas of the first circular area and the second circular area into multiple sector-shaped areas, and determining the multiple sector-shaped areas as the target area.

[0017] In one possible implementation, determining a target driving path for the vehicle from the at least one first driving path based on the cruising range of the vehicle includes: determining at least one candidate driving path from the at least one first driving path based on the cruising range of the driving vehicle; and selecting the target driving path from the at least one candidate driving path based on the cruising range of the driving vehicle and the charging resource points in each of the candidate driving paths.

[0018] In a possible implementation, for the second energy replenishment resource point, the first driving path determined with the second energy replenishment resource point as the path starting point is updated to the road network data to obtain the fused road network data, including: dividing the first driving path into multiple sub-paths based on the road name and road type as unique identifiers; if there is a second driving path in the road network data that overlaps with any of the sub-paths, retaining the second driving path and discarding the sub-path that overlaps with the second driving path; if there is no second driving path in the road network data that overlaps with any of the sub-paths, updating the first driving path to the road network data to obtain the fused road network data.

[0019] In a possible implementation, both the first driving path and the second driving path are obtained through map-based path planning.

[0020] A second aspect of an embodiment of the present application provides a path planning device, the device comprising:

[0021] The first acquisition module is used to acquire the location of the vehicle; the second acquisition module is used to acquire fused road network data within a preset range of the location of the vehicle according to the location of the vehicle, the fused road network data is obtained by fusing the road network data within the preset range and one or more energy replenishment resource points within the preset range, the fused road network data includes at least one first driving path, and the at least one first driving path corresponds to at least one energy replenishment resource point; the planning module is used to determine a target driving path for the vehicle from the at least one second driving path according to the cruising range of the vehicle.

[0022] A third aspect of an embodiment of the present application provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method described in the first aspect when executing the computer program.

[0023] A fourth aspect of an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described in the first aspect is implemented.

[0024] A fifth aspect of the embodiments of the present application provides a computer program product. When the computer program product is run on an electronic device, the electronic device executes the method described in the first aspect.

[0025] Compared with the prior art, the embodiments of the present application have the following beneficial effects: the embodiments of the present application obtain the fused road network data within a preset range of the vehicle's location as the basic data for path planning. Since the fused road network data is obtained by fusing the road network data and the energy replenishment resource points within the preset range, path planning based on the vehicle's cruising range and the fused road network data can enable the vehicle to reach the destination within the vehicle's cruising range along the energy replenishment resource points on the target driving path when traveling along the target driving path, so as to solve the problem in the prior art that the vehicle cannot reach the destination due to limited charging resources matched to the driving path. In addition, due to the characteristic of rapid data update of the road network data, the problem of untimely data update in the prior art can be solved. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0027] Figure 1It is a flowchart of a path planning method provided in Example 1 of the present application;

[0028] Figure 2 It is a schematic diagram of the first method of integrating charging resource points and paths;

[0029] Figure 3 This is a schematic diagram of the second method of integrating charging resource points and paths;

[0030] Figure 4 It is a schematic diagram of path acquisition;

[0031] Figure 5 is a schematic diagram of dividing the second driving path;

[0032] Figure 6 It is a structural schematic diagram of a path planning device provided in Embodiment 2 of the present application;

[0033] Figure 7 is a schematic diagram of the structure of an electronic device provided in Embodiment 3 of the present application; DETAILED DESCRIPTION

[0034] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0035] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0036] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0037] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0038] It should be understood that the size of the serial numbers of the steps in this embodiment does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application.

[0039] New energy vehicles have limited range, and reasonable route planning can ensure that the vehicle can find charging facilities before the battery runs out, avoiding driving interruptions due to insufficient power. In the current existing technology, there are usually two ways to implement route planning: one is that the map provider provides the driving route, the car company provides its own charging resource data, and displays and selects charging points based on the map provider's route; the other is that the car company synchronizes its own charging resource data to the map provider, and the map provider provides customized energy replenishment route planning services. However, these two methods may have the following problems: data updates are not timely, and / or the charging resources matched to the driving route are limited, resulting in the vehicle being unable to reach the destination.

[0040] In order to solve the above problems, an embodiment of the present application provides a path planning method. During the implementation of the method, the fused road network data within a preset range of the vehicle's location is obtained as the basic data for path planning. Since the fused road network data is obtained by fusing the road network data and the energy replenishment resource points within the preset range. Therefore, path planning is performed based on the vehicle's cruising range and the fused road network data. When the vehicle travels along the target driving path, the energy replenishment resource points along the target driving path can reach the destination within the vehicle's cruising range, so as to solve the problem in the prior art that the vehicle cannot reach the destination due to limited charging resources matched to the driving path. In addition, due to the characteristic of rapid data update of the road network data, the problem of untimely data update in the prior art can be solved.

[0041] An embodiment of the present application provides a path planning system, wherein the path planning system includes a first electronic device, and / or a second electronic device. The first electronic device and / or the second electronic device has a path planning function, for example, the first electronic device and / or the second electronic device may have an APP for path planning. For example, the second electronic device may be a vehicle or an in-vehicle smart device (such as an in-vehicle navigation, an in-vehicle robot, etc.). The first electronic device and / or the second electronic device may be used to execute one of the following path planning methods. The first electronic device may be a mobile phone, a smart bracelet, a smart watch, a tablet computer, a server, or other devices.

[0042] As an example, the first electronic device or the second electronic device may also have a fusion function, such as fusing the road network data within a preset range with a plurality of energy replenishment resource points to obtain fused road network data.

[0043] In an embodiment of the present application, one of the first electronic device and the second electronic device can perform path planning, and the other electronic device can perform road network data fusion. Assuming that the second electronic device performs one of the following path planning methods, the second electronic device can obtain fused road network data from the first electronic device. Or the second electronic device performs data fusion and path planning. Of course, in the actual process, road network data fusion and path planning can also be performed by the same electronic device. For example, the second electronic device performs one of the following path planning methods and road network data fusion.

