Path planning methods, devices, vehicles, and readable storage media

Abstract

This application relates to a route planning method, apparatus, vehicle, computer-readable storage medium, and computer program product. When it is determined that a fully charged battery is sufficient to reach the destination based on destination information and current location information, a route from the current location directly to the destination is planned based on the remaining battery power. Conversely, when it is determined that a fully charged battery is insufficient to reach the destination based on destination information and current location information, road condition information is obtained, and a route from the current location to the target charging station is planned based on the remaining battery power and road condition information. After charging is completed, the process can return to the steps of obtaining destination information and vehicle status information, and perform route planning based on the new vehicle status. This solves the problem of not being able to find a charging station in a timely manner due to the uneven distribution of charging station locations and quantities across the country, avoiding the unpleasant driving experience of having to wait for roadside assistance due to insufficient battery power.

Description

Technical Field

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

[0002] In recent years, with the increasing severity of resource and environmental issues, new energy vehicles have become an industry that countries are vigorously supporting. At the same time, technologies related to automotive electricity have undoubtedly attracted much attention, including the development direction of technologies such as automotive batteries and automotive charging.

[0003] New energy vehicles refer to automobiles that use non-traditional fuel as a power source or adopt new vehicle power systems, currently mainly powered by electricity. With the development of battery technology, power electronics technology, control technology, autonomous driving technology, and the improvement of charging infrastructure, and encouraged by relevant government policies, new energy vehicles are gradually becoming more widespread, and more and more consumers are choosing to purchase them.

[0004] However, the main charging method for new energy vehicles is still charging stations. But due to the uneven distribution of the location and number of charging stations across the country, if a new energy vehicle runs out of power and cannot find a charging station in time to replenish its energy, it will face the challenge of stopping and waiting for rescue. This not only wastes the owner's time, but also brings a bad driving experience. Summary of the Invention

[0005] Therefore, it is necessary to provide a route planning method, device, vehicle, computer-readable storage medium, and computer program product to address the aforementioned technical challenges faced by new energy vehicles in terms of charging.

[0006] Firstly, this application provides a path planning method, the method comprising:

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

[0008] If it is determined that a fully charged state is sufficient to reach the destination based on the destination information and the current location information, a first route is planned based on the remaining battery power information. The first route is a route that goes directly from the current location to the destination.

[0009] If it is determined that the destination cannot be reached when the battery is fully charged based on the destination information and the current location information, road status information is obtained, and a second route is planned based on the remaining battery information and the road status information. The second route is a route that passes through at least one target charging station.

[0010] In one embodiment, determining whether a fully charged state is sufficient to reach the destination based on the destination information and the current location information includes:

[0011] Based on the destination information and the current location information, a route is planned to obtain the planned mileage.

[0012] The first safe mileage is calculated based on the full charge information and the vehicle's maximum speed.

[0013] If the planned mileage is less than or equal to the first safe mileage, it is determined that the destination can be reached when the battery is fully charged;

[0014] If 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 step of planning the first route based on the remaining battery power information includes:

[0016] If it is determined based on the remaining battery information that the vehicle is not powerful enough to reach the destination, a charging reminder will be issued to charge the vehicle to a sufficient level.

[0017] Based on the destination information and the current location information, a route is planned to obtain a first route.

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

[0019] If an autonomous charging failure message is received in response to the charging prompt, a third route is planned based on the current location information. The third route is a route from the current location to the destination via the nearest charging station.

[0020] In one embodiment, the step of performing path planning based on 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 the BeiDou navigation module so that the BeiDou navigation module can perform path planning based on the destination information and the current location information to obtain a first route.

[0022] In one embodiment, a second route is planned based on the remaining battery power information and the road condition information, including:

[0023] The second safe mileage is calculated based on the remaining battery power information and the vehicle's maximum speed.

[0024] Based on the road condition information and the second safe mileage, charging piles on the preliminary route are filtered to obtain the target charging pile; the preliminary route is a route obtained by path planning based on the destination information and the current location information;

[0025] Based on the location information of the target charging station and the current location information, a second route is obtained through path planning.

[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 filtering charging stations on the proposed route based on the road condition information and the second safe mileage to obtain the target charging station includes:

[0028] Based on the charging pile distribution information, determine the charging piles along the planned route;

[0029] Among the roadside charging stations, candidate charging stations whose mileage is less than or equal to the second safe mileage are selected.

[0030] Based on the location information of each alternative charging station and the current location information, a route is planned to obtain the time required for at least one alternative route;

[0031] The target charging station is selected from the alternative charging stations by using the alternative route travel time, charging station usage status information, and other vehicle status information as constraints.

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

[0033] Upon receiving a destination confirmation signal, proceed to the step of obtaining destination information and vehicle status information;

[0034] and / or

[0035] If charging completion information is detected during the route navigation using the second route, the process proceeds to the step of obtaining destination information and vehicle status information.

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

[0037] After determining that the vehicle is parked based on its operating status, the current location information is reacquired.

[0038] If the current location information matches the preset target location, a charging prompt will be issued.

[0039] Secondly, this application provides a path planning apparatus, the apparatus comprising:

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

[0041] The route planning module is used to plan a first route based on the remaining battery power information when it is determined that a fully charged state is sufficient to reach the destination based on the destination information and the current location information. The first route is a route that goes directly from the current location to the destination. The module is also used to obtain road status information and plan a second route based on the remaining battery power information and the road status information when it is determined that a fully charged state is insufficient to reach the destination based on the destination information and the current location information. The second route is a route that passes through at least one target charging station.

[0042] Thirdly, this 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-mentioned method based on the navigation module to complete the driving path planning of the vehicle.

