Path planning method and device, vehicle and readable storage medium

Abstract

The invention relates to a path planning method and device, a vehicle, a computer readable storage medium and a computer program product, and the method comprises the steps: determining a full-power state according to destination information and current position information, and obtaining a path directly going to a destination from a current position through planning based on the remaining electric quantity information under a condition that the vehicle can reach the destination; under the condition that it is determined that the destination cannot be reached in the full-charge state according to the destination information and the current position information, road state information is obtained, and a route from the current position to the target charging pile is planned based on the remaining electric quantity information and the road state information; the method can return to the step of obtaining the destination information and the vehicle state information, carries out the path planning based on the new vehicle state, solves a problem that the charging piles cannot be found in time for energy supply because the positions and the number of the charging piles in the whole country are not uniformly distributed, and improves the charging efficiency. And the bad driving experience of waiting for rescue due to parking caused by insufficient electric quantity is avoided.

Description

Technical Field

[0001] The present application relates to the field of new energy vehicle technology, and in particular to a path planning method, device, vehicle, computer-readable storage medium, and computer program product. Background Art

[0002] In recent years, as resource and environmental issues have become increasingly serious, new energy vehicles have become an industry that countries have vigorously supported. At the same time, technologies related to automotive power have undoubtedly attracted much attention, including technical development directions such as automotive batteries and car charging.

[0003] New energy vehicles refer to vehicles that use non-traditional fuel as a power source, or use a new vehicle power system, and currently mainly use electricity as a power source. With the development of battery technology, power electronics technology, control technology, unmanned driving technology, and the improvement of charging infrastructure, and with the encouragement of relevant government policies, new energy vehicles are gradually becoming popular and more and more consumers are choosing to buy new energy vehicles.

[0004] However, the main charging method for new energy vehicles at present still relies on charging piles. However, due to the uneven distribution of the location and number of charging piles across the country, if the new energy vehicles are low on power and cannot find charging piles in time for energy replenishment during travel, they will face the challenge of parking and waiting for rescue, which not only wastes the owner's time, but also brings a bad driving experience to the owner. Summary of the invention

[0005] Based on this, it is necessary to provide a path planning method, device, vehicle, computer-readable storage medium and computer program product to address the technical problems faced by the above-mentioned new energy vehicles in charging challenges.

[0006] In a first aspect, the present application provides a path planning method, the method comprising:

[0007] Acquiring destination information and vehicle status information, wherein the vehicle status information includes current location information and remaining power information;

[0008] When it is determined according to the destination information and the current location information that the destination can be reached in a fully charged state, a first route is planned based on the remaining power information, where the first route is a route that goes directly from the current location to the destination;

[0009] When it is determined that the destination cannot be reached in a fully charged state according to the destination information and the current location information, road status information is obtained, and a second route is planned based on the remaining power information and the road status information, where the second route passes through at least one target charging pile.

[0010] In one embodiment, determining whether the destination can be reached in a fully charged state according to the destination information and the current location information includes:

[0011] Performing route planning according to the destination information and the current location information to obtain planned mileage;

[0012] The first safe mileage is calculated based on the full-charge information and the maximum speed of the vehicle;

[0013] When the planned mileage is less than or equal to the first safe mileage, determining that the destination can be reached in a fully charged state;

[0014] When the planned mileage is greater than the first safe mileage, it is determined that the destination cannot be reached in a fully charged state.

[0015] In one embodiment, the planning and obtaining a first route based on the remaining power information includes:

[0016] If it is determined based on the remaining power information that the vehicle is insufficient to reach the destination, a charging reminder is issued to charge the vehicle to a sufficient power level;

[0017] Path planning is performed according to the destination information and the current location information to obtain a first route.

[0018] In one embodiment, the method further comprises:

[0019] If autonomous charging failure information returned in response to the charging prompt is received, a third route is planned according to the current location information, and the third route is a route from the current location to the destination via the nearest charging pile.

[0020] In one embodiment, performing path planning according to the destination information and the current location information to obtain a first route includes:

[0021] The destination information and the current location information are sent to a Beidou navigation module, so that the Beidou navigation module performs path planning according to the destination information and the current location information to obtain a first route.

[0022] In one embodiment, planning a second route based on the remaining power information and the road state information includes:

[0023] Calculate a second safe mileage according to the remaining power information and the maximum speed of the vehicle;

[0024] Based on the road state information and the second safe mileage, the charging piles on the prepared route are screened to obtain the target charging piles; the prepared route is a route obtained by path planning according to the destination information and the current location information;

[0025] Path planning is performed according to the location information of the target charging pile and the current location information to obtain a second route.

[0026] In one embodiment, the road status information includes charging pile distribution information, charging pile usage status information and other vehicle status information;

[0027] The step of screening charging piles on the prepared route based on the road state information and the second safe mileage to obtain the target charging pile includes:

[0028] Based on the charging pile distribution information, determining a charging pile along the way that matches the prepared route;

[0029] Among the charging piles along the way, selecting a candidate charging pile whose driving mileage is less than or equal to the second safe mileage;

[0030] Performing route planning based on the location information of each candidate charging pile and the current location information to obtain the alternative route time of at least one alternative route;

[0031] The alternative route time, charging pile usage status information and other vehicle status information of each alternative route are used as constraint conditions, and a target charging pile is selected from the alternative charging piles.

[0032] In one embodiment, the method further comprises:

[0033] When receiving the destination confirmation signal, entering the step of obtaining the destination information and the vehicle status information;

[0034] and / or

[0035] During the process of using the second route for path navigation, if charging completion information is detected, the step of obtaining the destination information and the vehicle status information is entered.

[0036] In one embodiment, the vehicle status information further includes a vehicle operating status; and the method further includes:

[0037] After determining that the vehicle is parked according to the vehicle running state, reacquiring current position information;

[0038] When it is determined that the current location information matches the preset target location, a charging prompt is issued.

[0039] In a second aspect, the present application provides a path planning device, the device comprising:

[0040] An information acquisition module, used to acquire destination information and vehicle status information, wherein the vehicle status information includes current location information and remaining power information;

[0041] The route planning module is used to plan a first route based on the remaining power information when it is determined that the destination can be reached with a full charge according to the destination information and the current location information, and the first route is a route that goes directly from the current location to the destination; and is also used to obtain road status information when it is determined that the destination cannot be reached with a full charge according to the destination information and the current location information, and plan a second route based on the remaining power information and the road status information, and the second route is a route that passes through at least one target charging pile.