[0044] In order to illustrate the technical solution of the present application, specific embodiments are provided below.

[0045] Reference Figure 1 , shows a schematic diagram of a process flow of a path planning method provided in Example 1 of the present application. Figure 1 As shown, the path planning method can be executed by a path planning device. The path planning device can be an electronic device, or a device deployed in an electronic device (such as a chip), etc. The following is an example of an electronic device as the execution subject of the method, and the method includes the following steps:

[0046] Step 101: The electronic device obtains the location of the vehicle.

[0047] As an example, the electronic device in the embodiment of the present application can be the above-mentioned second electronic device, such as a vehicle, or a vehicle-mounted smart device (such as a vehicle-mounted navigation), or a control device in the vehicle, or it can be a first electronic device, such as a mobile phone, a watch, a smart bracelet, and other devices with a path planning function, or it can be a server, for example, the server can be an application server corresponding to a navigation APP installed on a mobile phone or a vehicle.

[0048] For example, taking the electronic device as a vehicle or an on-board smart device, or a control device in the vehicle as an example, the location of the vehicle can be obtained through GPS (or other positioning systems), etc. Of course, the location of the vehicle can also be input by the user in the vehicle or the on-board smart device, or the control device in the vehicle.

[0049] For example, taking the electronic device as a mobile phone, a watch, or a smart bracelet as an example, the mobile phone, the watch, or the smart bracelet can obtain the location of the vehicle through GPS, or obtain the location of the vehicle by interacting with the vehicle, or the location of the vehicle can also be input by the user. The embodiments of the present application do not limit this.

[0050] Optionally, the electronic device can also obtain the destination location corresponding to the vehicle to perform route planning.

[0051] Step 102: The electronic device obtains fused road network data within a preset range of the vehicle's location based on the vehicle's location.

[0052] The fused road network data is obtained by fusion of the road network data within a preset range and the energy replenishment resource points within the preset range. The fused road network data includes at least one first driving path, and any first driving path corresponds to at least one energy replenishment resource point.

[0053] Among them, any first driving path corresponds to at least one energy replenishment resource point, which may mean: any first driving path is integrated with at least one energy replenishment resource point, that is, at least one energy replenishment resource point serves as a road node in the first driving path, or the starting path of the first driving path is one of the at least one energy replenishment resource points, or the attribute information of the energy replenishment resource point includes information of the first driving path corresponding to the energy replenishment resource point.

[0054] The preset range of the vehicle may refer to a specific geographical area centered on the current position of the vehicle, such as a circular area with a radius of a fixed distance. The present application does not specifically limit the shape of the area and the size of the preset range.

[0055] As an example, the vehicle in the embodiment of the present application may be a vehicle that is currently traveling. Of course, the vehicle may also be in a non-travel state. If the vehicle is a vehicle that is currently traveling or a vehicle that is currently not traveling, it can be understood that the fused road network data will also change as the position of the vehicle changes. For example, if the vehicle is currently traveling at position A, then the fused road network data is a specific geographical area centered on position A. When the vehicle is traveling at position B, then the fused data is a specific geographical area centered on position B.

[0056] The road network data refers to data used to describe a traffic network such as roads, streets, highways, intersections, etc. In the embodiment of the present application, the road network data may include a plurality of first road nodes and a plurality of second driving paths formed by the plurality of first road nodes.

[0057] The first road node may refer to a key point in the road network data, such as an intersection, a turn, a starting point or an end point of a road, etc. The second driving path refers to a road segment composed of multiple first road nodes, representing a path that a vehicle can travel. As an example, the second driving path may be provided by a map provider.

[0058] The energy replenishment resource point may refer to a station within a preset range where a traveling vehicle can be recharged. For example, if the energy replenishment resource point is a charging resource point, then the charging point may refer to the location of a charging station or a charging pile.

[0059] In an embodiment of the present application, the energy replenishment resource points are integrated with the road network data, making the energy replenishment resource points a part of the road network data, so that the location of the energy replenishment resource points can be taken into account during route planning, that is, the integrated road network data includes all road information within a preset range and information on the energy replenishment resource points.

[0060] It is understandable that in the embodiment of the present application, the electronic device can directly obtain the fused road network data within the preset range of the vehicle's location. For example, the energy replenishment resource point and road network data within the preset range of the vehicle's location have been fused in advance to obtain the fused road network data. The fused road network data is stored in a server, and the electronic device can obtain the fused road network data within the preset range of the vehicle's location from the server.

[0061] Alternatively, the electronic device has a navigation APP that records the fused road network data of a certain area. The vehicle is located in the area. After obtaining the location of the vehicle, the electronic device can determine the fused road network data within a preset range of the vehicle's location based on the vehicle's location.

[0062] Alternatively, the electronic device obtains the road network data within the preset range of the vehicle location and the energy replenishment resource points within the preset range in real time according to the update of the vehicle location, and then obtains the fused road network data within the preset range in real time according to the road network data within the preset range of the vehicle location and the energy replenishment resource points within the preset range. For the specific implementation of this process, please refer to the description in the following embodiment, which will not be repeated here.

[0063] For example, when the vehicle is at position A, the electronic device can obtain the fused road network data within the preset range of position A based on the road network data within the preset range of the vehicle's position and the energy replenishment resource points within the preset range. When the vehicle is at position B, the electronic device can obtain the fused road network data within the preset range of position B based on the road network data within the preset range of the vehicle's position and the energy replenishment resource points within the preset range.

[0064] Step 103: The electronic device determines a target driving path for the vehicle from the at least one first driving path according to the cruising range of the vehicle.

[0065] As an example, when the electronic device is a device other than a vehicle or an in-vehicle intelligent device, the method provided in the embodiment of the present application may also include: the electronic device sends a target driving path to the vehicle or the in-vehicle intelligent device to instruct the vehicle to travel along the target driving path.

[0066] As an example, the method provided in the embodiment of the present application may also include: the electronic device receives a path planning request, in which the path planning request requests planning a reachable driving path for the vehicle with at least an energy replenishment resource point according to the vehicle's range.