[0043] In one embodiment, the navigation module is a BeiDou navigation module.

[0044] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the above-described method.

[0045] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the above-described method.

[0046] The aforementioned route planning method, device, vehicle, computer-readable storage medium, and computer program product acquire destination information and vehicle status information, including current location information and remaining battery power information. If, based on the destination information and current location information, it is determined that a full charge is sufficient to reach the destination, a first route is planned based on the remaining battery power information. This first route is a direct route from the current location to the destination. If, based on the destination information and current location information, it is determined that a full charge is insufficient to reach the destination, road status information is acquired, and a second route is planned based on the remaining battery power information and road status information. This second route passes through at least one target charging station. This solves the problem of not being able to find a charging station in a timely manner due to the uneven distribution of charging station locations and quantities across the country, and avoids the unpleasant driving experience of having to wait for roadside assistance due to insufficient battery power. Attached Figure Description

[0047] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

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

[0049] Figure 2 This is a flowchart illustrating a path planning method in one embodiment;

[0050] Figure 3 This is a flowchart illustrating the steps for determining whether a fully charged state can reach the destination in one embodiment.

[0051] Figure 4 This is a flowchart illustrating the steps for planning the first route in one embodiment;

[0052] Figure 5 This is a flowchart illustrating the path planning method in another embodiment;

[0053] Figure 6 This is a flowchart illustrating the steps for planning the second route in one embodiment;

[0054] Figure 7 This is a flowchart illustrating the steps for selecting target charging piles in one embodiment;

[0055] Figure 8 This is a flowchart illustrating the home charging reminder steps in one embodiment;

[0056] Figure 9 This is a flowchart illustrating the path planning method in yet another embodiment;

[0057] Figure 10 This is a flowchart illustrating the step of determining whether a fully charged state can reach the destination in another embodiment;

[0058] Figure 11 This is a flowchart illustrating the steps for planning the first route in another embodiment;

[0059] Figure 12 This is a flowchart illustrating the steps for planning the second route in another embodiment;

[0060] Figure 13 This is a flowchart illustrating the path planning steps in one embodiment;

[0061] Figure 14A flowchart illustrating the home charging reminder step in another embodiment;

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

[0063] Figure 16 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0064] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0065] The path planning method provided in this application embodiment can be applied to, for example, Figure 1 The vehicle shown includes a control module 102 and a navigation module 104. The control module 102 communicates with the navigation module 104 via a network and plans the vehicle's driving route based on the navigation module 104. Specifically, the vehicle referred to in this application can be a new energy vehicle primarily powered by batteries, which can use its remaining battery power information to assist in route planning. A data storage system can store the data that the control module 102 needs to process. The data storage system can be integrated into the control module 102 or located in the cloud or on other network servers.

[0066] Specifically, the control module 102 acquires destination information and remaining battery power information, and acquires current location information based on the navigation module 104; if it is determined that a full charge is sufficient to reach the destination based on the destination information and current location information, a first route is planned based on the remaining battery power information, which is a route directly from the current location to the destination; if it is determined that a full charge is insufficient to reach the destination based on the destination information and current location information, road condition information is acquired, and a second route is planned based on the remaining battery power information and road condition information, which is a route that passes through at least one target charging station.

[0067] The control module 102 can be a control chip or control circuit board installed within the vehicle body, or it can be an external control system based on wireless communication. The external control system can be implemented through devices such as terminals or servers. Terminals can be, but are not limited to, various personal computers, smartphones, tablets, IoT devices, and portable wearable devices. IoT devices can include smart speakers, smart in-vehicle devices, etc. Portable wearable devices can include smartwatches, smart bracelets, etc. Servers can be implemented using independent servers or server clusters composed of multiple servers.

[0068] In one exemplary embodiment, such as Figure 2 As shown, a path planning method is provided, which can be applied to... Figure 1 Taking the control module 102 as an example, the explanation includes the following steps 202 to 206. Wherein:

[0069] Step 202: Obtain destination information and vehicle status information. Vehicle status information includes current location information and remaining battery power information.

[0070] Specifically, destination information represents the location or position information that the driver plans to reach. The method of obtaining destination information is not unique; it can be that the vehicle communicates with a terminal device and obtains the destination information input by the driver through the terminal, or the driver can directly obtain the destination information through an interactive module on the vehicle itself, such as the vehicle's central control screen. The process of obtaining destination information and vehicle status information can begin upon receiving a destination confirmation signal from the driver.

[0071] Furthermore, the vehicle status information is specifically used to determine which route to plan to reach the destination based on the vehicle's current state, including but not limited to bypassing charging stations, passing through one charging station, and passing through multiple charging stations. The vehicle status information may include current location information, used to plan a preliminary route between the two locations in conjunction with the destination information. The current location information can be obtained through the vehicle's own navigation module. The vehicle status information may also include remaining battery power information, used to determine the maximum distance the vehicle can travel with the current remaining battery power. The remaining battery power information can be obtained through communication with the vehicle's battery module.

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

[0073] Specifically, this application first needs to determine, based on the destination information and the vehicle's current location information, whether the vehicle can directly reach the destination when it is fully charged. If it is determined that a fully charged vehicle can reach the destination based on the destination information and the current location information, it means that the vehicle does not need to search for a charging station along the way. Therefore, it can be suggested that the driver charge the vehicle to a full charge if charging is available at the current location. This not only completely avoids the problem of stopping due to insufficient power, but also avoids the double waste of time and money caused by charging midway.

