Path planning method and device, electronic equipment and storage medium

Abstract

The application is suitable for the technical field of new energy vehicle charging, and provides a path planning method and device, an electronic device and a storage medium. The path planning method comprises the following steps: obtaining the position of a vehicle; obtaining fusion road network data in a preset range of the position of the vehicle according to the position of the vehicle, wherein the fusion road network data is obtained by fusing road network data in the preset range and one or more energy supplement resource points in the preset range, and the fusion road network data comprises at least one first driving path, and any first driving path corresponds to at least one energy supplement resource point; and determining a target driving path for the vehicle from the at least one first driving path according to the cruising range of the vehicle. The above scheme solves the problem of untimely data updating in the prior art by obtaining road network data, and solves the problem that the vehicle cannot reach the destination due to the limited charging resources matched by the driving path by dynamically planning the fusion driving path and the charging resource.

Description

Technical Field

[0001] This application belongs to the field of new energy vehicle charging technology, and in particular relates to route planning methods, devices, electronic equipment and storage media. Background Technology

[0002] New energy vehicles have limited driving range, and proper route planning ensures that vehicles find charging facilities before their batteries run out, avoiding driving interruptions due to insufficient power. Currently, route planning is typically implemented in two ways: one is that map providers offer driving routes, and automakers provide their own charging resource data, displaying and selecting charging points based on the map provider's routes; the other is that automakers directly synchronize their own charging resource data with map providers, who then provide customized charging route planning services. However, both methods suffer from problems such as untimely data updates and limited matching charging resources, leading to vehicles failing to reach their destinations. Summary of the Invention

[0003] This application provides a route planning method, apparatus, electronic device, and storage medium, which can solve the problems in the prior art where untimely data updates and limited charging resources matched to the driving route prevent vehicles from reaching their destination.

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

[0005] In one possible implementation, the step of obtaining fused road network data within a preset range of the vehicle's location based on the vehicle's location includes: obtaining road network data within a preset range of the vehicle's location and one or more refueling resource points within the preset range, wherein the road network data includes multiple first road nodes and multiple second driving paths composed of multiple first road nodes.

[0006] The fused road network data is obtained based on the one or more refueling resource points and the multiple second driving paths.

[0007] In one possible implementation, obtaining the fused road network data based on the one or more refueling resource points and the plurality of second driving paths includes: determining at least one first driving path based on the plurality of refueling resource points and the plurality of second driving paths, wherein the first driving path is obtained by fusing the refueling resource point with the corresponding second driving path, or the starting point of the first driving path is the refueling 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 one possible implementation, the method provided in this application embodiment may further include: determining at least one second driving path (also referred to as a first target driving path) corresponding to any refueling resource point from a plurality of second driving paths, wherein the distance between the first target driving path corresponding to any refueling resource point and the refueling resource point is less than or equal to a preset distance threshold.

[0009] Based on the distance between each charging resource point and each of the first target driving paths determined above, a first charging resource point and / or a second charging resource point corresponding to any first target driving path are determined from a plurality of charging resource points. The first charging resource point is one of the plurality of charging resource points whose distance to the first target driving path corresponding to any one of the charging resource points (excluding any one of the charging resource points) is less than or equal to a first distance threshold. The second charging resource point is one of the plurality of charging resource points whose distance to the first target driving path corresponding to any one of the charging resource points (excluding any one of the charging resource points) is greater than or equal to a second distance threshold.

[0010] In one possible implementation, determining the at least one first driving path based on multiple refueling resource points and multiple second driving paths includes:

[0011] Based on the distance between each of the charging resource points and multiple second driving paths, at least one second driving path corresponding to each charging resource point is determined, and the distance between any charging resource point and the corresponding second driving path is less than or equal to a preset distance threshold.

[0012] The first driving path is obtained by merging a first charging resource point from a plurality of charging resource points into a target second driving path. The target second driving path is one of at least one second driving path corresponding to any one of the charging resource points. The first charging resource point includes any one of the charging resource points and one of the plurality of charging resource points whose distance from the target second driving path is less than or equal to a first distance threshold, excluding any one of the charging resource points. Alternatively, a driving path is determined with the second charging resource point from a plurality of charging resource points as the path starting point as the first driving path. The second charging resource point is the charging resource point from a plurality of charging resource points whose distance from the second driving path corresponding to any one of the charging resource points is greater than the first distance threshold.

[0013] In one possible implementation, merging a first charging resource point from a plurality of charging resource points into a target second driving path to obtain the first driving path includes: for any target second driving path corresponding to a first charging resource point, merging the first charging resource point as a second road node into the target second driving path to obtain the first driving path corresponding to the first charging resource point; updating the road network data according to the at least one first driving path to obtain the merged road network data includes: updating the road network data according to the first driving path corresponding to each first charging resource point and other second driving paths from a plurality of second driving paths other than the target second driving path corresponding to each first charging resource point to obtain the merged road network data.

[0014] In one possible implementation, merging a first charging resource point from a plurality of charging resource points into a target second driving path to obtain the first driving path includes: using the target second driving path corresponding to the first charging resource point as the first driving path; recording the intersection information of the first charging resource point and the first driving path corresponding to the first charging resource point in the attribute information of the first charging resource point to update the attribute information of the first charging resource point, wherein the intersection information includes the position of the intersection point between the first charging 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: obtaining the fused road network data according to the updated attribute information of the first charging resource point and the road network data.