[0067] In the embodiment of the present application, when planning is performed based on the integrated road network data, the cruising range of the moving vehicle needs to be taken into consideration. Not only the shortest route needs to be considered, but also sufficient resources along the way need to be ensured to ensure accessibility.

[0068] In a possible implementation of the present application, the above step 102 can be implemented in the following manner: the electronic device obtains road network data and charging resource points within a preset range of the vehicle's location, the road network data including a plurality of first road nodes and a plurality of second driving paths composed of a plurality of the first road nodes. The electronic device fuses the charging resource points with the road network data to obtain the fused road network data.

[0069] In an embodiment of the present application, the electronic device obtains road network data and energy replenishment resource points within a preset range of the vehicle. First, it can determine a geographical area based on the current position of the vehicle (usually obtained through GPS or other positioning systems) and a preset range (such as a circular area with a radius of a fixed distance), and then obtain road network data and energy replenishment resource points within this geographical area.

[0070] Exemplarily, the electronic device may obtain all road information within the preset range through a map service provider, and then obtain a plurality of first road nodes and a plurality of first driving paths consisting of the plurality of first road nodes through the road information.

[0071] In the embodiment of the present application, the energy replenishment resource points within the preset range can also be obtained through the map service provider or the dedicated charging network provider. Taking the energy replenishment resource point as the charging resource point as an example, for example, the specific location and attribute information of each charging resource point are obtained, wherein the attribute information may include the resource point name, resource type, the type of battery swap station, whether it supports flexible upgrade and battery swap, charging speed, resource rating, resource status, resource construction site, resource quantity, route direction, operator information, supplier information, resource point location, and meeting point coordinates. The type of battery swap station may refer to 1st generation / 2nd generation / 3rd generation, the resource rating may refer to high quality / general / poor, the resource status may refer to whether it is maintained / temporarily unavailable / not open to the public, the resource construction site may refer to the service area / non-service area, the resource quantity may refer to the number of batteries / number of piles, the operator information may include the distance to the nearest first driving path, and the supplier information may refer to the location coordinates of the supplier.

[0072] It should be understood that the above-mentioned attribute information includes only exemplary descriptions and cannot constitute a limitation on the present application. In practical applications, the content can be added or deleted according to actual conditions, and the present application does not limit this.

[0073] It should be noted that all currently feasible second driving paths and available charging resource points of the vehicle within the preset range can provide basic data support for subsequent path planning.

[0074] As an example, the electronic device fuses the charging resource point with the road network data to obtain the fused road network data, including: the electronic device determines at least one first driving path based on multiple charging resource points and multiple second driving paths, the first driving path is obtained by fusing the charging resource point with the corresponding second driving path, or the starting point of the first driving path is the charging resource point. The electronic device updates the road network data based on the at least one first driving path to obtain the fused road network data.

[0075] During the data fusion process, the energy replenishment resource point can be fused with the corresponding road network data. If the energy replenishment resource point is far away from a second driving path in the road network data, it is meaningless to fuse the energy replenishment resource point with the second driving path. In order to avoid too many meaningless fusions affecting the selection of subsequent paths, the energy replenishment resource points can be sorted and the determined energy replenishment resource points can be fused into the corresponding second driving path.

[0076] It is worth noting that in the embodiment of the present application, the electronic device fuses the charging resource points with the road network data to obtain the fused road network data for explanation. In the actual process, the fusion action can also be performed by other devices other than the electronic device. For example, if the electronic device is a vehicle, the fusion can be performed by a mobile phone or server that communicates with the vehicle. For example, the vehicle obtains the road network data and the energy replenishment resource points within a preset range of the vehicle's location. The road network data includes a plurality of first road nodes and a plurality of second driving paths composed of a plurality of the first road nodes. The vehicle sends the road network data and the energy replenishment resource points within a preset range of the vehicle's location to the server or mobile phone, so that the mobile phone or server fuses the charging resource points with the road network data in the following manner to obtain the fused road network data. After obtaining the fused data, the mobile phone or server can provide it to the vehicle.

[0077] In a possible implementation, the electronic device determines at least one of the first driving paths based on multiple energy replenishment resource points and multiple second driving paths, including: determining at least one second driving path corresponding to each energy replenishment resource point based on the distance between each of the energy replenishment resource points and the multiple second driving paths, and the distance between any of the energy replenishment resource points and the corresponding second driving path is less than or equal to a preset distance threshold.

[0078] The electronic device integrates a first energy replenishment resource point among the plurality of energy replenishment resource points into a target second driving path to obtain the first driving path, wherein the target second driving path is one of at least one of the second driving paths corresponding to any of the energy replenishment resource points, and the first energy replenishment resource point includes the energy replenishment resource points whose distances from the plurality of energy replenishment resource points to the target second driving path are less than or equal to a first distance threshold; and / or,

[0079] The electronic device will determine a driving path as the first driving path with the second energy replenishment resource point among the multiple energy replenishment resource points as the path starting point; the second energy replenishment resource point is the energy replenishment resource point among the multiple energy replenishment resource points whose distance from the second driving path corresponding to any one of the energy replenishment resource points is greater than the first distance threshold.

[0080] It can be understood that, in the case where the distance between any of the energy replenishment resource points and the target second driving path is less than or equal to the first distance threshold, the first energy replenishment resource point includes any of the energy replenishment resource points and one of the multiple energy replenishment resource points, except any of the energy replenishment resource points, whose distance from the target second driving path is less than or equal to the first distance threshold. If the distance between any of the energy replenishment resource points and the target second driving path is greater than the first distance threshold, the first energy replenishment resource point includes one of the multiple energy replenishment resource points, except any of the energy replenishment resource points, whose distance from the target second driving path is less than or equal to the first distance threshold. In this case, any energy replenishment resource point can be used as the second energy replenishment resource point.

[0081] In a possible implementation, after the electronic device determines at least one second driving path corresponding to any of the energy replenishment resource points from the multiple second driving paths, it can use the at least one second driving path corresponding to any of the energy replenishment resource points as one or more first target driving paths.