[0042] In a third aspect, the present application provides a vehicle, including a control module and a navigation module, wherein the navigation module is connected to the control module, and the control module is used to implement the steps of the above method based on the navigation module to complete the driving path planning of the vehicle.

[0043] In one of the embodiments, the navigation module is a Beidou navigation module.

[0044] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the steps of the above method when executed by a processor.

[0045] In a fifth aspect, the present application also provides a computer program product, including a computer program, which implements the steps of the above method when executed by a processor.

[0046] The above-mentioned path planning method, device, vehicle, computer-readable storage medium and computer program product obtain destination information and vehicle status information, the vehicle status information includes current position information and remaining power information, and when it is determined that the destination can be reached in a fully charged state according to the destination information and the current position information, a first route is planned based on the remaining power information, and the first route is a route that goes directly from the current position to the destination. When it is determined that the destination cannot be reached in a fully charged state according to the destination information and the current position information, road status information is obtained, and a second route is planned based on the remaining power information and the road status information. The second route is a route that passes through at least one target charging pile, which solves the problem of not being able to find charging piles in time for energy replenishment due to the uneven distribution of the location and number of charging piles across the country, and avoids the bad driving experience of stopping and waiting for rescue due to insufficient power. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions 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 related drawings can be obtained based on these drawings without paying creative work.

[0048] Figure 1 A schematic diagram of a system block diagram of a vehicle in one embodiment;

[0049] Figure 2 A schematic diagram of a process flow of a path planning method in one embodiment;

[0050] Figure 3 A flowchart of a step of determining whether a destination can be reached in a fully charged state in one embodiment;

[0051] Figure 4 A schematic diagram of a process for planning a first route step in an embodiment;

[0052] Figure 5 is a flow chart of a path planning method in another embodiment;

[0053] Figure 6 A schematic diagram of a flow chart of a step of planning and obtaining a second route in an embodiment;

[0054] Figure 7 A schematic diagram of a process for selecting and obtaining a target charging pile in an embodiment;

[0055] Figure 8 A schematic diagram of a flow chart of a step of providing a reminder to charge the battery at home in an embodiment;

[0056] Fig. 9 is a flow chart of a path planning method in yet another embodiment;

[0057] Fig.10 A flowchart of a step of determining whether a destination can be reached in a fully charged state in another embodiment;

[0058] Fig.11 A schematic diagram of a flow chart of a step of planning and obtaining a first route in another embodiment;

[0059] Fig.12 A schematic diagram of a flow chart of a step of planning and obtaining a second route in another embodiment;

[0060] Fig.13 A schematic diagram of a process flow of performing a path planning step in an embodiment;

[0061] Fig.14A flowchart of a step of providing a reminder to charge the battery at home in another embodiment;

[0062] Fig.15 is a structural block diagram of a path planning device in one embodiment;

[0063] Fig.16 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0064] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0065] The path planning method provided in the embodiment of the present application can be applied to Figure 1 In the vehicle shown. Among them, the vehicle includes a control module 102 and a navigation module 104. The control module 102 communicates with the navigation module 104 through a network, and completes the driving route planning of the vehicle based on the navigation module 104. In addition, the vehicle targeted by the present application may specifically refer to a new energy vehicle that mainly uses a battery as a power source, and the route planning can be assisted according to its remaining power information. The data storage system can store the data that the control module 102 needs to process. The data storage system can be integrated on the control module 102, or it can be placed on the cloud or other network servers.

[0066] Specifically, the control module 102 obtains the destination information and the remaining power information, and obtains the current position information based on the navigation module 104; when it is determined that the destination can be reached with a full charge according to the destination information and the current position information, a first route is planned based on the remaining power information, and the first route is a route that goes directly from the current position to the destination; when it is determined that the destination cannot be reached with a full charge according to the destination information and the current position information, the road status information is obtained, and a second route is planned based on the remaining power information and the road status information, and the second route is a route that passes through at least one target charging station.

[0067] The control module 102 may be a control chip or a control circuit board disposed in the vehicle body, or an external control system based on wireless communication. The external control system may be implemented by a terminal or a server, etc. The terminal may be, but is not limited to, various personal computers, smart phones, tablet computers, IoT devices, and portable wearable devices. The IoT devices may be smart speakers, smart vehicle-mounted devices, etc. The portable wearable devices may be smart watches, smart bracelets, etc. The server may be implemented by an independent server or a server cluster consisting of multiple servers.

[0068] In an exemplary embodiment, Figure 2 As shown, a path planning method is provided, which is applied to Figure 1 The control module 102 in FIG. 1 is taken as an example to illustrate, and the following steps 202 to 206 are included. Among them:

[0069] Step 202, obtaining destination information and vehicle status information, where the vehicle status information includes current location information and remaining power information.

[0070] Specifically, the destination information represents the place or location information that the driver of the vehicle plans to arrive at. There is no unique way to obtain the destination information. The vehicle can communicate with the terminal device and obtain the destination information input by the driver through the terminal, or the driver can directly input the destination information through the interactive module on the vehicle body, such as the central control screen on the vehicle. The step of obtaining the destination information and the vehicle status information may be entered when a destination confirmation signal sent by the driver is received.

[0071] Furthermore, the vehicle status information is specifically used to determine what route to plan to reach the destination based on the current state of the vehicle, including but not limited to not passing through a charging pile, passing through one charging pile, and passing through multiple charging piles. The vehicle status information may include current location information, which is used to plan a preparatory route between the two in combination with the destination information. The current location information can be located by the vehicle's own navigation module. The vehicle status information may also include remaining power information, which is used to determine the farthest distance the vehicle can travel based on the current remaining power information. The remaining power information can be obtained by communicating with the vehicle's battery module.

[0072] Step 204, when it is determined based on the destination information and the current location information that the destination can be reached with a full battery, a first route is planned based on the remaining battery information, where the first route is a route that goes directly from the current location to the destination.