[0074] Furthermore, if it is determined that a full charge is sufficient to reach the destination based on the destination information and current location information, a first route can be planned based on the remaining battery power. That is, first determine whether the remaining battery power is sufficient to reach the destination. If so, the navigation module is directly invoked to plan the first route based on the destination information and current location information. If the remaining battery power is insufficient to reach the destination, a charging prompt is issued so that the driver can charge at or near the current location until the vehicle can directly reach the destination via the first route.

[0075] For example, determining that a fully charged vehicle can reach its destination based on destination information and current location information can be achieved by first determining the farthest distance or the longest time the vehicle can travel when fully charged, and then comparing the farthest distance with the mileage of the planned route, or by comparing the longest time with the time required for the planned route.

[0076] It's understandable that after obtaining the initial route, it can be displayed directly through the vehicle's interactive module for the driver to follow. Alternatively, the route can be sent to a terminal device communicating with the vehicle, allowing the driver to view and follow it on the terminal. The choice between these methods depends on how the destination information is obtained. If the driver inputs the destination information via the terminal device, the route can be sent there; if the driver inputs it through the vehicle's interactive module, the route can be displayed directly on the vehicle. Furthermore, the method of sending the route to the terminal device depends on the specific communication method between the vehicle and the terminal device. For example, if the communication method is Bluetooth, the route can be sent via Bluetooth.

[0077] Step 206: If it is determined that the destination cannot be reached when the battery is fully charged based on the destination information and the current location information, obtain the road status information, and plan a second route based on the remaining battery information and the road status information. The second route is a route that passes through at least one target charging station.

[0078] It's understandable that if, based on destination and current location information, a fully charged vehicle cannot reach its destination, it means the vehicle needs to be charged at least once to travel directly from its current location. Therefore, it's necessary to plan the route to charging stations by incorporating road condition information to find the most suitable charging station and reach the destination, improving charging efficiency and arriving at the destination as quickly as possible.

[0079] Specifically, road condition information may include, but is not limited to, charging pile distribution information, charging pile usage status information, and other vehicle condition information. Charging pile distribution information represents the location of charging piles. Charging pile usage status information may include the charging pile's power, type, and occupancy information. Power information may include voltage and current information; type information may include fast charging and slow charging types; and occupancy information includes occupancy status and occupancy time. Other vehicle condition information represents the condition of other vehicles on the planned route, and may include information that affects vehicle travel time, such as congestion levels and traffic speeds, as well as information that affects the charging pile usage status, such as the remaining battery power of new energy vehicles.

[0080] It is understandable that the aforementioned road status information can be obtained by calling the vehicle's own navigation module, or it can be obtained through communication between the vehicle and the terminal device.

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

[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 charge the vehicle at the target charging station after arriving at the target charging station. The method of outputting the second route to the driver can refer to the description of the first route output method above, and will not be repeated here.

[0083] Furthermore, during the route navigation using the second route, if vehicle charging completion information is detected, the process can return to step 202 to obtain vehicle status information, namely, the vehicle's current location information and the remaining battery level information. Additionally, if the user actively changes their destination at this time, the destination information can be retrieved again. It can be understood that after retrieving the above information, the step of determining whether the vehicle, with a full charge, can directly reach the destination can be executed again based on the destination information and the vehicle's current location information. Then, based on the determination result, a choice can be made between proceeding directly to the destination according to step 204 or proceeding to the next target charging station according to step 206, repeating the process until the vehicle reaches the destination using the first route.

[0084] The aforementioned route planning method first determines whether the vehicle, when fully charged, can directly reach its destination based on the destination information and the vehicle's current location. If direct access is confirmed, the vehicle can avoid searching for charging stations along the way. Therefore, the method suggests that the driver charge the vehicle to full capacity at the current location, avoiding both insufficient battery power leading to parking and incurring time and costly charging stops en route. If direct access is not possible and at least one charging attempt is required, the method further utilizes road condition information and the route to rationally plan and select charging stations. This addresses the problem of finding charging stations due to uneven distribution of charging locations and quantities across the country, preventing the unpleasant driving experience of waiting for roadside assistance due to insufficient battery power.

[0085] In an exemplary embodiment, prior to steps 204 and 206, the route planning method further includes: determining whether the destination can be reached in a fully charged state based on the destination information and the current location information. This can be achieved by first determining the farthest distance or the longest time the vehicle can travel in a fully charged state, and then comparing the farthest distance with the mileage of the planned route, or by comparing the longest time with the time required for the planned route.

[0086] For example, such as Figure 3 As shown, determining whether a fully charged device can reach its destination based on destination information and current location information includes steps 302 to 308. Wherein:

[0087] Step 302: Perform route planning based on destination information and current location information to obtain the planned mileage.

[0088] Specifically, the navigation module can be directly invoked to plan at least one route that can be traveled 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 the first safe mileage based on the full charge information and the vehicle's maximum speed.

[0090] Among these, the full charge information refers to the battery level of the vehicle when it is fully charged. This can be represented directly by the total battery capacity, or it can be collected when the battery is fully charged. The maximum vehicle speed indicates the maximum speed the vehicle can reach, which can be determined based on various constraints such as vehicle type, road conditions, weather conditions, and laws and regulations. For example, the maximum speed for a small passenger car on a highway is 120 kilometers per hour, while on urban roads it is 30 kilometers per hour.

[0091] Specifically, the vehicle's drivable range can be calculated using the following formula: Range = Battery capacity × (1 - Battery degradation rate) / Real-time energy consumption. Wherein, real-time energy consumption P can be calculated using the following formula: P = F 驱动力 *V. Furthermore, according to the principle of dynamic balance:

[0092] F 驱动力 =F 总阻力

[0093] And among these:

[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 Let be a dimensionless coefficient representing the vehicle's shape, A be the projected area of ​​the vehicle's front perpendicular to the airflow, ρ be the air density, V be the velocity, m be the vehicle's mass, m be the acceleration due to gravity, and g be the rolling resistance coefficient. Therefore, we can obtain: P = (F... 空气阻力 +F 滚动阻力 )*V.