[0082] After the electronic device determines multiple first target driving paths, it can classify multiple energy replenishment resource points based on the first target driving paths, such as into first energy replenishment resource points and second energy replenishment resource points. Specifically, the electronic device can classify the energy replenishment resource points based on the distance between any energy replenishment resource point and the corresponding first target driving path.

[0083] For example, the electronic device determines a first energy replenishment resource point and / or a second energy replenishment resource point corresponding to any one of the first target driving paths from the plurality of energy replenishment resource points.

[0084] Among them, the first energy replenishment resource point is the energy replenishment resource point among the multiple energy replenishment resource points, except any of the energy replenishment resource points, and the distance between the first target driving path corresponding to any of the energy replenishment resource points is less than or equal to a first distance threshold.

[0085] The second energy replenishment resource point is an energy replenishment resource point among the multiple energy replenishment resource points, except any of the energy replenishment resource points, and the distance between the first target driving path corresponding to any of the energy replenishment resource points is greater than or equal to a second distance threshold.

[0086] In the embodiment of the present application, after the classification of the energy replenishment resource points is obtained, for a first target driving path corresponding to any energy replenishment resource point, if the distance between the first target driving path and a certain energy replenishment resource point A is less than or equal to the first distance threshold, the energy replenishment resource point A can be regarded as the first energy replenishment resource point, and the first target driving path can be used as the target second driving path. Then, one or more first energy replenishment resource points that are close resource points relative to the first target driving path are merged into the target second driving path to obtain the first driving path, and the road network data is updated according to the obtained first driving path to obtain the merged road network data.

[0087] For the second energy replenishment resource point, the first driving path determined by taking the second energy replenishment resource point as the path starting point is updated into the road network data to obtain the fused road network data.

[0088] For example, the electronic device can compare the distance between each energy replenishment resource point in the road network data and each second driving path included in the road network data, and then determine the second driving path whose distance to each energy replenishment resource point is less than or equal to a preset distance threshold as the first target driving path.

[0089] It is understandable that in the embodiment of the present application, if the distance between a certain energy replenishment resource point and a certain second driving path is less than or equal to a preset distance threshold, then the distance of the second driving path can be considered to be the second driving path closest to the energy replenishment resource point. Since each energy replenishment resource point has a first driving path that is closest to it, the second driving path that is closest to the energy replenishment resource point can be determined as the first target driving path of the energy replenishment resource point. Since different energy replenishment resource points have different locations and multiple energy replenishment resource points are widely distributed and unevenly distributed, it is possible that multiple energy replenishment resource points correspond to the same first target driving path. In this case, multiple energy replenishment resource points can be integrated into the first target driving path.

[0090] Since the distance between each energy replenishment resource point and the corresponding first target driving path is not exactly the same, that is, there is a situation where the distance between one energy replenishment resource point and the first target driving path corresponding to another energy replenishment resource point is far, it is not suitable for fusion. Therefore, the multiple energy replenishment resource points can be divided into short-distance resource points (i.e., first energy replenishment resource points) and long-distance resource points (i.e., second energy replenishment resource points) according to the distance between the energy replenishment resource point and any first target driving path.

[0091] Specifically, a distance threshold from the energy replenishment resource point to the first target driving path may be set. If the distance between the energy replenishment resource point and the corresponding first target driving path is less than or equal to the first distance threshold, the energy replenishment resource point is determined to be a short-distance resource point.

[0092] If the distance between the energy replenishment resource point and any first target driving path is greater than or equal to the second distance threshold, it is determined to be a long-distance resource point.

[0093] It can be understood that each energy replenishment resource point in the embodiment of the present application corresponds to a first target driving path, but the distance of the nearest first target driving path may be 100 meters or 300 meters. Although the first target driving path is the nearest path to the energy replenishment resource point, the distance may also be greater than or equal to the second distance threshold, that is, it is relatively far, so it is necessary to divide the short-distance resource points and the long-distance resource points, and then perform subsequent data processing.

[0094] For example, assuming that there are charging resource points 1 to 5 and three second driving paths (path 1, path 2 and path 3) within the preset range, where, for charging resource point 1, path 1 is closest to charging resource point 1, then the first target driving path corresponding to charging resource point 1 is path 1, and if there is a charging resource point 2 to charging resource point 4 among charging resource points 2 to charging resource point 5 whose distance from path 1 is less than or equal to the first distance threshold, then it is determined that the charging resource point 2 to charging resource point 4 and charging resource point 1 are all short-distance resource points relative to path 1. Then, during fusion, charging resource points 1 to charging resource point 4 can be fused into path 1 to obtain the first driving path. If the distance of charging resource point 5 relative to path 1 is greater than or equal to the second distance threshold, charging resource point 5 can be determined as a long-distance resource point relative to path 1. For charging resource point 5, the first driving path determined with charging resource point 5 as the path starting point can be updated to the road network data to obtain the fused road network data. Next, for any one of charging resource points 2 to 5, assuming that the first target driving path corresponding to charging resource point 2 is path 2, the short-distance resource points and long-distance resource points relative to path 2 can be determined in the above manner. And so on, no further details will be given here.

[0095] The first distance threshold and the second distance threshold may be equal or unequal, and this is not limited in the present embodiment. For example, the second distance threshold may be greater than the first distance threshold.

[0096] The following table shows the distribution of battery swap stations and charging stations respectively:

[0097] Table 1 Distribution of battery swap stations

[0098] 0<=dis<=10 10<dis<=20 20<dis<=50 50<dis<=100 100<dis<=200 dis>200 12.8％ 16.1％ 37.9％ 25.3％ 5.9％ 1.1％

[0099] Table 2 Distribution of charging piles

[0100] 0<dis<=10 10<dis<=20 20<dis<=50 50<dis<=100 100<dis<=200 dis>200 17％ 17.7％ 33.5％ 19.3％ 9.8％ 2.8％

[0101] According to the above statistics, battery swap stations and charging piles are configured differently. More than 87.8% of charging resource points are distributed within 100 meters of the road, and about 65% are within 50 meters. Therefore, the above first / second distance thresholds can be set to 50 meters-100 meters.