[0015] In one possible implementation, determining a driving path as the first driving path by taking the second charging resource point among the plurality of charging resource points as the path starting point 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, determining the target charging resource point as the path ending point to obtain the first driving path; if there is no target charging resource point in the target area, determining the starting point of the second driving path in the target area that is closest to the second charging resource point as the path ending point, and determining the first driving path based on the path starting point and the path ending 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, centered on the second charging resource point; dividing the non-overlapping areas of the first circular area and the second circular area into multiple fan-shaped areas, and determining the multiple fan-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 vehicle's driving range includes: determining at least one candidate driving path from the at least one first driving path based on the driving range of the vehicle; and selecting the target driving path from the at least one candidate driving path based on the driving range of the vehicle and the charging resource points in each of the candidate driving paths.

[0018] In one possible implementation, for the second refueling resource point, updating the first driving path determined by the second refueling resource point as the path starting point to the road network data to obtain the fused road network data includes: 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, then retaining the second driving path and discarding the sub-paths that overlap 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, then updating the first driving path to the road network data to obtain the fused road network data.

[0019] In one possible implementation, both the first and second travel routes are obtained through map provider route planning.

[0020] A second aspect of this application provides a path planning apparatus, the apparatus comprising:

[0021] A first acquisition module is used to acquire the location of the vehicle; a second acquisition module is used to acquire fused road network data within a preset range of the vehicle's location based on the vehicle's location, the fused road network data being obtained by fusing road network data within the preset range with one or more charging resource points within the preset range, the fused road network data including at least one first driving path, the at least one first driving path corresponding to at least one charging resource point; a planning module is used to determine a target driving path for the vehicle from the at least one second driving path based on the vehicle's driving range.

[0022] A third aspect of this application provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method described in the first aspect.

[0023] A fourth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method described in the first aspect above.

[0024] A fifth aspect of this application provides a computer program product that, when run on an electronic device, causes the electronic device to perform the method described in the first aspect.

[0025] The beneficial effects of this application embodiment compared to the prior art are as follows: This application embodiment uses fused road network data within a preset range of the vehicle's location as the basis for route planning. Since the fused road network data is obtained by fusing road network data with charging resource points within the preset range, route planning based on the vehicle's driving range and the fused road network data allows the vehicle to reach its destination within its driving range by following the charging resource points along the target driving route. This solves the problem in the prior art where limited charging resources matched to the driving route prevent the vehicle from reaching its destination. Furthermore, due to the rapid updating characteristics of road network data, the problem of untimely data updates in the prior art can be solved. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1This is a flowchart illustrating a path planning method provided in Embodiment 1 of this application;

[0028] Figure 2 This is a schematic diagram of the first method for integrating charging resource points and routes;

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

[0030] Figure 4 This is a diagram illustrating the path retrieval process;

[0031] Figure 5 This is a schematic diagram of the second driving route;

[0032] Figure 6 This is a schematic diagram of the structure of a path planning device provided in Embodiment 2 of this application;

[0033] Figure 7 This is a schematic diagram of the structure of the electronic device provided in Embodiment 3 of this application; Detailed Implementation

[0034] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

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

[0036] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0037] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0038] It should be understood that the sequence number of each step in this embodiment does not imply 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 this application embodiment.

[0039] New energy vehicles have limited driving range, and proper route planning ensures that vehicles find charging facilities before their batteries run out, avoiding driving interruptions due to insufficient power. Currently, route planning is typically implemented in two ways: one is that map providers offer driving routes, while automakers provide their own charging resource data, displaying and selecting charging points based on the map provider's routes; the other is that automakers synchronize their own charging resource data with map providers, who then provide customized charging route planning services. However, both methods may have the following problems: untimely data updates, and / or limited charging resources matched to the driving route, leading to vehicles being unable to reach their destination.

[0040] To address the aforementioned issues, this application provides a route planning method. This method uses fused road network data within a preset range of the vehicle's location as the foundation for route planning. Since the fused road network data is obtained by fusing road network data with available charging points within the preset range, route planning based on the vehicle's driving range and the fused road network data allows the vehicle to reach its destination within its driving range by following the available charging points along the target driving route. This solves the problem in existing technologies where limited charging resources along the driving route prevent the vehicle from reaching its destination. Furthermore, the rapid updating of road network data addresses the issue of untimely data updates in existing technologies.

[0041] This application provides a path planning system, which includes a first electronic device and / or a second electronic device. The first and / or second electronic devices have path planning functionality; for example, they may have an app for path planning. The second electronic device may be a vehicle or an in-vehicle intelligent device (such as an in-vehicle navigation system or a vehicle-mounted robot). The first and / or second electronic devices can be used to execute one of the following path planning methods. The first electronic device can be a mobile phone, smart bracelet, smartwatch, tablet computer, server, or other similar device.

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

[0043] In this embodiment, one of the first electronic device and the second electronic device can perform path planning, while the other electronic device can perform road network data fusion. Assuming the second electronic device performs one of the following path planning methods, it can obtain fused road network data from the first electronic device. Alternatively, the second electronic device can perform both data fusion and path planning. Of course, in practice, road network data fusion and path planning can also be performed by the same electronic device. For example, the second electronic device can perform one of the following path planning methods and road network data fusion.

[0044] To illustrate the technical solution of this application, specific embodiments are described below.