[0098] As can be understood from 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 encountered, the higher the energy consumption, and the shorter the distance that can be traveled with the same amount of electricity. Since the maximum speed of the vehicle is currently known, using the maximum speed to calculate the safe mileage can be understood as the safe distance that the vehicle can definitely travel. That is, using the maximum speed to calculate ensures that the actual mileage is greater than or equal to the safe mileage. Therefore, the first safe mileage can be characterized as the safe distance that the vehicle can definitely travel when fully charged.

[0099] Step 306: If the planned mileage is less than or equal to the first safe mileage, the destination can be reached once the battery is fully charged.

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

[0101] It's understandable that when the planned mileage is less than or equal to the first safe mileage, it means the planned mileage is definitely less than the vehicle's actual driving range when fully charged. Therefore, it can be determined that once the vehicle is fully charged, it can drive directly from the current location to the destination. When the planned mileage is greater than the first safe mileage, it means the planned mileage may be greater than the vehicle's actual driving range when fully charged. Therefore, to ensure the vehicle doesn't have to stop and wait for assistance due to insufficient battery power, even if the vehicle is fully charged, it cannot drive directly from the current location to the destination.

[0102] In one exemplary embodiment, such as Figure 4 As shown, step 204, which involves planning the first route based on the remaining battery power information, includes steps 402 to 404. Wherein:

[0103] Step 402: If it is determined based on the remaining battery information that the vehicle is not powerful enough to reach the destination, a charging prompt is issued to charge the vehicle to a sufficient level.

[0104] Step 404: Perform route planning based on destination information and current location information to obtain the first route.

[0105] Specifically, if a full charge is sufficient to reach the destination, the system then determines whether the remaining battery level allows for direct access. If the remaining battery level also allows for direct access, the navigation module is invoked to plan a route based on the destination and current location information. If the remaining battery level prevents access, a charging prompt is issued, instructing the driver to fully charge the vehicle and proceed directly to the destination without needing to search for a charging station along the way. If a personal charging station is readily available at the current location (e.g., at home or workplace), this not only saves the driver time but also avoids the additional costs of charging at public charging stations.

[0106] It is understandable that the method for determining whether the vehicle can directly reach its destination with the remaining battery power can be similar to the method for determining whether the vehicle can directly reach its destination with a full charge. This can be achieved by referring to steps 302 to 308, and will not be elaborated here.

[0107] In one exemplary embodiment, such as Figure 5 As shown, after step 204, the above path planning method also includes step 205: if an autonomous charging failure message is received in response to the charging prompt, a third route is planned based on the current location information. The third route is the route from the current location through the nearest charging station to the destination.

[0108] It is understandable that after determining that the remaining battery information is insufficient to reach the destination and issuing a charging reminder, there may be no available personal charging stations at the current location. After receiving the charging reminder, the driver can return a self-charging failure message, indicating that they still need to find a public charging station to charge.

[0109] Specifically, if a self-charging failure message is received in response to a charging prompt, the navigation module can be invoked first to obtain charging pile distribution information and charging pile usage status information based on the current location information, determine the nearest available charging pile, and perform route planning based on the current location information, the location information of the nearest charging pile, 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, if it is determined that the destination can be reached when the battery is fully charged, but the starting point cannot be charged using a personal charging station, the route to the destination can be planned after finding the nearest charging station. This avoids the inability to charge as planned due to unforeseen circumstances, allowing the charging to be completed ahead of time, saving total travel time, and minimizing the problems of queuing and detours.

[0111] In an exemplary embodiment, step 404 includes: sending destination information and current location information to the BeiDou navigation module so that the BeiDou navigation module can perform path planning based on the destination information and current location information to obtain a first route.

[0112] Specifically, the navigation module in the vehicle provided in this application embodiment is an in-vehicle BeiDou navigation module, which mainly consists of a set of BeiDou satellites, an in-vehicle receiver, and related software. BeiDou satellites transmit precise time and position signals, and the in-vehicle receiver receives signals from multiple BeiDou satellites and calculates the distances between these satellites and the receiver. Through the convergence of signals from multiple satellites, the in-vehicle BeiDou system can determine the accurate location of the receiver, thereby achieving vehicle current location information positioning and navigation guidance.

[0113] In this embodiment, by combining the BeiDou navigation module to realize travel route planning and real-time updates, it can not only ensure a smooth arrival at the destination, but also find the location information of charging piles and the most suitable charging pile through the BeiDou navigation module, avoiding waiting, saving time, and improving charging efficiency.

[0114] In one exemplary embodiment, such as Figure 6 As shown, step 206, which involves planning the second route based on remaining battery power information and road condition information, includes steps 502 to 506. Wherein:

[0115] Step 502: Calculate the second safe mileage based on the remaining battery power information and the vehicle's maximum speed. Specifically, the calculation method for the second safe mileage can be referred to in step 304, and will not be repeated here. It can be understood that the second safe mileage, calculated using the vehicle's maximum speed, represents the safe distance the vehicle can definitely travel with the remaining battery power.

[0116] Step 504: Based on road condition information and the second safe mileage, filter the charging piles on the preliminary route to obtain the target charging pile; the preliminary route is the route obtained by path planning based on destination information and current location information.