[0102] After distinguishing the short-distance resource points from the long-distance resource points, different fusion processes are performed on the two. For the short-distance resource points, since the distance to the first target driving path is relatively close, the short-distance resource points can be directly fused into the first target driving path. After fusion, the first target driving path is updated to obtain fused road network data. For the long-distance resource points, a target area of ​​the long-distance resource points is first obtained, and a path end point is determined in the target area, and then a path is formed with the long-distance resource points, which is updated to the road network data to obtain fused road network data.

[0103] In the embodiment of the present application, there are many ways to merge the close-range resource point with the corresponding first target driving path, which can be roughly divided into integrating the point into the path, or inputting the path information as attribute information into the resource point.

[0104] The following will combine method 1 and method 2 to describe how to merge the nearby resource points with the corresponding first target driving path.

[0105] Method 1: Integrate nearby resource points into the path.

[0106] In a possible implementation of the present application, for the first target driving path corresponding to any first energy replenishment resource point, the electronic device merges the first energy replenishment resource point into the first target driving path to obtain the first driving path, and updates the road network data to obtain the merged road network data, including:

[0107] For the first target driving path corresponding to any first energy replenishment resource point, the electronic device integrates the first energy replenishment resource point as a second road node into the first target driving path to obtain the first driving path, and the first target driving path corresponds to the first driving path one by one. Accordingly, updating the road network data according to the at least one first driving path to obtain the integrated road network data includes:

[0108] The electronic device obtains the fused road network data according to the first driving path corresponding to each of the first energy replenishment resource points and other second driving paths among the plurality of second driving paths except the second driving path corresponding to each of the first energy replenishment resource points.

[0109] In the embodiment of the present application, the first energy replenishment resource point is integrated into the first target driving path as the second road node, that is, the first energy replenishment resource point is used as a key point in path planning, and the first target driving path will pass through the first energy replenishment resource point for integration. In order to distinguish it from the first road node in the first target driving path, the first energy replenishment resource point, as a newly added road node, can be called a second road node. Since multiple new road nodes may be added to the first target driving path, the nodes newly added to the first target driving path can be collectively referred to as second road nodes.

[0110] For example, see Figure 2 , shows a schematic diagram of a first method for fusing the first energy replenishment resource point with the path, that is, first determining the perpendicular foot B between the first energy replenishment resource point A and the first target driving path, and then intercepting equal-length lines on the path through the perpendicular foot B, that is, line segment BC and line segment BD, connecting AC and AD, and fusing the first energy replenishment resource point into the first target driving path.

[0111] Method 2: Input the path information into the resource point as attribute information.

[0112] In another possible implementation, for the first target driving path corresponding to any first energy replenishment resource point, the first energy replenishment resource point is integrated into the first target driving path, and the road network data is updated to obtain the integrated road network data, including:

[0113] The electronic device uses the second driving path corresponding to the first energy replenishment resource point as the first driving path;

[0114] The electronic device records the first energy replenishment resource point and the intersection information of the first driving path corresponding to the first energy replenishment resource point in the attribute information of the first energy replenishment resource point to update the attribute information of the first energy replenishment resource point, wherein the intersection information includes the intersection position of the first energy replenishment resource point and the first driving path and the number of the first driving path;

[0115] The electronic device obtains the fused road network data according to the updated attribute information of the first energy replenishment resource point and the road network data.

[0116] In the embodiment of the present application, the attribute information of the first energy replenishment resource point can also be updated by recording relevant information corresponding to the first driving path in the attribute information of the first energy replenishment resource point to integrate the first energy replenishment resource point with the first target driving path.

[0117] For example, see Figure 3, showing a schematic diagram of a second method for fusing the first energy replenishment resource point with the path, that is, firstly keeping the first driving path stationary, and then recording the relevant information of the first driving path in the attribute information of the first energy replenishment resource point, including the perpendicular point B between the first energy replenishment resource point and the first driving path and the number of the first driving path, so that when the first driving path is obtained, the accessibility of the first energy replenishment resource point can be displayed.

[0118] The above embodiment describes in detail how to integrate the close-range resource points into the first target driving path corresponding to the close-range resource points. It can be understood that in the actual process, different close-range resource point electronic devices can be integrated in mode 1 and / or mode 2. That is, the resource points can be integrated into the path at the same time, and the path information can also be added to the attribute information of the resource points.

[0119] The following introduces how to integrate long-distance resource points with road network data.

[0120] First, since the long-distance resource point is far away from the first target driving path, if the long-distance resource point is directly merged with the first target driving path, it will cause a waste of resources, and the first driving path obtained after the fusion is not the optimal path. Therefore, the method of calculating the single-source shortest path can be used to merge the long-distance resource point with the road network data, where the single source in the single-source shortest path refers to the long-distance resource point, that is, the long-distance resource point is used as the starting point of the path, and then the end point of the path is found in the target area, thereby forming a path.

[0121] Specifically, for the second charging resource point, the electronic device determines the first driving path with the second charging resource point as the path starting point, including: the electronic device obtains the target area corresponding to the second charging resource point. If the electronic device has a target charging resource point in the target area that has been updated to the fused road network data, the target charging resource point is determined as the path end point to obtain the first driving path; if the electronic device does not have the target charging resource point in the target area, the starting point of the second driving path closest to the second charging resource point in the target area of ​​the second charging resource point is determined as the path end point, and the first driving path is determined according to the path starting point and the path end point.

[0122] For example, if a charging resource point is a long-distance resource point, the target area corresponding to the charging resource point is obtained. The target charging resource point that has been updated to the fused road network data is searched in the target area. If the target charging resource point is found, the target charging resource point is determined as the path end point. If the target charging resource point is not found, the second driving path closest to the long-distance resource point is searched in the target area, and the starting point of the second driving path closest to the long-distance resource point is determined as the path end point, and the first driving path is determined according to the path starting point and the path end point.