[0073] Specifically, this application needs to first determine whether the vehicle can reach the destination directly when it is fully charged based on the destination information and the current location information of the vehicle. If it is determined that the vehicle can reach the destination with a full charge based on the destination information and the current location information, it means that the vehicle does not need to look for a charging station on the way, and the driver can be advised to charge the vehicle to a full charge as much as possible if it is chargeable at the current location. This can not only completely avoid the problem of parking due to insufficient power, but also avoid the double consumption of time and cost due to charging midway.

[0074] Furthermore, when it is determined that the destination can be reached with a full charge according to the destination information and the current location information, a first route can be planned based on the remaining power information, that is, first determine whether the remaining power information is sufficient to reach the destination. If so, directly call the navigation module to plan the first route according to the destination information and the current location information. If the destination cannot be reached with the remaining power information, a charging reminder is issued to enable the driver to charge at or near the current location until the vehicle can directly reach the destination via the first route.

[0075] Exemplarily, a method for determining whether a destination can be reached in a fully charged state based on the destination information and current location information can be to first determine the maximum distance or maximum time that the vehicle can travel in a fully charged state, and then compare the maximum distance with the mileage of the prepared route, or compare the maximum time with the time required for the prepared route.

[0076] It can be understood that after the first route is planned, the first route can be directly displayed through the interactive module on the vehicle body so that the driver can travel along the first route. The first route can also be sent to a terminal device that communicates with the vehicle so that the driver can browse on the terminal device and travel along the first route. The above method can be selected based on the method of obtaining the destination information. If the driver enters the destination information through the terminal device, the first route can also be sent to the terminal device. If the driver enters the destination information through the interactive module on the vehicle body, the first route can be directly displayed on the vehicle body. In addition, the method of sending the first route to the terminal device can be determined according to the specific communication method between the vehicle and the terminal device. For example, when the specific communication method between the vehicle and the terminal device is Bluetooth communication, the first route is sent to the terminal device via Bluetooth.

[0077] Step 206, when it is determined based on the destination information and the current location information that the destination cannot be reached in a fully charged state, the road state information is obtained, and a second route is planned based on the remaining power information and the road state information, where the second route is a route passing through at least one target charging station.

[0078] It can be understood that when it is determined that the destination cannot be reached with a full charge according to the destination information and the current location information, it means that the vehicle needs to be charged at least once before it can reach the destination from the current location. Furthermore, it is necessary to consider planning the route through the charging piles in combination with the road status information to obtain the route to the destination after passing the most suitable charging pile, improve the charging efficiency, and reach the destination as quickly as possible.

[0079] Specifically, the road status information may include but is not limited to the distribution information of charging piles, the usage status information of charging piles, and other vehicle status information. Among them, the distribution information of charging piles is used to characterize the location information of charging piles. The usage status information of charging piles may include the power information, type information, and occupancy information of the charging piles. The power information may include voltage and current information, the type information may include fast charging type and slow charging type, etc., and the occupancy information includes occupancy status and occupancy time, etc. Other vehicle status information is characterized by the status information of other vehicles on the prepared route, which may include information such as the degree of congestion and the speed of travel that will affect the driving time of the vehicle, and may also include information such as the remaining power information of new energy vehicles that will affect the usage status of the charging piles.

[0080] It can be understood that the above road status information can be obtained by calling the navigation module of the vehicle itself, or can be obtained through communication connection between the vehicle and the terminal device.

[0081] Furthermore, after obtaining the road status information in real time, the remaining power information and the road status information can be used as constraints to select at least one most suitable target charging pile for the vehicle, and call the navigation module to plan a second route to the target charging pile.

[0082] For example, after the second route is planned, it can be output to the driver so that the driver can drive along the second route, and after reaching the target charging pile location along the second route, the driver can charge the vehicle through the target charging pile. The method of outputting the second route to the driver can refer to the description of the output method of the first route above, and will not be repeated here.

[0083] Furthermore, in the process of using the second route for path navigation, if the vehicle charging completion information is detected, the process can return to step 202 to obtain the vehicle status information, that is, to relocate the current location information of the vehicle, and to reacquire the remaining power information of the vehicle. In addition, if at this time, it is detected that the user actively changes the destination, the destination information can also be reacquired. It can be understood that after reacquiring the above information, the step of determining whether the vehicle can directly reach the destination when it is fully charged based on the destination information and the current location information of the vehicle can be performed again, and then based on the judgment result, it is selected to go directly to the destination according to step 204, or to go to the next target charging pile according to step 206, and the process is repeated until the vehicle reaches the destination according to the first route.

[0084] The above-mentioned path planning method first determines whether the vehicle can reach the destination directly when it is fully charged based on the destination information and the current location information of the vehicle. If it is determined that the destination can be reached directly, it means that the vehicle does not need to look for a charging pile on the road, and then the driver can be advised to charge the vehicle to a full state as much as possible when the current location is chargeable. This can not only completely avoid the problem of parking due to insufficient power, but also avoid the double consumption of time and cost costs due to charging in the middle of the journey. If the destination cannot be reached directly and needs to be charged at least once before it can be reached, the road status information is further obtained, and the charging pile is reasonably planned and selected for charging in combination with the driving route. This solves the problem of not being able to find a charging pile in time for energy replenishment due to the uneven distribution of the location and number of charging piles across the country, and avoids the bad driving experience of stopping and waiting for rescue due to insufficient power.

[0085] In an exemplary embodiment, before step 204 and step 206, the route planning method further includes: determining whether the destination can be reached in a fully charged state according to the destination information and the current location information. This may be done by first determining the maximum distance or the maximum time that the vehicle can travel in a fully charged state, and then comparing the maximum distance with the mileage of the prepared route, or comparing the maximum time with the time required for the prepared route.

[0086] For example, Figure 3 As shown, judging whether the destination can be reached in a fully charged state according to the destination information and the current location information includes the following steps 302 to 308. Among them:

[0087] Step 302, plan a route based on the destination information and the current location information to obtain the planned mileage.

[0088] Specifically, the navigation module can be directly called to plan at least one drivable route between the destination information and the current location information, and the mileage corresponding to the longest route is determined as the planned mileage.

[0089] Step 304: Calculate a first safe mileage based on the full-charge information and the maximum speed of the vehicle.