[0117] The road condition information may include, but is not limited to, charging pile distribution information, charging pile usage status information, and other vehicle status information. Charging pile distribution information represents the location of charging piles. Charging pile usage status information may include the charging pile's power, type, and occupancy information. Power information may include voltage and current information; type information may include fast charging and slow charging types; and occupancy information includes occupancy status and occupancy time. Other vehicle status information represents the status of other vehicles on the planned route and may include information that affects vehicle travel time, such as congestion levels and traffic speeds, as well as information that affects the charging pile usage status, such as the remaining battery power of new energy vehicles.

[0118] Specifically, the route and distance to different charging stations can be determined first based on the distribution information of charging stations. Then, the station that can be reached based on the current remaining battery level can be selected. Finally, the target charging station can be selected by comprehensively analyzing the charging station usage status information and other vehicle status information, so as to ensure that the charging station can be used immediately upon arrival without waiting.

[0119] Furthermore, when selecting charging stations, the navigation module can be invoked to plan a preliminary route based on the destination information and the current location information. Then, charging stations along the route are selected with a preset mileage limit to avoid deviating from the main path for charging, thus avoiding wasted time.

[0120] For example, such as Figure 7 As shown, step 504 includes steps 602 to 608. Wherein:

[0121] Step 602: Based on the charging pile distribution information, determine the charging piles along the planned route.

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

[0123] Furthermore, a preset mileage can be set as a limit, and this limit can be compared with the mileage deviation of each charging station to determine the charging stations along the planned route. Specifically, charging stations with a mileage deviation less than or equal to the preset mileage can be identified as charging stations along the planned route. If the mileage deviation is greater than the preset mileage, the charging station is excluded.

[0124] Step 604: Select alternative charging stations from the charging stations along the route whose mileage is less than or equal to the second safe mileage.

[0125] Specifically, after selecting the charging stations along the way, the navigation module can be invoked to plan the driving route from the current location to each charging station and obtain the mileage of each route.

[0126] Furthermore, to ensure timely charging for vehicles, it is necessary to screen along the route charging stations based on the second safe mileage. Charging stations with a mileage less than or equal to the second safe mileage are selected as backup charging stations. It can be understood that these backup charging stations are those that the vehicle can definitely reach based on its current remaining battery level.

[0127] Step 606: Based on the location information of each candidate charging station and the current location information, perform route planning to obtain the travel time for at least one candidate route. This means that once a candidate charging station is identified, the driving routes of each candidate charging station can be used as candidate routes, and the travel time for all candidate routes can be obtained.

[0128] Step 608: Using the route time, charging pile usage status information, and other vehicle status information of each alternative route as constraints, select the target charging pile from the alternative charging piles.

[0129] Specifically, charging station usage status information, such as the charging station's power and type, can be used to select a suitable charging station from the alternative charging stations for the current vehicle, such as appropriate voltage and current levels, and suitable fast or slow charging types. The occupancy information within the charging station usage status, combined with other vehicle status information and the travel time for each alternative route, can be used to estimate whether the charging station can be used immediately upon arrival, or whether waiting is unnecessary. Furthermore, from all available alternative charging stations, charging stations with energy consumption reaching a preset energy threshold can be selected, maximizing energy consumption and reducing the number of charging trips throughout the journey.

[0130] Furthermore, based on the above factors, a comprehensive analysis can be conducted to identify the most suitable target charging station among the available options. Simultaneously, during the journey to the target charging station, changes in road conditions can be monitored in real time. If the target charging station does not match the predicted conditions, meaning it may be unavailable upon arrival, a new target charging station can be selected from the currently available alternatives. This ensures a smooth journey and avoids unforeseen circumstances that prevent planned charging during the trip.

[0131] Step 506: Path planning is performed based on the location information of the target charging station and the current location information to obtain a second route. Specifically, after selecting the target charging station, the navigation module can be invoked to perform path planning based on the location information of the target charging station and the current location information to obtain a second route.

[0132] In one exemplary embodiment, the vehicle status information also includes the vehicle's operating status. For example... Figure 8 As shown, the above vehicle planning method further includes steps 702 to 704, wherein:

[0133] Step 702: After determining that the vehicle is parked based on its operating status, reacquire the current location information.

[0134] Step 704: If the current location information matches the preset target location, a charging prompt is issued.

[0135] Specifically, the vehicle's operating status can be either in motion or in a start-stop state. The motion status can be obtained from the navigation module, which determines whether the vehicle's current location has changed. The start-stop information can be obtained from the vehicle's powertrain module.

[0136] Furthermore, if the vehicle is detected to be parked, its current location information can be matched with a preset target location to determine if the target location has been reached. If the target location has been reached, a charging reminder can be issued to alert the driver that charging is available. The preset target location is a location set by the driver that can be charged using a personal charging station, or a frequently used charging location set by the driver. For example, the preset target location could be the driver's home location.

[0137] In this embodiment, by designing a system that reminds the driver to charge upon reaching a preset target location, the driver can avoid forgetting to charge and having to wait for charging when they need to use the vehicle again.

[0138] In one exemplary embodiment, the route planning method further includes: real-time monitoring of remaining battery power information, and issuing an alarm when it is determined that the vehicle is in an abnormal state based on the remaining battery power information. It is understood that real-time monitoring of remaining battery power information during vehicle operation ensures that the driver is promptly alerted in cases of sudden battery power loss or accidental battery damage during driving, thus minimizing the risk of dangerous situations.

[0139] In one specific embodiment, such as Figure 9 As shown, a path planning method is provided.