[0123] In the embodiment of the present application, the target charging resource point that has been updated to the fused road network data can be used as the end point of the path, and a new path is formed with the remote resource point, and then the remote resource point can also be integrated into the road network data. If the target charging resource point is not found in the target area, the first driving path closest to the remote resource point can be found, and the starting point of the first driving path can be determined as the end point of the path, and a new path is formed with the remote resource point, and the remote resource point can also be integrated into the road network data.

[0124] It should be understood that the main purpose of using the target charging resource point as the end point of the path is to ensure that the vehicle can arrive and charge smoothly to meet its endurance requirements, while optimizing path planning, improving resource utilization efficiency, and enhancing user experience. If the target charging resource point is not found, using the starting point of the first driving path that is closest to it as the end point of the path is a compromise solution to ensure the accessibility and rationality of the path.

[0125] In a possible implementation, the target area may be determined by the following steps:

[0126] Taking the remote resource point as the center, constructing a first circular area with a first radius and a second circular area with a second radius;

[0127] The non-overlapping area of ​​the first circular area and the second circular area is divided into a plurality of sector-shaped areas, and the plurality of sector-shaped areas are determined as target areas.

[0128] For example, see Figure 4The path acquisition schematic diagram shown in the figure first takes the remote resource point r1 as the center, and constructs the first circular area and the second circular area with radius Ykm and Vkm respectively. The non-overlapping areas of the two circular areas constitute a circular area, which can be set as the target area. In a possible implementation, the circular area can be divided into multiple sector areas, for example, into 4 sector areas, and each sector area is searched for whether there is a target charging resource point. If the target charging resource point r2 is found in the second sector area, r2 is used as the end point of the path, r1 is used as the starting point of the path, and the map business path planning is called to obtain route L2. In another possible implementation, if the target charging resource point is not found in each sector area, the first driving path closest to the remote resource point can be found. For example, the first driving path closest to the resource point is found in the third sector area, and the starting point of the first driving path is used as the end point r3 of the path, r1 is used as the starting point of the path, and the map business path planning is called to obtain route L3. Route L2 and route L3 are integrated into the road network data as the second driving path to achieve the fusion of remote resource points and road network data.

[0129] In a possible implementation, for the second energy replenishment resource point, updating the first driving path determined with the second energy replenishment resource point as the path starting point into the road network data to obtain the fused road network data includes:

[0130] The second driving path is divided into a plurality of sub-paths according to the road name and the road type as unique identifiers; if the second driving path overlaps with any of the sub-paths in the road network data, the second driving path is retained and the sub-path overlapped with the second driving path is discarded;

[0131] If the second driving path that overlaps with any of the sub-paths does not exist in the road network data, the first driving path is updated to the road network data to obtain the fused road network data.

[0132] In the embodiment of the present application, the first driving path can be divided into multiple sub-paths. In order to avoid repeated calculation of the path, multiple sub-paths can be traversed to determine whether they overlap with the second driving path in the road network data, and then merged with the second driving path in the road network data (that is, discarding the overlapping part and retaining the non-overlapping part). The schematic diagram of the division of the first driving path can be seen in Figure 5 , that is, the first driving path is divided into multiple sub-paths according to the road name and road type as unique identifiers, for example, one L2 is divided into multiple L4s.

[0133] It should be noted that the first driving path and the second driving path are both obtained through map-based path planning.

[0134] In a possible implementation of the present application, the above step 103 can be specifically implemented in the following manner: the electronic device determines at least one candidate driving path from at least one first driving path according to the cruising range of the driving vehicle; the electronic device selects the target driving path from the at least one candidate driving path based on the cruising range of the driving vehicle and the charging resource points in each of the candidate driving paths.

[0135] In the embodiment of the present application, the cruising range of the current vehicle is first determined, that is, the maximum distance that the vehicle can travel under the current remaining power. For example, the cruising range of the vehicle can be calculated by the power information and energy consumption rate of the vehicle. Then, at least one candidate driving path is selected from all the first driving paths based on the cruising range of the vehicle. For example, the path within the cruising range can be selected as a candidate path. The total length of each second driving path is calculated, and the length is compared with the cruising range of the vehicle. If the length of the first driving path is less than or equal to the cruising range, the first driving path is marked as a candidate driving path. Then, the charging resource point is searched on each candidate driving path, the distribution and location of the charging resource point on each path are determined, and for each candidate driving path, the location and accessibility of the charging resource point are evaluated to ensure that the vehicle can find a suitable charging point for charging on the driving path. Specifically, the distance from the current vehicle position to each charging resource point is calculated, and it is ensured that these distances are within the cruising range of the vehicle. Finally, according to the above conditions, an optimal driving path is selected from all candidate driving paths as the target driving path as the final path planning result.

[0136] See also Figure 6 , shows a schematic diagram of the structure of a path planning device provided in Example 2 of the present application. For the sake of ease of explanation, only the parts related to the example of the present application are shown.

[0137] The path planning device 600 may specifically include the following modules:

[0138] A first acquisition module 601 is used to acquire the location of the vehicle;

[0139] A second acquisition module 602 is used to acquire, according to the position of the vehicle, fused road network data within a preset range of the position of the vehicle, wherein the fused road network data is obtained by fusion of the road network data within the preset range and one or more energy replenishment resource points within the preset range, wherein the fused road network data includes at least one first driving path, and the at least one first driving path corresponds to at least one energy replenishment resource point;

[0140] The planning module 603 is used to determine a target driving path for the vehicle from the at least one second driving path according to the cruising range of the vehicle.

[0141] In the embodiment of the present application, the second acquisition module 602 may specifically include:

[0142] An acquisition unit, configured to acquire road network data within a preset range of a location of the vehicle and the one or more energy replenishment resource points within the preset range, wherein the road network data includes a plurality of first road nodes and a plurality of second driving paths formed by the plurality of first road nodes;

[0143] A fusion unit is used to obtain the fused road network data according to the one or more energy replenishment resource points and the multiple second driving paths.