[0045] Reference Figure 1 The diagram illustrates a flowchart of a path planning method provided in Embodiment 1 of this application. Figure 1 As shown, this path planning method can be executed by a path planning device. This device can be an electronic device, or a device deployed within an electronic device (such as a chip), etc. The following description uses an electronic device as an example to illustrate the method, which includes the following steps:

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

[0047] As an example, the electronic device in this application embodiment can be the aforementioned second electronic device, such as a vehicle, or an in-vehicle intelligent device (such as an in-vehicle navigation system), or a control device in a vehicle. It can also be the first electronic device, such as a mobile phone, watch, smart bracelet, or other device with path planning function. It can also be a server, such as the application server corresponding to the navigation APP installed on the mobile phone or vehicle.

[0048] For example, taking electronic devices such as vehicles, in-vehicle smart devices, or vehicle control devices as examples, the location of the vehicle can be obtained through GPS (or other positioning systems). Of course, the location of the vehicle can also be input by the user in the vehicle, in-vehicle smart devices, or vehicle control devices.

[0049] For example, taking electronic devices such as mobile phones, watches, and smart bracelets as examples, mobile phones, watches, and smart bracelets can obtain the location of a vehicle through GPS, or obtain the location of a vehicle through interaction with the vehicle, or the location of the vehicle can be input by the user. This application embodiment does not limit this.

[0050] Optionally, the electronic device can also obtain the destination location of the vehicle for route planning.

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

[0052] The integrated road network data is obtained by fusing road network data within a preset range and charging resource points within a preset range. The integrated road network data includes at least one first travel path, and each first travel path corresponds to at least one charging resource point.

[0053] The correspondence between any first driving path and at least one charging resource point can mean that any first driving path incorporates at least one charging resource point, that is, at least one charging 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 charging resource point, or the attribute information of the charging resource point includes information about the first driving path corresponding to that charging resource point.

[0054] The preset range of the vehicle can refer to a specific geographical area centered on the vehicle's current location, such as a circular area with a fixed radius. This application does not specify the shape of the area or the size of the preset range.

[0055] As an example, the vehicle in this embodiment can be a vehicle that is currently moving, or it can be a vehicle that is not currently moving. Whether the vehicle is moving or not, it can be understood that the fused road network data will change as the vehicle's location changes. For example, if the vehicle is currently traveling at location A, then the fused road network data represents a specific geographical area centered on location A; when the vehicle is traveling at location B, then the fused data represents a specific geographical area centered on location B.

[0056] Road network data refers to data used to describe traffic networks such as roads, streets, highways, and intersections. In this embodiment, road network data may include multiple first road nodes and multiple second travel paths composed of the multiple first road nodes.

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

[0058] Here, "rechargeable resource point" can refer to a station within a preset range that can provide recharge for vehicles. For example, if "rechargeable resource point" refers to "charging resource point," then "charging point" can refer to the location of a charging station or charging pile.

[0059] In this embodiment of the application, the charging resource points are integrated with the road network data, so that the charging resource points become part of the road network data. This allows the location of the charging resource points to be taken into account when planning the route. In other words, the integrated road network data includes all road information within a preset range as well as the information of the charging resource points.

[0060] It is understood that in this embodiment, the electronic device can directly obtain the fused road network data within a preset range of the vehicle's location. For example, the charging resource points and road network data within the preset range of the vehicle's location have been pre-fused to obtain the fused road network data. This 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 may have a navigation app that records integrated road network data for a specific area. The vehicle's current location is within that area. After acquiring the vehicle's location, the electronic device can then determine the integrated road network data within a preset range based on that location.

[0062] Alternatively, the electronic device can acquire road network data and charging resource points within a preset range of the vehicle's location in real time based on vehicle location updates, and then acquire fused road network data within the preset range in real time based on the road network data and charging resource points within the preset range. The specific implementation of this process can be found in the descriptions of the following embodiments, and will not be repeated here.

[0063] For example, if the vehicle is located at location A, the electronic device can obtain the fused road network data within the preset range of location A based on the road network data within the preset range of the vehicle's location and the charging resource points within the preset range. Similarly, if the vehicle is located at location B, the electronic device can obtain the fused road network data within the preset range of location B based on the road network data within the preset range of the vehicle's location and the charging 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 based on the vehicle's driving range.

[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 this application embodiment may further include: the electronic device sending a target driving path to the vehicle or an in-vehicle intelligent device to instruct the vehicle to drive according to the target driving path.

[0066] As an example, the method provided in this application embodiment may further include: an electronic device receiving a route planning request, wherein the route planning request requests to plan an reachable driving route for the vehicle with at least a charging resource point based on the vehicle's driving range.

[0067] In this embodiment of the application, while planning based on fused road network data, the driving range of the vehicle needs to be taken into consideration. It is necessary not only to consider the shortest route, but also to ensure that there are sufficient resources along the way to guarantee accessibility.

[0068] In one possible implementation of this application, step 102 can be achieved as follows: The electronic device acquires road network data and charging resource points within a preset range of the vehicle's location. The road network data includes multiple first road nodes and multiple second driving paths composed of the multiple first road nodes. The electronic device merges the charging resource points and the road network data to obtain the merged road network data.