[0140] Specifically, such as Figure 10 As shown, the first step is to obtain the vehicle's current location and the destination location; the second step is to assume that the battery is fully charged; the third step is to input the vehicle's current location and the destination location into the Beidou navigation system for route planning; the fourth step is to calculate the distance the car can travel under the current conditions based on the maximum speed and the vehicle's current battery level, and then compare and judge the distance traveled under the condition of the car being fully charged with the distance traveled on the navigation route to determine whether the car can reach the destination with a full battery.

[0141] This leads to two scenarios: Scenario 1 (based on remaining battery power and distance to the destination, either a single charge is sufficient to reach the destination, or no charging is required); Scenario 2 (requiring at least one charge). Further, if a full charge is sufficient to reach the destination, the remaining battery power can be used to determine the route before departure. If it's determined that no charging is needed, the vehicle can proceed directly. If it's determined that the remaining battery power is insufficient to reach the destination directly, a charging prompt will be issued. If a charging station is nearby (e.g., at home or work), the driver can charge and depart. If no charging station is nearby, the shortest route can be planned to find and charge the vehicle before departure. This planning method saves time and minimizes the risk of queuing and detours. Scenario 2: If you can't reach your destination while fully charged, you'll have to search for a charging station. You'll also need to plan your route based on the location of the charging station. Compared to Scenario 1, where you can reach your destination while fully charged or start charging before departure, this involves a longer route and charging at a public charging station requires a series of operations and payments, which will consume more time and money. Scenario 1, which considers emergency departures midway, prioritizes reaching your destination while fully charged to save time and money.

[0142] The planning method for scenario one can be as follows: Figure 11 As shown, the first step directly obtains the car's remaining battery power, and then uses BeiDou navigation to plan a route between the current location and the destination. The second step determines whether the destination can be reached, with two scenarios: 1. If yes, route information is sent to the owner's mobile phone via Bluetooth, without sending a charging reminder, and the battery level is monitored in real-time until the destination is successfully reached, at which point battery monitoring ends. 2. If not, BeiDou positioning is used to locate nearby charging stations and obtain their current availability. The third step uses BeiDou navigation to plan a route between the vehicle's current location and suitable nearby charging station locations. The fourth step determines whether the charging station can be reached, again with two scenarios: 1. If yes, route information is sent to the owner's mobile phone via Bluetooth, a charging reminder is sent, and the battery level is monitored in real-time until the charging station is successfully reached, at which point battery monitoring ends, and charging begins. 2. If not, a charging reminder is sent, instructing the owner to charge before proceeding, and charging begins. The fifth step, after charging is complete, uses BeiDou navigation again to plan a route between the current location and the destination. Since the first scenario allows reaching the destination with a full charge, no further determination is needed; the vehicle proceeds directly to the destination. Finally, the service ends upon reaching the destination.

[0143] The planning method for scenario two can be as follows: Figure 12As shown, the first step is still to obtain the car's remaining battery power and then use Beidou navigation to plan a route between the current location and the destination. Since the car cannot reach the destination when fully charged, Beidou navigation is used directly to locate the charging station. The second step is to filter the route based on the location of the charging station, divided into two cases: 1. One charge is enough to reach the destination; 2. Multiple charges (n) are needed to reach the destination. The third step is to perform different operations based on the two different cases. If one charge is enough, the route information can be sent directly to the owner's mobile phone via Bluetooth, a charging reminder can be sent, and the battery level can be monitored in real time. Then, the car can set off directly. The process is the same as charging once: head to a charging station, charge upon arrival, then proceed directly to the destination and end the service upon arrival. For multiple charges, route information is sent to the owner's phone via Bluetooth, charging reminders are sent, and the battery level is monitored in real-time. The process then proceeds directly to the charging station, charging upon arrival, and ending the charge. The difference is that for multiple charges (n times), after each charge, the vehicle proceeds to the next charging station and repeats the basic process (the process within the dotted box) n-1 times. After all charging processes are completed, the vehicle finally proceeds to the destination and the service ends upon arrival.

[0144] In addition, it can be based on such Figure 13The flowchart shown illustrates route planning based on the BeiDou Navigation Satellite System. Specifically, the first step involves obtaining the vehicle's remaining battery power, current location, and destination location into the BeiDou system. The second step calculates the distance the vehicle can travel under the current conditions based on the maximum speed and the vehicle's current battery power. The third step, based on the BeiDou navigation system, determines whether to proceed to the destination or the next charging station based on the calculated distance. This is achieved by comparing the calculated distance with the distance between the current location and the destination; if the calculated distance is greater, the destination can be reached; otherwise, the vehicle needs to proceed to the charging station. The fourth step involves two scenarios: 1) If the destination can be reached, proceed directly to the destination; 2) If the destination cannot be reached, proceed to the charging station. The fifth step involves the BeiDou system acquiring the location of charging stations. The sixth step involves the BeiDou navigation system planning all routes and obtaining the distance traveled on different routes. The seventh step involves calculating the maximum distance the car can travel under the current conditions based on the maximum speed and the vehicle's current battery level, and then selecting a charging station that can be reached at that moment. The eighth step involves the BeiDou navigation system planning all routes and then calculating the maximum time required for the car to reach the next location on the above routes based on factors such as average energy consumption, driving resistance, and environmental conditions. This time is called the safe time. The system also obtains the status of other vehicles on the route. The ninth step involves selecting the most suitable route based on the time and the status of other vehicles to ensure that the car can immediately use the charging station upon arrival, without waiting. Finally, once charging is complete and the battery is fully charged, the process described in the dotted box above is repeated until the destination is reached.