[0144] Wherein, as an example, the fusion unit specifically includes: a first fusion determination unit, used to determine at least one first target driving path corresponding to any of the energy replenishment resource points from the multiple second driving paths, and the distance between the first target driving path corresponding to any of the energy replenishment resource points and the energy replenishment resource point is less than or equal to a preset distance threshold;

[0145] a second fusion determination unit, configured to determine a first energy replenishment resource point and / or a second energy replenishment resource point corresponding to any of the first target driving paths from the plurality of energy replenishment resource points, wherein the first energy replenishment resource point is an energy replenishment resource point other than any of the plurality of energy replenishment resource points, and the distance between the first target driving path corresponding to any of the energy replenishment resource points is less than or equal to a first distance threshold; and the second energy replenishment resource point is an energy replenishment resource point other than any of the plurality of energy replenishment resource points, and the distance between the first target driving path corresponding to any of the energy replenishment resource points is greater than or equal to a second distance threshold; for the first target driving path corresponding to any of the energy replenishment resource points, a third fusion determination unit, configured to fuse the first energy replenishment resource point into the first target driving path to obtain the first driving path, and update the road network data to obtain the fused road network data; and a fourth fusion determination unit, configured to update the first driving path determined with the second energy replenishment resource point as the path starting point into the road network data for the second energy replenishment resource point, and obtain the fused road network data.

[0146] In an embodiment of the present application, the third fusion determination unit can be specifically used to: for the first target driving path corresponding to any of the energy replenishment resource points, fuse the first energy replenishment resource point into the first target driving path as a second road node to obtain the first driving path; obtain the fused road network data based on the first driving path and other second driving paths among the multiple second driving paths except the first target driving path.

[0147] In an embodiment of the present application, the third fusion determination unit can be specifically used to: record the intersection information of the first energy replenishment resource point and the first target driving path corresponding to any of the energy replenishment resource points in the attribute information of the first energy replenishment resource point to update the attribute information of the first energy replenishment resource point, the intersection information including the intersection position of the first energy replenishment resource point and the first target driving path and the number of the first target driving path; obtain the fused road network data according to the updated attribute information of the first energy replenishment resource point and the road network data.

[0148] In an embodiment of the present application, the fourth fusion determination unit can also be specifically used to: obtain the target area corresponding to the second charging resource point; if there is a target charging resource point updated to the fused road network data within the target area, determine the target charging resource point as the path end point to obtain the first driving path; if there is no target charging resource point within the target area, determine the starting point of the second driving path closest to the second charging resource point in the target area of ​​the second charging resource point as the path end point, and determine the first driving path based on the path starting point and the path end point.

[0149] In an embodiment of the present application, the fourth fusion determination unit can also be specifically used to: construct a first circular area with a radius of a first length and a second circular area with a radius of a second length with a long-distance resource point as the center; divide the non-overlapping area of ​​the first circular area and the second circular area into multiple sector-shaped areas, and determine the multiple sector-shaped areas as target areas.

[0150] In an embodiment of the present application, the fourth fusion determination unit can also be specifically used to: divide the first driving path into multiple sub-paths based on the road name and road type as unique identifiers; traverse all second driving paths in the road network data; if there is a second driving path in the road network data that overlaps with any of the sub-paths, retain the second driving path and discard the sub-path that overlaps with the second driving path; if there is no second driving path in the road network data that overlaps with any of the sub-paths, update the first driving path to the road network data to obtain the fused road network data.

[0151] In an embodiment of the present application, the planning module 603 may specifically include: a first selection unit, used to determine at least one candidate driving path from the at least one first driving path according to the cruising range of the driving vehicle; a second selection unit, used to select the target driving path from the at least one candidate driving path based on the cruising range of the driving vehicle and the charging resource points in each of the candidate driving paths.

[0152] In the embodiment of the present application, the first driving path and the second driving path are both obtained through map-based path planning.

[0153] The path planning device provided in the embodiment of the present application can be applied in the aforementioned method embodiment. For details, please refer to the description of the aforementioned method embodiment, which will not be repeated here.

[0154] Figure 7 Schematic diagram of the structure of the electronic device provided in the third embodiment of the present application. Figure 7 As shown, the electronic device 700 of this embodiment includes: at least one processor 710 ( Figure 7 Only one is shown in the figure) a processor, a memory 720, and a computer program 721 stored in the memory 720 and executable on the at least one processor 710, and when the processor 710 executes the computer program 721, the steps in the above-mentioned path planning method embodiment are implemented.

[0155] The electronic device 700 may be a computing device such as an in-vehicle smart device, a desktop computer, a notebook, a PDA, or a cloud server. The electronic device may include, but is not limited to, a processor 710 and a memory 720. Those skilled in the art will appreciate that Figure 7 This is merely an example of the electronic device 700 and does not constitute a limitation on the electronic device 700 . The electronic device 700 may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, it may also include input and output devices, network access devices, etc.

[0156] The processor 710 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0157] In some embodiments, the memory 720 may be an internal storage unit of the electronic device 700, such as a hard disk or memory of the electronic device 700. In other embodiments, the memory 720 may also be an external storage device of the electronic device 700, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the electronic device 700. Further, the memory 720 may also include both an internal storage unit of the electronic device 700 and an external storage device. The memory 720 is used to store an operating system, an application program, a boot loader (BootLoader), data, and other programs, such as the program code of the computer program, etc. The memory 720 may also be used to temporarily store data that has been output or is to be output.

[0158] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0159] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0160] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0161] In the embodiments provided in the present application, it should be understood that the disclosed devices / electronic devices and methods can be implemented in other ways. For example, the device / electronic device embodiments described above are merely schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0162] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0163] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0164] If the integrated module / unit is implemented in the form of 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 present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0165] The present application implements all or part of the processes in the above-mentioned embodiment method, and may also be completed through a computer program product. When the computer program product runs on an electronic device, the electronic device can implement the steps in the above-mentioned method embodiments when executing.