[0069] In this embodiment of the application, the electronic device obtains road network data and refueling resource points within a preset range of the vehicle. First, it can determine a geographical area based on the vehicle's current location (usually obtained through GPS or other positioning systems) and a preset range (e.g., a circular area with a fixed radius). Then, it obtains road network data and refueling resource points within this geographical area.

[0070] For example, an electronic device can obtain all road information within the preset range through a map service provider, and then obtain multiple first road nodes and multiple first driving paths composed of the multiple first road nodes through the road information.

[0071] In this embodiment, charging resource points within a preset range can also be obtained through map service providers or dedicated charging network providers. Taking charging resource points as an example, the specific location and attribute information of each charging resource point can be obtained. The attribute information may include the resource point name, resource type, type of battery swapping station, whether flexible battery swapping upgrades are supported, charging speed, resource rating, resource status, resource construction location, resource quantity, route direction, operator information, supplier information, resource point location, and meeting point coordinates. The type of battery swapping station can refer to 1st generation / 2nd generation / 3rd generation; the resource rating can be excellent / average / poor; the resource status can be whether it is under maintenance / temporarily unavailable / not open to the public; the resource construction location can be a service area / non-service area; the resource quantity can be the number of batteries / charging piles; the operator information can include the distance to the nearest first driving path; and the supplier information can be the supplier's location coordinates.

[0072] It should be understood that the above attribute information is merely illustrative and should not be construed as limiting this application. In practical applications, the content can be added to or deleted according to the actual situation, and this application does not impose any restrictions on this.

[0073] It should be noted that all feasible secondary driving routes and available charging resources within the preset range can provide basic data support for subsequent route planning.

[0074] As an example, an electronic device integrates the charging resource points and the road network data to obtain the integrated road network data, including: the electronic device determining at least one first driving path based on multiple charging resource points and multiple second driving paths, wherein the first driving path is obtained by integrating the charging resource points and the corresponding second driving paths, 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 integrated road network data.

[0075] During the data fusion process, charging resource points can be merged with the corresponding road network data. If a charging resource point is far from a second driving path in the road network data, merging the charging resource point with the second driving path would be meaningless. To avoid too many meaningless fusions affecting the selection of subsequent paths, the charging resource points can be sorted, and the determined charging resource points can be merged into the corresponding second driving path.

[0076] It is worth noting that this embodiment describes the process of obtaining fused road network data by fusing the charging resource points and road network data using an electronic device. In practice, this fusing action can also be performed by other devices besides the electronic device. For example, if the electronic device is a vehicle, the fusing can be performed by a mobile phone or server communicating with the vehicle. For instance, the vehicle acquires road network data and charging resource points within a preset range of its location. The road network data includes multiple first road nodes and multiple second travel paths composed of these first road nodes. The vehicle sends the road network data and charging resource points within the preset range of its location to a server or mobile phone, which then fuses the charging resource points and 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 one possible implementation, the electronic device determines the at least one first driving path based on a plurality of the charging resource points and a plurality of second driving paths, including: determining at least one second driving path corresponding to each charging resource point based on the distance between each charging resource point and the plurality of second driving paths, wherein the distance between any charging resource point and the corresponding second driving path is less than or equal to a preset distance threshold.

[0078] The electronic device merges a first charging resource point from a plurality of charging resource points into a target second driving path to obtain the first driving path. The target second driving path is one of at least one second driving path corresponding to any one of the charging resource points. The first charging resource points include a plurality of charging resource points whose distance from the target second driving path is 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 by taking the second of the plurality of charging resource points as the path starting point; the second charging resource point is the charging resource point among the plurality of charging resource points whose distance from the second driving path corresponding to any of the charging resource points is greater than the first distance threshold.

[0080] It is understood that, when the distance between any of the stated charging resource points and the target second driving path is less than or equal to a first distance threshold, the first charging resource point includes any of the stated charging resource points and one of the plurality of charging resource points whose distance to the target second driving path is less than or equal to the first distance threshold, excluding any of the stated charging resource points. If the distance between any stated charging resource point and the target second driving path is greater than the first distance threshold, the first charging resource point includes one of the plurality of charging resource points whose distance to the target second driving path is less than or equal to the first distance threshold, excluding any of the stated charging resource points. In this case, any charging resource point can be used as the second charging resource point.

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

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

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

[0084] Wherein, the first refueling resource point is one of the plurality of refueling resource points, except for any one of the refueling resource points, whose distance to the first target driving path corresponding to any one of the refueling resource points is less than or equal to a first distance threshold.

[0085] The second refueling resource point is one of the multiple refueling resource points other than any one of the refueling resource points, whose distance from the first target driving path corresponding to any one of the refueling resource points is greater than or equal to a second distance threshold.

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

[0087] For the second refueling resource point, the first driving path determined with the second refueling resource point as the path starting point is updated to the road network data to obtain the fused road network data.

[0088] For example, an electronic device can compare the distance between each refueling 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 from each refueling resource point is less than or equal to a preset distance threshold as the first target driving path.

[0089] It is understood that in this embodiment of the application, if the distance between a certain charging 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 as the second driving path closest to the charging resource point. Since each charging resource point has a nearest first driving path, the nearest second driving path to the charging resource point can be determined as the first target driving path of that charging resource point. Due to the different locations of various charging resource points, and the wide and uneven distribution of multiple charging resource points, multiple charging resource points may correspond to the same first target driving path. In this case, multiple charging resource points can be merged into the first target driving path.