[0145] The overall process of the method is as follows: Figure 9 As shown, the first step is through Figure 10 Determine if it can reach the destination with a full charge; then, based on... Figure 10 The judgment results are entered respectively Figure 11 and Figure 12 Scenario 1: Entering Figure 11 Then, the first step is based on Figure 13 The process is planned; the second step is to... Figure 13 The result is input into Figure 11 middle, Figure 11 according to Figure 13 The result is judged, and the judgment result is... Figure 13 , Figure 13 Make a selection; the third step is to select the result and then proceed to... Figure 11 Proceed to the second step of the judgment, and the judgment result is... Figure 13 , Figure 13 Make a selection; the final selection result is then displayed. Figure 11 , Figure 11 conduct Figure 13 The process involves proceeding to the destination and ending upon arrival. Scenario Two: Entering... Figure 12 After that, the first step is also to conduct Figure 13 The plan; the second step is to Figure 13 The result is input into Figure 12 In the middle, make a judgment, if Figure 13 The result is that it only needs to be charged once to work. Figure 12 The process on the left; Figure 13 The result is that it needs to be charged multiple times. Figure 12 The process on the right, Figure 13 Plan to go to the left; after the final charge, proceed to the destination and end upon arrival.

[0146] For example, such as Figure 14 As shown, it can also obtain the vehicle's current location after parking, and match it with the home location through the Beidou system. If the match is successful, the owner will be notified that they have arrived home and can charge the car. If the match fails, there will be no notification.

[0147] In this embodiment, by combining BeiDou satellite positioning, a stable travel route is designed, ensuring a smooth arrival at the destination. Simultaneously, the BeiDou navigation module obtains charging station information feedback and the status of nearby vehicles to find the most suitable charging station, enabling timely charging and avoiding waiting. This saves time and improves charging efficiency, and also solves the problem of not being able to find a charging station in a timely manner due to the uneven distribution of charging stations across the country.

[0148] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0149] Based on the same inventive concept, this application also provides a path planning apparatus for implementing the path planning method described above. The solution provided by this apparatus is similar to the implementation described in the above method; therefore, the specific limitations in one or more path planning apparatus embodiments provided below can be found in the limitations of the path planning method described above, and will not be repeated here.

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

[0151] Information acquisition module 110 is used to acquire destination information and vehicle status information, including current location information and remaining battery power information;

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

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

[0154] In an exemplary embodiment, the route planning module 120 is further configured to perform route planning based on destination information and current location information to obtain the planned mileage.

[0155] The aforementioned path planning device also includes:

[0156] The mileage calculation module is used to calculate the first safe mileage based on the full charge information and the vehicle's maximum speed.

[0157] The trip prediction module is used to determine that a fully charged vehicle can reach its destination if the planned mileage is less than or equal to the first safe mileage; and to determine that a fully charged vehicle cannot reach its destination if the planned mileage is greater than the first safe mileage.

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

[0159] The charging reminder module is used to issue a charging reminder when it is determined, based on the remaining battery information, that the vehicle is not powerful enough to reach the destination, so that the vehicle can be charged to a sufficient level.

[0160] The route planning module 120 is also used to perform path planning based on destination information and current location information to obtain the first route.

[0161] In an exemplary embodiment, the route planning module 120 is further configured to plan a third route based on the current location information upon receiving autonomous charging failure information returned in response to a 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 Satellite System, and is used to receive destination information and current location information, and perform path planning based on the destination information and current location information to obtain a first route.

[0163] In one exemplary embodiment,

[0164] The mileage calculation module is also used to calculate the second safe mileage based on the remaining battery power information and the vehicle's maximum speed.

[0165] The route planning module 120 is also used to perform path planning based on destination information and current location information to obtain a preliminary route;

[0166] The aforementioned path planning device also includes:

[0167] The charging pile screening module is used to screen charging piles on the proposed route based on road condition information and the second safe mileage, and to obtain target charging piles.

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

[0169] In one 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 also used to determine, based on the charging pile distribution information, the charging piles that match the planned route; and to select, from the charging piles along the route, the alternative charging piles whose mileage is less than or equal to the second safe mileage.

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

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

[0173] In one exemplary embodiment, the vehicle status information further includes the vehicle operating status; the route planning device further includes:

[0174] The home arrival reminder module is used to reacquire the current location information after determining that the vehicle is parked based on the vehicle's operating status; and to issue a charging reminder if the current location information matches the preset target location.

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

[0176] The battery monitoring module is used to monitor the remaining battery level in real time and issue an alarm when it determines that the vehicle is in an abnormal state based on the remaining battery level information.

[0177] Each module in the aforementioned path planning device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the operations corresponding to each module.

[0178] In one exemplary embodiment, such as Figure 1 As shown, a vehicle is provided, including a control module 102 and a navigation module 104. The navigation module 104 is connected to the control module 102. 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 one exemplary embodiment, navigation module 104 is a BeiDou navigation module.

[0180] The solution provided by this vehicle is similar to the solution described in the path planning method above. Therefore, the specific limitations of one or more vehicle embodiments provided above can be found in the limitations of the path planning method above, and will not be repeated here.

[0181] In one exemplary embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 16As shown, the computer device includes a processor, memory, input / output interfaces, a communication interface, a display unit, and an input device. The processor, memory, and input / output interfaces are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The input / output interfaces are used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, Near Field Communication (NFC), or other technologies. When the computer program is executed by the processor, it implements a path planning method. The display unit is used to form a visually visible image and can be a vehicle's central control display screen, a projection device, a virtual reality imaging device, or a head-up display (HUD). The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0182] Those skilled in the art will understand that Figure 16 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0183] In one exemplary embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program that, when executed by the processor, implements the steps in the above-described method embodiments.

[0184] In one exemplary embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above-described method embodiments.