[0090] Among them, the full power information is the battery power of the vehicle battery when it is fully charged. It can be directly represented by the total battery capacity, or it can be collected when the vehicle battery is charged to a full power state. The maximum speed of the vehicle indicates the maximum speed that the vehicle can travel to, which can be determined based on different constraints such as vehicle type, road conditions, weather conditions, and laws and regulations. For example, when a small passenger car is driving on a highway, the maximum speed shall not exceed 120 kilometers per hour, and on urban roads, the maximum speed shall not exceed 30 kilometers per hour.

[0091] Specifically, the vehicle's drivable mileage can be calculated using the following formula: mileage = battery charge × (1-battery loss rate) / real-time energy consumption. The real-time energy consumption P can be calculated using the following formula: P = F 驱动力 *V. Further, according to the principle of dynamic balance:

[0092] F 驱动力 =F 总阻力

[0093] Among them:

[0094] F 总阻力 =F 空气阻力 +F 滚动阻力

[0095] F 空气阻力 =1 / 2(ρ*A*C d *V 2 )

[0096] F 滚动阻力 =C 滚动 *m*g

[0097] Among them, C d is the dimensionless coefficient of the vehicle shape, A is the projected area of ​​the front of the vehicle perpendicular to the airflow, ρ is the air density, V is the speed, m is the vehicle mass, m is the acceleration of gravity, and g is the rolling resistance coefficient. Then we can get: P = (F 空气阻力 +F 滚动阻力 )*V.

[0098] It can be understood that according to the above formula, there is a positive correlation between speed and energy consumption. The higher the speed, the more heat is generated, the greater the resistance is, the higher the energy consumption is, and the shorter the distance that can be traveled with the same power. Since the current maximum speed of the vehicle is known, the maximum speed of the vehicle is used to calculate the safe mileage, which can be understood as the safe distance that the vehicle can definitely travel, that is, the maximum speed is used to calculate to ensure that the actual mileage that can be traveled is greater than or equal to the safe mileage. Then the first safe mileage can be characterized as the safe distance that the vehicle can definitely travel when fully charged.

[0099] In step 306, when the planned mileage is less than or equal to the first safe mileage, it is determined that the destination can be reached with a full charge.

[0100] Step 308: When the planned mileage is greater than the first safety mileage, it is determined that the destination cannot be reached in a fully charged state.

[0101] It can be understood that when the planned mileage is less than or equal to the first safety mileage, it indicates that the planned mileage must be less than the actual mileage that the vehicle can travel when fully charged, and it can be determined that the vehicle can be charged to a full power state and can directly drive from the current location to the destination. When the planned mileage is greater than the first safety mileage, it indicates that the planned mileage may be greater than the actual mileage that the vehicle can travel when fully charged, and in order to ensure that the vehicle will not stop and wait for rescue due to insufficient power, it is determined that the vehicle cannot be directly driven from the current location to the destination even if it is charged to a full power state.

[0102] In an exemplary embodiment, Figure 4 As shown, the first route is obtained by planning based on the remaining power information in step 204, including the following steps 402 to 404. Among them:

[0103] Step 402: If it is determined based on the remaining power information that the vehicle is not enough to reach the destination, a charging reminder is issued to charge the vehicle to a sufficient amount of power.

[0104] Step 404, performing path planning according to the destination information and the current location information to obtain a first route.

[0105] Specifically, when it is determined that the destination can be reached with a full charge, it is further determined whether the destination can be reached directly with the remaining power. If the destination can be reached directly with the remaining power, the navigation module can be directly called to perform path planning based on the destination information and the current location information to obtain the first route. If the destination cannot be reached with the remaining power information, a charging reminder is required to prompt the driver to fully charge the vehicle at this time and drive directly to the destination without having to look for a charging station on the way. If a personal charging station can be used to complete charging at the current location (for example, it may be parked at home or at work), it can not only save the driver time on the road, but also avoid the additional cost of charging at a public charging station.

[0106] It can be understood that the method of determining whether the destination can be reached directly under the remaining power state can be similar to the method of determining whether the vehicle can reach the destination directly when it is fully charged. It can be implemented by referring to steps 302 to 308 and will not be repeated here.

[0107] In an exemplary embodiment, Figure 5 As shown, after step 204, the above-mentioned path planning method also includes step 205: if autonomous charging failure information returned in response to the charging prompt is received, a third route is planned according to the current position information, and the third route is a route from the current position to the destination via the nearest charging pile.

[0108] It is understandable that after determining that the destination cannot be reached based on the remaining power information and issuing a charging reminder, there may be no available personal charging pile at the current location. After receiving the charging reminder, the driver may return the autonomous charging failure information, indicating that a public charging pile is still needed for charging.

[0109] Specifically, if an autonomous charging failure message is received in response to a charging prompt, the navigation module can be called first to obtain the charging pile distribution information and the charging pile usage status information based on the current location information, determine the available charging pile closest to the current location, and perform path planning based on the current location information, the nearest charging pile location information and the destination information to obtain a third route, so that the vehicle can drive to the nearest charging pile for charging and then go directly to the destination.

[0110] In this embodiment, when it is determined that the destination can be reached with a full charge, but a personal charging station cannot be used for charging at the departure point, a route to the destination can be planned via the nearest charging station to avoid the inability to charge on the way as planned due to unforeseen accidents. Charging can be completed in advance, thereby saving the total travel time and avoiding queuing and detours to the greatest extent.

[0111] In an exemplary embodiment, step 404 includes: sending the destination information and the current location information to the Beidou navigation module, so that the Beidou navigation module performs path planning according to the destination information and the current location information to obtain the first route.

[0112] Specifically, the navigation module in the vehicle provided in the embodiment of the present application is a vehicle-mounted Beidou navigation module, which is mainly composed of a group of Beidou satellites, a vehicle-mounted receiver and related software. Beidou satellites transmit accurate time and position signals, and the vehicle-mounted receiver receives signals from multiple Beidou satellites and calculates the distance between these satellites and the receiver. Through the intersection of multiple satellite signals, the vehicle-mounted Beidou system can determine the exact position of the receiver, thereby realizing the current position information positioning and navigation guidance of the vehicle.