[0090] Since the distance between each refueling resource point and the corresponding first target driving path is not exactly the same, that is, there are cases where the distance between one refueling resource point and the first target driving path corresponding to another refueling resource point is too far, making fusion unsuitable, multiple refueling resource points can be divided into near-distance resource points (i.e., first refueling resource points) and far-distance resource points (i.e., second refueling resource points) according to the distance between the refueling resource point and any first target driving path.

[0091] Specifically, a distance threshold can be set between the refueling resource point and the first target driving path. If the distance between the refueling resource point and the corresponding first target driving path is less than or equal to the first distance threshold, then the refueling resource point is determined to be a nearby resource point.

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

[0093] It is understood that in this embodiment of the application, each refueling resource point corresponds to a first target driving path. However, the distance of this closest first target driving path may be 100 meters or 300 meters. Although the first target driving path is the closest path to the refueling resource point, the distance may be greater than or equal to the second distance threshold, which is relatively far. Therefore, it is necessary to divide the near-distance resource points and the far-distance resource points, and then perform subsequent data processing.

[0094] For example, suppose there are charging resource points 1 to 5 within a preset range, and three second driving paths (path 1, path 2, and path 3). For charging resource point 1, path 1 is the closest, so the first target driving path corresponding to charging resource point 1 is path 1. If any of the charging resource points 2 to 4 are less than or equal to a first distance threshold from path 1, then charging resource points 2 to 4, along with charging resource point 1, are determined to be close resource points relative to path 1. Therefore, during fusion, charging resource points 1 to 4 can be merged 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, then charging resource point 5 can be determined as a distant resource point relative to path 1. For charging resource point 5, the first driving path determined with charging resource point 5 as the starting point can be updated in 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, then the nearby and distant resource points relative to path 2 can be determined in the manner described above. This process continues in the same way, and will not be repeated here.

[0095] The first distance threshold and the second distance threshold may be equal or unequal, and this application does not limit this. For example, the second distance threshold may be greater than the first distance threshold.

[0096] The table below shows the distribution of battery swapping stations and charging stations, respectively:

[0097] Table 1 Distribution of Battery Swapping 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] Based on the above statistics, battery swapping stations and charging piles are configured differently. More than 87.8% of charging resources are located within 100 meters of roads, and about 65% are within 50 meters. Therefore, the first / second distance threshold can be set to 50-100 meters.

[0102] After distinguishing between nearby and distant resource points, different fusion processes are applied. For nearby resource points, since they are close to the first target travel path, they can be directly merged into the first target travel path. After fusion, the first target travel path is updated to obtain fused road network data. For distant resource points, a target area of ​​the distant resource point is first obtained, a path endpoint is determined within that target area, and then a path is formed with the distant resource point, updating the road network data to obtain fused road network data.

[0103] In the embodiments of this application, there are many ways to integrate nearby resource points with the corresponding first target driving path. These can be roughly divided into integrating the points into the path or inputting the path information as attribute information into the resource points.

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

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

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

[0107] For any first target driving path corresponding to a first refueling resource point, the electronic device merges the first refueling resource point as a second road node into the first target driving path to obtain the first driving path, wherein the first target driving path and the first driving path correspond one-to-one. Accordingly, the road network data is updated according to the at least one first driving path to obtain the merged road network data, including:

[0108] The electronic device obtains the fused road network data based on the first driving path corresponding to each of the first charging resource points and other second driving paths among the multiple second driving paths besides the second driving path corresponding to each of the first charging resource points.

[0109] In this embodiment, the first charging resource point is integrated into the first target driving path as a second road node. That is, the first charging resource point is used as a key point in path planning, and the first target driving path will pass through this first charging resource point for integration. To distinguish it from the first road node in the first target driving path, the first charging resource point, as a newly added road node, can be referred to as the second road node. Since multiple new road nodes may be added to the first target driving path, all nodes newly added to the first target driving path can be collectively referred to as second road nodes.

[0110] For example, see Figure 2 The diagram illustrates a first method for integrating a first refueling resource point with a path. First, the perpendicular B between the first refueling resource point A and the first target driving path is determined. Then, equal-length segments BC and BD are cut from the path through the perpendicular B and connected to AC and AD to integrate the first refueling resource point into the first target driving path.

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

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

[0113] The electronic device uses the second driving path corresponding to the first refueling resource point as the first driving path.

[0114] The electronic device records the first charging resource point and the intersection information of the first driving path corresponding to the first charging resource point in the attribute information of the first charging resource point, so as to update the attribute information of the first charging resource point. The intersection information includes the position of the intersection point between the first charging 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 based on the updated attribute information of the first recharge resource point and the road network data.

[0116] In this embodiment of the application, the attribute information of the first refueling resource point can also be updated by recording relevant information of the first driving path in the attribute information of the first refueling resource point, so as to merge the first refueling resource point and the first target driving path.

[0117] For example, see Figure 3The diagram illustrates a second method for integrating the first charging resource point with the path. First, the first driving path is kept stationary. Then, the relevant information of the first driving path is recorded in the attribute information of the first charging resource point, including the perpendicular point B between the first charging resource point and the first driving path, as well as the number of the first driving path. Thus, when the first driving path is obtained, the reachability of the first charging resource point can be displayed.