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

[0186] It should be noted that the user information (including but not limited to vehicle status information and user-inputted destination information) and data (including but not limited to data analyzed, stored, and displayed during the route planning process 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 related data must comply with relevant regulations.

[0187] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this 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. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0188] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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 embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A path planning method, characterized in that, The method includes: Upon receiving a destination confirmation signal, destination information and vehicle status information are acquired, including current location information and remaining battery power information. Based on the destination information and the current location information, a route is planned to obtain the planned mileage. The first safe mileage is calculated based on the battery charge in a fully charged state and the vehicle's maximum speed. The maximum speed is determined by a comprehensive assessment of vehicle type, road conditions, weather conditions, and road regulations. If the planned mileage is less than or equal to the first safe mileage, and it is determined that a full charge is sufficient to reach the destination, it is determined whether the remaining battery power is sufficient to reach the destination. If yes, a route is planned based on the destination information and the current location information to obtain a first route. If no, a charging prompt is issued to charge the vehicle to the point where it can directly reach the destination via the first route. The first route is a route from the current location directly to the destination. If an autonomous charging failure message is received in response to the charging prompt, a third route is planned based on the current location information. The third route is a route from the current location via the nearest charging station to the destination. If the planned mileage exceeds the first safe mileage and it is determined that the destination cannot be reached in a fully charged state, road condition information is obtained. This road condition information includes charging pile distribution information, charging pile usage status information, and other vehicle status information. A second safe mileage is calculated based on the remaining battery power and the vehicle's maximum speed. Based on the charging pile distribution information, charging piles along the planned route are identified. From these charging piles, candidate charging piles with a mileage less than or equal to the second safe mileage are selected. Route planning is performed based on the location information of each candidate charging pile and the current location information. The time required for at least one alternative route is obtained; the time required for each alternative route, the usage status information of the charging pile, and other vehicle status information are used as constraints to select a target charging pile from the alternative charging piles; wherein, among all available alternative charging piles, the charging pile whose power consumption reaches a preset power threshold is selected as the target charging pile, and the preliminary route is a route obtained by path planning based on the destination information and the current location information; a second route is obtained by path planning based on the location information of the target charging pile and the current location information, and the second route is a route that passes through at least one target charging pile.

2. The method according to claim 1, characterized in that, The step of performing route planning based on 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 the BeiDou navigation module so that the BeiDou navigation module can perform path planning based on the destination information and the current location information to obtain a first route.

3. The method according to claim 1, characterized in that, The charging pile usage status information includes the charging pile's power information, type information, and occupancy information.

4. The method according to claim 1, characterized in that, The method further includes: During the journey to the target charging station based on the second route, the road condition information is monitored in real time; If the target charging station is detected to be inconsistent with the estimated situation, the process returns to the step of selecting the target charging station from the candidate charging stations by using the alternative route time, charging station usage status information, and other vehicle status information as constraints.

5. The method according to claim 1, characterized in that, The method further includes: The system monitors the remaining battery power in real time and issues an alarm if it determines that the vehicle is in an abnormal state based on the remaining battery power information.

6. The method according to any one of claims 1 to 5, characterized in that, The vehicle status information also includes the vehicle operating status; the method further includes: After determining that the vehicle is parked based on its operating status, the current location information is reacquired. If the current location information matches the preset target location, a charging prompt will be issued.

7. A path planning device, characterized in that, The device includes: The information acquisition module is used to acquire destination information and vehicle status information when a destination determination signal is received. The vehicle status information includes current location information and remaining battery power information. The route planning module is used to perform route planning based on the destination information and the current location information to obtain a planned mileage; calculate a first safe mileage based on the battery charge in a fully charged state and the vehicle's maximum speed, where the maximum speed is determined by a comprehensive assessment of vehicle type, road conditions, weather conditions, and road regulations; if the planned mileage is less than or equal to the first safe mileage, and it is determined that a fully charged state is sufficient to reach the destination, determine whether the remaining battery charge is sufficient to reach the destination; if yes, perform route planning based on the destination information and the current location information to obtain a first route; if no, issue a charging prompt to allow the vehicle to charge until it can directly reach the destination via the first route; the first route is a route directly from the current location to the destination; if an autonomous charging failure information is received in response to the charging prompt, plan a third route based on the current location information, where the third route is a route from the current location via the nearest charging station to the destination; and further, if the planned mileage is greater than the first safe mileage, and it is determined that a fully charged state is insufficient to reach the destination, obtain... The system includes road condition information, such as charging pile distribution information, charging pile usage status information, and other vehicle status information; a second safe mileage is calculated based on the remaining battery power and the vehicle's maximum speed; charging piles along the planned route are determined based on the charging pile distribution information; among the along-route charging piles, candidate charging piles with a mileage less than or equal to the second safe mileage are selected; path planning is performed based on the location information of each candidate charging pile and the current location information to obtain the travel time of at least one candidate route; the travel time of each candidate route, the charging pile usage status information, and other vehicle status information are used as constraints to select a target charging pile from the candidate charging piles; wherein, among all available candidate charging piles, a charging pile with a battery consumption reaching a preset battery threshold is selected as the target charging pile, and the planned route is a route obtained by path planning based on the destination information and the current location information; path planning is performed based on the location information of the target charging pile and the current location information to obtain a second route, which is a route passing through at least one target charging pile.

8. A vehicle, characterized in that, It includes a control module and a navigation module, the navigation module being connected to the control module, and the control module being used to implement the steps of the method according to any one of claims 1 to 6 based on the navigation module, thereby completing the vehicle's driving path planning.

9. The vehicle according to claim 8, characterized in that, The navigation module is a Beidou navigation module.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

11. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

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