[0113] In this embodiment, travel route planning is implemented by combining with the Beidou navigation module and is updated in real time, which not only ensures smooth arrival at the destination, but also allows the Beidou navigation module to find the location information of the charging pile and find the most suitable charging pile, avoiding waiting, saving time, and improving charging efficiency.

[0114] In an exemplary embodiment, Figure 6 As shown, the second route is planned based on the remaining power information and the road state information in step 206, including the following steps 502 to 506. Among them:

[0115] Step 502, calculate the second safe mileage based on the remaining power information and the maximum speed of the vehicle. Specifically, the calculation method of the second safe mileage can be implemented with reference to step 304, which will not be repeated here. It can be understood that the second safe mileage calculated using the maximum speed of the vehicle can be characterized as the safe distance that the vehicle can definitely travel under the remaining power state.

[0116] Step 504, based on the road status information and the second safe mileage, the charging piles on the prepared route are screened to obtain the target charging pile; the prepared route is a route obtained by path planning based on the destination information and the current location information.

[0117] Among them, the road status information may include but is not limited to the distribution information of charging piles, the use status information of charging piles, and other vehicle status information. Among them, the distribution information of charging piles is used to characterize the location information of charging piles. The use status information of charging piles may include the power information, type information and occupancy information of the charging piles. The power information may include voltage and current information, the type information may include fast charging type and slow charging type, etc., and the occupancy information includes occupancy status and occupancy time, etc. Other vehicle status information is characterized by the status information of other vehicles on the prepared route, which may include information such as the degree of congestion and the speed of travel that will affect the driving time of the vehicle, and may also include information such as the remaining power information of new energy vehicles that will affect the use status of the charging piles.

[0118] Specifically, the routes to different charging piles and their mileages can be determined first based on the charging pile distribution information, and then the routes that can be reached according to the current remaining power status can be selected. Finally, the target charging pile can be screened based on a comprehensive analysis of the charging pile usage status information and other vehicle status information to ensure that the charging pile can be used immediately for charging when it arrives at the target charging pile without waiting.

[0119] Furthermore, when selecting charging piles, the navigation module can be called to plan the route according to the destination information and the current location information to obtain a pre-route. Then, the preset mileage deviation from the pre-route is used as the limit to select the charging piles along the way to avoid deviating from the main route for charging, which leads to a waste of time.

[0120] For example, Figure 7 As shown, step 504 includes the following steps 602 to 608. Among them:

[0121] Step 602: Determine the charging piles along the way that match the prepared route based on the charging pile distribution information.

[0122] Specifically, the charging pile distribution information can be obtained through the navigation module, which includes all the charging piles marked on the map contained in the navigation module and their location information. After obtaining the charging pile distribution information, the mileage from the main path of the prepared route to each charging pile can be planned based on the location information of each charging pile, that is, the deviation mileage of each charging pile.

[0123] Furthermore, a preset mileage may be set as a limit value, and compared with the deviation mileage of each charging pile to determine the charging pile along the way that matches the prepared route. Specifically, a charging pile with a deviation mileage less than or equal to the preset mileage may be determined as a charging pile along the way that matches the prepared route. If the deviation mileage is greater than the preset mileage, the charging pile is excluded.

[0124] Step 604 , select a candidate charging pile with a driving mileage less than or equal to the second safe mileage from the charging piles along the way.

[0125] Specifically, after selecting and obtaining the charging posts along the way, the navigation module can be called to plan a driving route from the current location to each charging post along the way, and obtain the mileage of each driving route.

[0126] Furthermore, in order to ensure that the vehicle can be charged in time, it is necessary to screen the charging piles along the way based on the second safe mileage, and select the charging piles with a mileage less than or equal to the second safe mileage as the candidate charging piles. It can be understood that the candidate charging piles are all charging piles that can be reached according to the current remaining power status of the vehicle.

[0127] Step 606, perform route planning based on the location information of each candidate charging pile and the current location information to obtain the alternative route time of at least one alternative route. It can be understood that after determining the alternative charging pile, the driving route of each alternative charging pile can be used as an alternative route, and the alternative route time of all alternative routes can be obtained.

[0128] Step 608 , using the alternative route time, charging pile usage status information and other vehicle status information of each alternative route as constraint conditions, and selecting a target charging pile from the alternative charging piles.

[0129] Specifically, the charging pile usage status information, such as the power information and type information of the charging pile, can be used to select a charging pile suitable for charging the current vehicle from the alternative charging piles, such as the appropriate voltage and current level, the appropriate type of fast charging or slow charging, etc. The occupancy information in the charging pile usage status information, combined with other vehicle status information and the alternative route time of each alternative route, can be used to estimate whether the charging pile can be used immediately when arriving at each alternative charging pile, and whether there is no need to wait. At the same time, it is also possible to select a charging pile whose power consumption reaches a preset power threshold from all the optional alternative charging piles, so that the power consumption can be maximized and the number of charging times during the entire journey can be reduced.

[0130] Furthermore, the most suitable target charging pile among the candidate charging piles can be comprehensively analyzed based on the above factors. At the same time, in the process of driving to the target charging pile, the changes in road status information can be monitored in real time. If it is detected that the target charging pile does not match the estimated situation, that is, it may not be available when arriving, the target charging pile can be re-determined among the currently available candidate charging piles to ensure a smooth driving process and avoid the failure to charge on the road as planned due to unforeseen accidents.

[0131] Step 506, perform path planning based on the location information of the target charging pile and the current location information to obtain a second route. Specifically, after the target charging pile is selected, the navigation module can be called to perform path planning based on the location information of the target charging pile and the current location information to obtain the second route.

[0132] In an exemplary embodiment, the vehicle status information also includes the vehicle operating status. Figure 8 As shown, the above vehicle planning method also includes the following steps 702 to 704, wherein:

[0133] Step 702, after determining that the vehicle is parked according to the vehicle running status, reacquire the current position information.

[0134] Step 704: When it is determined that the current location information matches the preset target location, a charging reminder is issued.

[0135] Specifically, the vehicle operation state can be the vehicle driving state or the vehicle start-stop state. The vehicle driving state can be obtained based on the navigation module to determine whether the current location information of the vehicle has changed. The vehicle start-stop information can be obtained based on the vehicle power module.