[0118] The above embodiments describe in detail how nearby resource points are integrated into the first target driving path corresponding to the nearby resource points. It can be understood that in actual practice, electronic devices can use method 1 and / or method 2 to integrate different nearby resource points. That is, resource points can be integrated into the path simultaneously, or path information can be added to the attribute information of the resource points.

[0119] The following section introduces how to integrate remote resource points with road network data.

[0120] Firstly, since the distance between distant resource points and the primary target travel path is relatively large, directly merging the distant resource points and the primary target travel path would result in resource waste, and the resulting primary travel path would not be the optimal path. Therefore, a method of calculating the single-source shortest path can be used to merge distant resource points with road network data. In this method, the "single source" refers to the distant resource point, which is used as the starting point of the path. Then, the endpoint of the path is found within the target area, thus forming a path.

[0121] Specifically, for the second charging resource point, the electronic device determines the first driving path using the second charging resource point as the path starting point, including: the electronic device acquiring the target area corresponding to the second charging resource point. If the electronic device has a target charging resource point that has been updated to the fused road network data within the target area, it determines the target charging resource point as the path ending point to obtain the first driving path; if the electronic device does not have the target charging resource point within the target area, it determines the starting point of the second driving path closest to the second charging resource point within the target area as the path ending point, and determines the first driving path based on the path starting point and the path ending point.

[0122] For example, if a charging point is a long-distance point, the target area corresponding to the charging point is obtained. Within the target area, a target charging point updated in the merged road network data is searched. If a target charging point is found, it is designated as the path endpoint. If no target charging point is found, the second driving path closest to the long-distance point is searched within the target area, and the starting point of this second driving path is designated as the path endpoint. The first driving path is then determined based on the path starting point and the path endpoint.

[0123] In this embodiment, a target charging resource point that has been updated to the fused road network data can be used as the path endpoint, forming a new path with a distant resource point. This distant resource point can then be integrated into the road network data. If no target charging resource point is found within the target area, the first driving path closest to the distant resource point can be found, and the starting point of this first driving path can be determined as the path endpoint, forming a new path with the distant resource point. This distant 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 point as the route endpoint is to ensure that the vehicle can reach it smoothly and charge to meet its range requirements, while optimizing route planning, improving resource utilization efficiency, and enhancing user experience. If the target charging point cannot be found, using the starting point of the nearest first driving path as the route endpoint is a compromise solution that ensures the accessibility and rationality of the route.

[0125] In one possible implementation, the target region can be determined using the following steps:

[0126] Centered on a distant resource point, construct a first circular region with a first radius and a second circular region with a second radius;

[0127] The non-overlapping areas of the first and second circular regions are divided into multiple sector regions, and these multiple sector regions are identified as the target regions.

[0128] For example, see Figure 4The path acquisition diagram shown first constructs a first circular region and a second circular region with radii of Y km and V km, centered on a distant resource point r1. The non-overlapping areas of the two circular regions form an annular region, which can be set as the target region. In one possible implementation, this annular region can be divided into multiple sector regions, for example, four sector regions. The existence of a target charging resource point is checked in each sector region. If a target charging resource point r2 is found in the second sector region, r2 is set as the path endpoint and r1 as the path start point. Map service provider path planning is then called to obtain route L2. In another possible implementation, if no target charging resource point is found in any sector region, the first driving path closest to the distant resource point is searched. For example, if the first driving path closest to the resource point is found in the third sector region, the start point of the first driving path is set as the path endpoint r3 and r1 as the path start point. Map service provider path planning is then called to obtain route L3. Routes L2 and L3 are then integrated into the road network data as the second driving paths, achieving the fusion of distant resource points and road network data.

[0129] In one possible implementation, for the second refueling resource point, the first driving path determined with the second refueling resource point as the path starting point is updated in the road network data to obtain the fused road network data, including:

[0130] The second driving route is divided into multiple sub-paths based on the road name and road type as unique identifiers; if there is a second driving route in the road network data that overlaps with any of the sub-paths, the second driving route is retained and the sub-paths that overlap with the second driving route are discarded.

[0131] If there is no second travel path in the road network data that overlaps with any of the sub-paths, then the first travel path is updated in the road network data to obtain the fused road network data.

[0132] In this embodiment, the first driving path can be divided into multiple sub-paths. To avoid duplicate path calculations, multiple sub-paths can be traversed to determine whether they overlap with the second driving path in the road network data. Then, they are merged with the second driving path in the road network data (i.e., discarding the overlapping parts and retaining the non-overlapping parts). A schematic diagram of the first driving path division can be found here. Figure 5 This means that the first driving route is divided into multiple sub-routes based on the road name and road type as unique identifiers. For example, an L2 route can be divided into multiple L4 routes.

[0133] It should be noted that both the first and second driving routes were obtained through map service route planning.

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

[0135] In this embodiment, the current driving range of the vehicle is first determined, which is the maximum distance the vehicle can travel with its remaining battery power. For example, the driving range can be calculated using the vehicle's battery level and energy consumption rate. Then, based on the vehicle's driving range, at least one candidate driving path is selected from all first driving paths. For example, paths within the driving range can be selected as candidate paths. The total length of each second driving path is calculated and compared with the vehicle's driving range. If the length of the first driving path is less than or equal to the driving range, the first driving path is marked as a candidate driving path. Charging resource points are then located on each candidate driving path, determining the distribution and location of charging resource points on each path. For each candidate driving path, the location and accessibility of charging resource points are evaluated to ensure that the vehicle can find a suitable charging point on the driving path. Specifically, the distance from the current vehicle location to each charging resource point is calculated, ensuring that these distances are within the vehicle's driving range. Finally, based on the above conditions, the optimal driving path is selected from all candidate driving paths as the target driving path, which is the final path planning result.