[0166] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application is described in detail with reference to the above-mentioned embodiments, a person skilled in the art should understand that the technical solutions described in the above-mentioned embodiments can still be modified, or some of the technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A path planning method, characterized in that: The method comprises: Get the location of the vehicle; According to the position of the vehicle, fused road network data within a preset range of the position of the vehicle is obtained, wherein the fused road network data is obtained by fusing the road network data within the preset range and one or more energy replenishment resource points within the preset range, wherein the fused road network data includes at least one first driving path, and any first driving path corresponds to at least one energy replenishment resource point; A target driving route is determined for the vehicle from the at least one first driving route according to the cruising range of the vehicle.

2. The method according to claim 1, characterized in that The step of obtaining the fused road network data within a preset range of the vehicle location according to the vehicle location includes: Acquire road network data within a preset range of the vehicle's location and the one or more energy replenishment resource points within the preset range, the road network data including a plurality of first road nodes and a plurality of second driving paths formed by the plurality of first road nodes; Determine at least one of the first driving paths according to the plurality of energy replenishment resource points and the plurality of second driving paths, wherein the first driving path is obtained by fusing at least one of the energy replenishment resource points with the corresponding second driving path, or the starting point of the first driving path is the energy replenishment resource point; The road network data is updated according to the at least one first driving path to obtain the fused road network data.

3. The method according to claim 2, characterized in that The determining of the at least one first driving path according to the plurality of energy replenishment resource points and the plurality of second driving paths includes: Determine, according to the distances between the plurality of energy replenishment resource points and the plurality of second driving paths, at least one second driving path corresponding to any of the energy replenishment resource points, wherein the distance between any of the energy replenishment resource points and the corresponding second driving path is less than or equal to a preset distance threshold; One or more first energy replenishment resource points among the plurality of energy replenishment resource points are integrated into a target second driving path to obtain the first driving path, wherein the target second driving path is one of at least one of the second driving paths corresponding to any of the energy replenishment resource points, and the first energy replenishment resource point includes at least one of the plurality of energy replenishment resource points whose distance to the target second driving path is less than or equal to a first distance threshold; and / or, A driving path determined with a second energy replenishment resource point among the multiple energy replenishment resource points as the path starting point is used as the first driving path; the second energy replenishment resource point is the energy replenishment resource point among the multiple energy replenishment resource points, the distance of which from any second driving path corresponding to any of the energy replenishment resource points is greater than the first distance threshold.

4. The method according to claim 3, characterized in that The step of fusing a first energy replenishment resource point among the plurality of energy replenishment resource points into a target second driving path to obtain the first driving path includes: Merging the first energy replenishment resource point as a second road node into the target second driving path to obtain the first driving path corresponding to the first energy replenishment resource point; Updating the road network data according to the at least one first driving path to obtain the fused road network data includes: According to the first driving path corresponding to each of the first energy replenishment resource points and other second driving paths among the plurality of second driving paths except the target second driving path corresponding to each of the first energy replenishment resource points, the road network data is updated to obtain the fused road network data.

5. The method according to claim 3, characterized in that The step of fusing a first energy replenishment resource point among the plurality of energy replenishment resource points into a target second driving path to obtain the first driving path includes: Taking the target second driving path corresponding to the first energy replenishment resource point as the first driving path; Recording the intersection information of the first energy replenishment resource point and the first driving path corresponding to the first energy replenishment resource point in the attribute information of the first energy replenishment resource point to update the attribute information of the first energy replenishment resource point, wherein the intersection information includes the intersection position of the first energy replenishment resource point and the corresponding first driving path and the number of the first driving path; Updating the road network data according to the at least one first driving path to obtain the fused road network data includes: The fused road network data is obtained according to the updated attribute information of the first energy replenishment resource point and the road network data.

6. The method according to claim 3, characterized in that The step of determining a driving path with a second energy replenishment resource point among the plurality of energy replenishment resource points as a path starting point as the first driving path includes: Obtaining a target area corresponding to the second charging resource point; If there is a target charging resource point in the target area that has been updated to the fused road network data, the target charging resource point is determined as the path end point to obtain the first driving path; If the target charging resource point is not present in the target area, the starting point of the second driving path closest to the second charging resource point in the target area of ​​the second charging resource point is determined as the path end point; The first driving path is determined according to the path starting point and the path end point.

7. The method according to claim 6, characterized in that For the second energy replenishment resource point, updating the first driving path determined by taking the second energy replenishment resource point as the path starting point into the road network data to obtain the fused road network data includes: Dividing the first driving path into a plurality of sub-paths according to the road name and the road type as unique identifiers; If the second driving path that overlaps with any of the sub-paths exists in the road network data, the second driving path is retained, and the sub-path that overlaps with the second driving path is discarded; If the second driving path that overlaps with any of the sub-paths does not exist in the road network data, the first driving path is updated to the road network data to obtain the fused road network data.

8. The method according to any one of claims 1 to 7, characterized in that: The step of determining a target driving path for the vehicle from the at least one first driving path according to the cruising range of the vehicle includes: Determining at least one candidate driving path from the at least one first driving path according to the cruising range of the driving vehicle; The target driving path is selected from the at least one candidate driving path based on the cruising range of the driving vehicle and the charging resource points in each of the candidate driving paths.

9. A path planning device, characterized in that: The path planning device comprises: A first acquisition module is used to acquire the location of the vehicle; A second acquisition module is used to acquire, according to the position of the vehicle, fused road network data within a preset range of the position of the vehicle, wherein the fused road network data is obtained by fusing the road network data within the preset range and one or more energy replenishment resource points within the preset range, wherein the fused road network data includes at least one first driving path, and the at least one first driving path corresponds to at least one energy replenishment resource point; A planning module is used to determine a target driving path for the vehicle from the at least one second driving path according to the cruising range of the vehicle.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 8 is implemented.

11. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

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