[0136] Furthermore, if it is detected that the vehicle has stopped, the current location information can be matched with the preset target location to determine whether the preset target location has been reached. If the preset target location has been reached, a charging reminder can be issued to remind the driver that charging is possible. The preset target location is a location set by the driver where the vehicle can be charged through a personal charging pile, or a frequently used charging location set by the driver. For example, the preset target location can be the driver's home location.

[0137] In this embodiment, the driver is reminded to charge the car upon reaching the preset target location, so as to avoid forgetting to charge the car, which results in the driver having to wait for charging time when the car is needed next time but not charged.

[0138] In an exemplary embodiment, the above-mentioned path planning method further includes: real-time monitoring of the remaining power information, and issuing an alarm when the vehicle is determined to be in an abnormal state according to the remaining power information. It can be understood that real-time monitoring of the remaining power information during vehicle driving can ensure that the owner is promptly reminded when the battery suddenly loses power or the battery is accidentally damaged during driving, so as to avoid dangerous situations as much as possible.

[0139] In a specific embodiment, Fig. 9 As shown, a path planning method is provided.

[0140] Specifically, Fig.10 As shown, the first step is to obtain the current position of the vehicle and the position of the destination; the second step is to assume that the power is set to a fully charged state; the third step is to input the current position of the vehicle and the position of the destination into the Beidou navigation system for path planning; the fourth step is to calculate the distance that the car can travel under the current circumstances based on the maximum speed and the current power of the vehicle, and further compare and judge the distance traveled when the car is fully charged and the distance traveled on the navigation path to determine whether the destination can be reached when the car is fully charged.

[0141] At this point, it is divided into two situations. One is that if it can be done, it is situation one (based on the remaining power and the distance to the destination, it is divided into two situations: you can reach the destination directly after charging once and you can reach the destination directly without charging); the other is that if it cannot be done, it is situation two (you can reach the destination by charging at least once). Furthermore, if you can reach the destination when it is fully charged, you can judge and plan the route based on the remaining power before departure. If it is judged that the destination can be reached without charging, you can set off directly. If it is judged that the remaining power cannot reach the destination directly, a charging reminder will be issued so that the owner can charge directly before setting off if the charging pile is nearby at home or at work; if there is no charging pile near the departure point, you can plan to find the pile and charge along the nearest route, and then set off. This type of planning method can save time and avoid queuing and detours to the greatest extent. In the second case, if you cannot reach the destination with a full charge, you have to look for a charging pile and plan the route according to the location of the charging pile. Compared with the two situations of being able to reach the destination with a full charge in the first case, charging before departure or departing directly, more routes need to be traveled and charging at public charging piles requires a series of operations and payment operations, which will consume more time and money. In the first case, the addition of charging piles is to take into account the situation of emergency departure midway, so in order to save time and money, it is still better to first consider being able to reach the destination with a full charge.

[0142] The planning method for situation 1 can be as follows: Fig.11 As shown, the first step is to directly obtain the remaining power of the current car, and then use Beidou navigation to plan the route between the current location and the destination; the second step is to determine whether the destination can be reached, which is divided into two situations: one, yes, send route information to the owner's mobile phone via Bluetooth, do not send charging prompts and monitor the power value in real time until the destination is successfully reached and the power monitoring is ended. Second, if it cannot, it is necessary to locate the nearby charging piles according to Beidou positioning and obtain the current usage status of the charging piles. The third step is to use Beidou navigation to plan the route for the previously obtained current location of the vehicle and the nearby suitable charging pile location; the fourth step is to determine whether the charging pile can be reached. There are two situations: one, yes, send route information to the owner's mobile phone via Bluetooth, send charging prompts and monitor the power value in real time until the charging pile is successfully reached and the power monitoring is ended, and prepare for charging; two, no, send charging prompts to remind the owner to charge before departure, and prepare for charging; the fifth step, after charging is completed, use Beidou navigation to plan the route between the current location and the destination. Since the first situation is that the car can reach the destination when it is fully charged, do not make any more judgments, just go directly to the destination. Finally, reach the destination to end this service.

[0143] The planning method for situation 2 can be as follows: Fig.12As shown, the first step is still to obtain the current remaining power of the car and then use Beidou navigation to plan the route between the current location and the destination; because the car cannot reach the destination when it is fully charged, Beidou navigation is directly used to locate the charging pile; the second step is to filter the route according to the location of the charging pile, which is divided into two situations: one, charging once can reach the destination; two, charging multiple times (n) can reach the destination; the third step is to perform different operations according to the two different situations. If the destination can be reached after charging once, the route information can be directly sent to the owner's mobile phone via Bluetooth, and then a charging reminder is sent and the power value is monitored in real time, and then the car sets off directly Go to the charging station, charge after arriving at the charging station, and then go directly to the destination after charging is completed and end the service after arriving at the destination; if you can reach the destination by charging multiple times, the route information will be sent to the owner's mobile phone via Bluetooth, and then a charging reminder will be sent and the power level will be monitored in real time, and then you will go directly to the charging station, charge after arriving at the charging station, and the basic process of charging is the same as charging once. The difference is that after charging multiple times (n times), you will go to the next charging station and repeat the basic process (the process in the dotted box) n-1 times. After all charging processes are completed, go to the destination and end the service after arriving at the destination.

[0144] In addition, based on Fig.13The flowchart shown in the figure implements route planning based on Beidou navigation. Specifically, the first step is to obtain the current remaining power of the vehicle, the current position of the vehicle, and the position of the destination into the Beidou navigation system; the second step is to calculate the distance that the car can travel under the current circumstances based on the maximum speed and the current power of the vehicle; the third step is to determine whether to go to the destination or the next charging pile based on the distance based on Beidou navigation, mainly by comparing the calculated distance with the distance between the current position and the destination. If the calculated distance is large, the destination can be reached, otherwise it is necessary to go to the charging pile. The fourth step is divided into two situations: one, if you can reach the destination, go directly to the destination; two, if you cannot reach the destination, go to the charging pile. In the fifth step, the Beidou system obtains the location of the charging pile; in the sixth step, the Beidou navigation star performs all route planning and obtains the distance of different routes; in the seventh step, the maximum speed and the current power of the vehicle are used to calculate the distance that the car can travel under the current circumstances, and then the charging pile that can be satisfied at the moment is selected according to the distance; in the eighth step, the Beidou navigation performs all route planning, and then calculates the longest time required for the car to reach the next location in the above route based on factors such as average energy consumption, driving resistance, and environment. This time is called the safety time, and then the status of other vehicles on the route is obtained; in the ninth step, the most suitable route is selected according to the time and the status of other vehicles to ensure that the charging pile can be used immediately for charging when it arrives at the charging pile without waiting. Finally, after the charging is completed and the power reaches full, the process in the dotted box is repeated until the destination is reached.