[0136] See Figure 6 The diagram shows a schematic of a path planning device according to Embodiment 2 of this application. For ease of explanation, only the parts related to the embodiments of this application are shown.

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

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

[0139] The second acquisition module 602 is used to acquire fused road network data within a preset range of the vehicle's location based on the vehicle's location. The fused road network data is obtained by fusing road network data within the preset range and one or more refueling 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 refueling 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 based on the vehicle's driving range.

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

[0142] The acquisition unit is used to acquire road network data within a preset range of the vehicle's location and one or more refueling resource points within the preset range. The road network data includes multiple first road nodes and multiple second driving paths composed of multiple first road nodes.

[0143] The fusion unit is used to obtain the fused road network data based on the one or more refueling resource points and the multiple second driving paths.

[0144] 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 one of the multiple second driving paths, wherein the distance between the first target driving path corresponding to any one of the charging resource points and the charging resource point is less than or equal to a preset distance threshold.

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

[0146] In this embodiment of the application, the third fusion determination unit can be specifically used to: for any of the first target driving paths corresponding to the replenishment resource points, merge the first replenishment resource points as second road nodes into the first target driving path to obtain the first driving path; and obtain the fused road network data based on the first driving path and other second driving paths among the plurality of second driving paths other than the first target driving path.

[0147] In this embodiment of the application, the third fusion determination unit can be specifically used to: record the intersection information of the first charging resource point and the first target driving path corresponding to any of the charging resource points in the attribute information of the first charging resource point, so as to update the attribute information of the first charging resource point, wherein the intersection information includes the position of the intersection point between the first charging resource point and the first target driving path and the number of the first target driving path; and obtain the fused road network data based on the updated attribute information of the first charging resource point and the road network data.

[0148] In this embodiment of the application, the fourth fusion determination unit can also be used to: obtain the 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, determine the target charging resource point as the path endpoint to obtain the first driving path; if there is no target charging resource point in the target area, determine the starting point of the second driving path in the target area that is closest to the second charging resource point as the path endpoint, and determine the first driving path based on the path starting point and the path endpoint.

[0149] In this embodiment of the application, the fourth fusion determination unit can also be used to: construct a first circular region with a first radius and a second circular region with a second radius, centered on a distant resource point; divide the non-overlapping regions of the first circular region and the second circular region into multiple fan-shaped regions, and determine the multiple fan-shaped regions as target regions.

[0150] In this embodiment of the application, the fourth fusion determination unit can also be 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, then retain the second driving path and discard the sub-paths that overlap 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, then update the first driving path to the road network data to obtain the fused road network data.

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

[0152] In this embodiment of the application, both the first and second driving paths are obtained through map provider route planning.

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

[0154] Figure 7 This is a schematic diagram of the electronic device provided in Embodiment 3 of this application. Figure 7 As shown, the electronic device 700 of this embodiment includes: at least one processor 710 ( Figure 7 (Only one is shown) a processor, a memory 720, and a computer program 721 stored in the memory 720 and executable on the at least one processor 710, wherein the processor 710 executes the computer program 721 to implement the steps in the above-described path planning method embodiments.

[0155] The electronic device 700 can be a vehicle-mounted intelligent device, a desktop computer, a laptop, a handheld computer, or a cloud server, etc. This electronic device may include, but is not limited to, a processor 710 and a memory 720. Those skilled in the art will understand that... Figure 7 This is merely an example of electronic device 700 and does not constitute a limitation on electronic device 700. It may include more or fewer components than shown, or combine certain components, or different components. For example, it may also include input / output devices, network access devices, etc.

[0156] The processor 710 may be a Central Processing Unit (CPU), or it may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), 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.

[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 be an external storage device of the electronic device 700, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the electronic device 700. Furthermore, the memory 720 may include both internal and external storage units of the electronic device 700. The memory 720 is used to store the operating system, applications, bootloader, data, and other programs, such as the program code of the computer program. The memory 720 can also be used to temporarily store data that has been output or will be output.

[0158] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to 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 embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0159] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0160] Those skilled in the art will recognize that the units and algorithm steps of the various examples 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 implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0161] In the embodiments provided in this 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 illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual couplings or direct couplings or communication connections may be through some interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

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

[0163] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0164] If the integrated module / unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed 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 electrical carrier signals and telecommunication signals.

[0165] The implementation of all or part of the processes in the methods of the above embodiments can also be accomplished by a computer program product. When the computer program product is run on an electronic device, the electronic device can implement the steps in the various method embodiments described above.