[0145] The overall process of the method is as follows: Fig. 9 As shown, first of all, Fig.10 Determine whether the destination can be reached when fully charged; Fig.10 The judgment results are entered separately Fig.11 and Fig.12 Scenario 1: Enter Fig.11 After that, the first step is to Fig.13 The second step is to plan the process Fig.13 The result is input into Fig.11 middle, Fig.11 according to Fig.13 The result is judged, and the judgment result is Fig.13 , Fig.13 Make a selection; the third step is to select the result again Fig.11 The second step is to judge the result. Fig.13 , Fig.13 Make a selection; the final selection result comes Fig.11 , Fig.11 conduct Fig.13 The process goes to the destination and ends after arriving at the destination. Fig.12 After that, the first step is to also Fig.13 The second step is to Fig.13 The result is input into Fig.12 In the judgment, if Fig.13 As a result, it only needs to be charged once. Fig.12 Left process; Fig.13 The result needs to be charged multiple times. Fig.12 The right process, Fig.13 Plan to go left; go to the destination after the last charge and end when you reach the destination.

[0146] For example, Fig.14 As shown, the current position of the vehicle after parking can also be obtained, and matched with the home location through the Beidou system. If the match is successful, the owner will be prompted that he has arrived home and can charge. If the match fails, there will be no prompt.

[0147] In this embodiment, by combining the Beidou satellite positioning function, a stable travel route is designed to ensure smooth arrival at the destination. At the same time, the Beidou navigation module obtains charging pile information feedback and the status of nearby vehicles to find the most suitable charging pile, and timely charging to avoid waiting can save time and improve charging efficiency. It also solves the problem of not being able to find charging piles in time for energy replenishment due to the uneven distribution of the location and number of charging piles across the country.

[0148] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0149] Based on the same inventive concept, the embodiment of the present application also provides a path planning device for implementing the path planning method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more path planning device embodiments provided below can refer to the limitations of the path planning method above, and will not be repeated here.

[0150] In an exemplary embodiment, Fig.15As shown, a path planning device is provided, including: an information acquisition module 110, a route planning module 120 and a charging monitoring module 130, wherein:

[0151] The information acquisition module 110 is used to acquire the destination information and the vehicle status information, where the vehicle status information includes the current location information and the remaining power information;

[0152] The route planning module 120 is used to plan a first route based on the remaining power information when it is determined that the destination can be reached with a full charge according to the destination information and the current location information, and the first route is a route that goes directly from the current location to the destination; and is also used to obtain road status information when it is determined that the destination cannot be reached with a full charge according to the destination information and the current location information, and plan a second route based on the remaining power information and the road status information, and the second route is a route from the current location to the target charging pile;

[0153] The charging monitoring module 130 is used to call the information acquisition module 110 to execute the step of acquiring destination information and vehicle status information after monitoring that charging is completed.

[0154] In an exemplary embodiment, the route planning module 120 is further used to plan a route according to the destination information and the current location information to obtain the planned mileage;

[0155] The above-mentioned path planning device also includes:

[0156] A mileage calculation module, used to calculate a first safe mileage according to the full-charge information and the maximum speed of the vehicle;

[0157] The trip estimation module is used to determine that the destination can be reached with a full charge when the planned mileage is less than or equal to the first safety mileage; and to determine that the destination cannot be reached with a full charge when the planned mileage is greater than the first safety mileage.

[0158] In an exemplary embodiment, the path planning device further includes:

[0159] A charging reminder module, used to issue a charging reminder when it is determined based on the remaining power information that the vehicle is not enough to reach the destination, so as to charge the vehicle to a sufficient amount of power;

[0160] The route planning module 120 is further used to perform path planning according to the destination information and the current location information to obtain a first route.

[0161] In an exemplary embodiment, the route planning module 120 is also used to plan a third route based on the current location information when receiving the autonomous charging failure information returned in response to the charging prompt. The third route is a route from the current location to the destination via the nearest charging station.

[0162] In an exemplary embodiment, the route planning module 120 is implemented based on the Beidou navigation system, and is used to receive destination information and current location information, and perform path planning according to the destination information and the current location information to obtain a first route.

[0163] In an exemplary embodiment,

[0164] The mileage calculation module is also used to calculate the second safe mileage according to the remaining power information and the maximum speed of the vehicle;

[0165] The route planning module 120 is also used to plan a path according to the destination information and the current location information to obtain a preliminary route;

[0166] The above-mentioned path planning device also includes:

[0167] A charging pile screening module, used to screen the charging piles on the prepared route based on the road status information and the second safe mileage, and obtain the target charging piles;

[0168] The route planning module 120 is further used to perform path planning according to the location information of the target charging pile and the current location information to obtain a second route.

[0169] In an exemplary embodiment, the road status information includes charging pile distribution information, charging pile usage status information, and other vehicle status information;

[0170] The charging pile screening module is further used to determine, based on the charging pile distribution information, the charging piles along the way that match the prepared route; and select the candidate charging piles whose driving mileage is less than or equal to the second safe mileage from the charging piles along the way;

[0171] The route planning module 120 is further used to perform route planning based on the location information of each candidate charging pile and the current location information, and obtain the alternative route time of at least one alternative route;

[0172] The charging pile screening module is also used to select a target charging pile from the alternative charging piles by taking the alternative route time of each alternative route, the charging pile usage status information and other vehicle status information as constraint conditions.

[0173] In an exemplary embodiment, the vehicle state information further includes the vehicle running state; and the above-mentioned path planning device further includes:

[0174] The home reminder module is used to re-acquire the current location information after determining that the vehicle is parked according to the vehicle's operating status; when it is determined that the current location information matches the preset target location, a charging reminder is issued.

[0175] In an exemplary embodiment, the path planning device further includes:

[0176] The power monitoring module is used to monitor the remaining power information in real time and issue an alarm if the vehicle is determined to be in an abnormal state based on the remaining power information.

[0177] Each module in the above-mentioned path planning device can be implemented in whole or in part by software, hardware or a combination thereof. Each of the above-mentioned modules can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the operations corresponding to each of the above modules.

[0178] In an exemplary embodiment, Figure 1 As shown, a vehicle is provided, including a control module 102 and a navigation module 104, wherein the navigation module 104 is connected to the control module 102, and the control module 102 is used to implement the path planning method described in any of the above embodiments based on the navigation module 104 to complete the driving path planning of the vehicle.

[0179] In an exemplary embodiment, the navigation module 104 is a Beidou navigation module.

[0180] The implementation solution provided by the vehicle to solve the problem is similar to the implementation solution recorded in the above-mentioned path planning method. Therefore, the specific limitations in one or more vehicle embodiments provided above can be referred to the limitations on the path planning method above, and will not be repeated here.

[0181] In an exemplary embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as shown in FIG. Fig.16As shown. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. Among them, the processor, the memory and the input / output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, near field communication (Near Field Communication, NFC) or other technologies. When the computer program is executed by the processor, a path planning method is implemented. The display unit of the computer device is used to form a visually visible picture, which can be a central control display screen, a projection device, a virtual reality imaging device or a head-up display (Head-Up Display, HUD) of the vehicle. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse.

[0182] Those skilled in the art will understand that Fig.16 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0183] In an exemplary embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the steps in the above method embodiments are implemented.

[0184] In an exemplary embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0185] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0186] It should be noted that the user information (including but not limited to vehicle status information and destination information entered by the user, etc.) and data (including but not limited to data analyzed, stored, displayed, etc. during route planning based on the above information) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0187] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0188] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0189] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A path planning method, characterized in that: The method comprises: Acquiring destination information and vehicle status information, wherein the vehicle status information includes current location information and remaining power information; When it is determined according to the destination information and the current location information that the destination can be reached in a fully charged state, a first route is planned based on the remaining power information, where the first route is a route that goes directly from the current location to the destination; When it is determined that the destination cannot be reached in a fully charged state according to the destination information and the current location information, road status information is obtained, and a second route is planned based on the remaining power information and the road status information, where the second route passes through at least one target charging pile.

2. The method according to claim 1, characterized in that Determining whether the destination can be reached in a fully-charged state according to the destination information and the current location information includes: Performing route planning according to the destination information and the current location information to obtain planned mileage; The first safe mileage is calculated based on the full-charge information and the maximum speed of the vehicle; When the planned mileage is less than or equal to the first safe mileage, determining that the destination can be reached in a fully charged state; When the planned mileage is greater than the first safe mileage, it is determined that the destination cannot be reached in a fully charged state.

3. The method according to claim 1, characterized in that: The planning and obtaining a first route based on the remaining power information includes: If it is determined based on the remaining power information that the vehicle is insufficient to reach the destination, a charging reminder is issued to charge the vehicle to a sufficient power level; Path planning is performed according to the destination information and the current location information to obtain a first route.

4. The method according to claim 3, characterized in that The method further comprises: If autonomous charging failure information returned in response to the charging prompt is received, a third route is planned according to the current location information, and the third route is a route from the current location to the destination via the nearest charging pile.

5. The method according to claim 3, characterized in that: The performing path planning according to the destination information and the current location information to obtain a first route includes: The destination information and the current location information are sent to a Beidou navigation module, so that the Beidou navigation module performs path planning according to the destination information and the current location information to obtain a first route.

6. The method according to claim 1, characterized in that Planning a second route based on the remaining power information and the road state information includes: Calculate a second safe mileage according to the remaining power information and the maximum speed of the vehicle; Based on the road state information and the second safe mileage, the charging piles on the prepared route are screened to obtain the target charging piles; the prepared route is a route obtained by path planning according to the destination information and the current location information; Path planning is performed according to the location information of the target charging pile and the current location information to obtain a second route.

7. The method according to claim 6, characterized in that The road status information includes charging pile distribution information, charging pile usage status information and other vehicle status information; The step of screening charging piles on the prepared route based on the road state information and the second safe mileage to obtain the target charging pile includes: Based on the charging pile distribution information, determining a charging pile along the way that matches the prepared route; Among the charging piles along the way, selecting a candidate charging pile whose driving mileage is less than or equal to the second safe mileage; Performing route planning based on the location information of each candidate charging pile and the current location information to obtain the alternative route time of at least one alternative route; The alternative route time, charging pile usage status information and other vehicle status information of each alternative route are used as constraint conditions, and a target charging pile is selected from the alternative charging piles.

8. The method according to claim 1, characterized in that The method further comprises: When receiving the destination confirmation signal, entering the step of obtaining the destination information and the vehicle status information; and / or During the process of using the second route for path navigation, if charging completion information is detected, the step of obtaining the destination information and the vehicle status information is entered.

9. The method according to any one of claims 1 to 8, characterized in that: The vehicle status information also includes the vehicle running status; the method also includes: After determining that the vehicle is parked according to the vehicle running state, reacquiring current position information; When it is determined that the current location information matches the preset target location, a charging prompt is issued.

10. A path planning device, characterized in that: The device comprises: An information acquisition module, used to acquire destination information and vehicle status information, wherein the vehicle status information includes current location information and remaining power information; The route planning module is used to plan a first route based on the remaining power information when it is determined that the destination can be reached with a full charge according to the destination information and the current location information, and the first route is a route that goes directly from the current location to the destination; and is also used to obtain road status information when it is determined that the destination cannot be reached with a full charge according to the destination information and the current location information, and plan a second route based on the remaining power information and the road status information, and the second route is a route that passes through at least one target charging pile.

11. A vehicle, characterized in that: It comprises a control module and a navigation module, wherein the navigation module is connected to the control module, and the control module is used to implement the steps of the method according to any one of claims 1 to 9 based on the navigation module to complete the driving path planning of the vehicle.

12. The vehicle according to claim 11, characterized in that The navigation module is a Beidou navigation module.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 9 are implemented.

14. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 9 are implemented.

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