[0166] The embodiments described above are only used to illustrate the technical solutions of this application, and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A path planning method, characterized in that, The method includes: Get the vehicle's location; Obtain road network data within a preset range of the vehicle's location and one or more refueling resource points within the preset range. The road network data includes multiple first road nodes and multiple second driving paths composed of multiple first road nodes. At least one first driving path is determined according to a first rule, wherein the first rule includes: a first sub-rule and / or a second sub-rule. The first sub-rule is to determine at least one second driving path corresponding to any one of the multiple charging resource points based on the distances between the multiple charging resource points and the multiple second driving paths, wherein the distance between any one charging resource point and the corresponding second driving path is less than or equal to a preset distance threshold; and to merge one or more of the multiple charging resource points into a target second driving path to obtain at least one first driving path, wherein the target second driving path is one of at least one second driving path corresponding to any one of the charging resource points, and the first charging resource points include at least the charging resource points among the multiple charging resource points whose distance to the target second driving path is less than or equal to a first distance threshold; the second sub-rule is to take a driving path determined with the second charging resource point among the multiple charging resource points as the path starting point as the first driving path; wherein the second charging resource point is the charging resource point among the multiple charging resource points whose distance to any second driving path corresponding to any one of the charging resource points is greater than the first distance threshold. The road network data is updated according to the at least one first driving path to obtain fused road network data. The fused road network data is obtained by fusing the road network data within the preset range and one or more charging resource points within the preset range. The fused road network data includes at least one first driving path, and each first driving path corresponds to at least one charging resource point. Based on the vehicle's driving range, a target driving path is determined for the vehicle from the at least one first driving path; Merging one or more first charging resource points from a plurality of the aforementioned charging resource points into a target second driving path to obtain the first driving path includes: merging the first charging resource point as a second road node into the target second driving path to obtain the first driving path corresponding to the first charging resource point; Alternatively, the target second driving path corresponding to the first refueling resource point can be used as the first driving path; the intersection information of the first refueling resource point and the first driving path corresponding to the first refueling resource point can be recorded in the attribute information of the first refueling resource point to update the attribute information of the first refueling resource point. The intersection information includes the position of the intersection point between the first refueling resource point and the corresponding first driving path and the number of the first driving path.

2. The method as described in claim 1, characterized in that, The step of updating the road network data based on the at least one first travel path to obtain the fused road network data includes: Based on the first driving path corresponding to each first refueling resource point and other second driving paths among the multiple second driving paths other than the target second driving path corresponding to each first refueling resource point, update the road network data to obtain the fused road network data.

3. The method as described in claim 1, characterized in that, The step of updating the road network data based on the at least one first travel path to obtain the fused road network data includes: The integrated road network data is obtained based on the updated attribute information of the first energy replenishment resource point and the road network data.

4. The method as described in claim 1, characterized in that, The step of using a driving path determined with the second of the multiple refueling resource points as the path starting point as the first driving path includes: Obtain the target area corresponding to the second energy replenishment resource point; If there is a target refueling resource point in the target area that has been updated to the fused road network data, the target refueling resource point is determined as the path endpoint, and the first driving path is obtained. If there is no target refueling resource point in the target area, then the starting point of the second driving path that is closest to the second refueling resource point in the target area is determined as the end point of the path; The first driving route is determined based on the starting point and the ending point of the route.

5. The method as described in claim 4, characterized in that, For the second refueling resource point, the first driving path determined with the second refueling resource point as the path starting point is updated in the road network data to obtain the fused road network data, including: The first driving route is divided into multiple sub-routes 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, then the second driving path is retained and the sub-paths that overlap with the second driving path are discarded. If there is no second travel path in the road network data that overlaps with any of the sub-paths, then the first travel path is updated in the road network data to obtain the fused road network data.

6. The method according to any one of claims 1 to 5, characterized in that, Determining a target driving path for the vehicle from the at least one first driving path based on the vehicle's driving range includes: Based on the vehicle's driving range, at least one candidate driving path is determined from the at least one first driving path; The target driving route is selected from the at least one candidate driving route based on the vehicle's driving range and the charging resource points in each candidate driving route.

7. A path planning device, characterized in that, The path planning device includes: The first acquisition module is used to acquire the location of the vehicle; The second acquisition module is used to determine at least one first driving path according to a first rule, wherein the first rule includes: a first sub-rule and / or a second sub-rule, wherein the first sub-rule is to determine at least one second driving path corresponding to any one of the multiple charging resource points based on the distances between multiple charging resource points and multiple second driving paths, wherein the distance between any one charging resource point and the corresponding second driving path is less than or equal to a preset distance threshold; and to merge one or more of the multiple charging resource points into a target second driving path to obtain at least one first driving path, wherein the target second driving path is one of at least one second driving path corresponding to any one of the multiple charging resource points, and the first charging resource points include at least the charging resource points among the multiple charging resource points whose distance to the target second driving path is less than or equal to a first distance threshold; the second sub-rule is to take a driving path determined with the second charging resource point among the multiple charging resource points as the path starting point as the first driving path; wherein the second charging resource point is the charging resource point among the multiple charging resource points whose distance to any second driving path corresponding to any one of the charging resource points is greater than the first distance threshold. A planning module is used to determine a target driving path for the vehicle from the at least one second driving path based on the vehicle's driving range; The second acquisition module is specifically used to integrate the first charging resource point as a second road node into the target second driving path to obtain the first driving path corresponding to the first charging resource point; or, to use the target second driving path corresponding to the first charging resource point as the first driving path; to record the intersection information of the first charging resource point and the first driving path corresponding to the first charging resource point in the attribute information of the first charging resource point, so as to update the attribute information of the first charging resource point, wherein the intersection information includes the position of the intersection point between the first charging resource point and the corresponding first driving path and the number of the first driving path.

8. 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, it implements the method as described in any one of claims 1 to 6.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1 to 6.

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