Path planning method and device, equipment and storage medium

Abstract

The embodiment of the invention discloses a path planning method and device, equipment and a storage medium, and the method comprises the steps: obtaining the first vehicle state information of a vehicle under the condition that the distance between the vehicle and a preset first charging region is smaller than a first distance threshold value, and obtaining the first vehicle state information of the vehicle, and the first station state information corresponding to each charging station contained in the first charging region; the first charging area is a charging area of a path determined according to a driving path of the vehicle, and the first charging area comprises at least two charging stations; and according to the first vehicle state information and the first station state information, determining a first charging station added to the passing point of the driving path of the vehicle from the first charging area. According to the embodiment of the invention, by combining the real-time conditions of the charging station and the vehicle, a more suitable charging station can be determined, and the real-time performance of charging path planning and the convenience of charging path adjustment are improved; meanwhile, the unnecessary charging waiting time of the user can be reduced, and the charging anxiety of the user is reduced.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of vehicle technology, and relate to but are not limited to a path planning method, apparatus, device, and storage medium. Background Art

[0002] Electric vehicles often need to be charged during long-distance driving.

[0003] In the related art, when the vehicle's battery level is below a threshold, a nearby available charging station is searched for charging, but there may be no suitable charging stations nearby; alternatively, the vehicle pre-plans charging stations along the way in the navigation route for recharging, but this solution has poor flexibility. When the recharging at the pre-planned charging station is abnormal, it will be difficult for the vehicle to plan a suitable charging station in time. For example, if the vehicle misses a pre-planned charging station during driving, or the charging station cannot be used due to insufficient charging resources or abnormal usage status, it will cause charging anxiety to the user. Summary of the Invention

[0004] In view of this, an embodiment of the present application provides a path planning method, apparatus, device and storage medium. This embodiment, combined with the real-time conditions of charging stations and vehicles, is conducive to determining a more suitable charging station, improving the real-time performance of charging path planning and the convenience of charging path adjustment; at the same time, it can also reduce the user's unnecessary charging waiting time and reduce the user's charging anxiety.

[0005] An embodiment of the present application provides a path planning method, the method comprising:

[0006] When the distance between the vehicle and a preset first charging area is less than a first distance threshold, obtaining first vehicle status information of the vehicle and first station status information corresponding to each charging station included in the first charging area, where the first charging area is a charging area determined based on the vehicle's travel path, and the first charging area includes at least two charging stations;

[0007] A first charging station to be added to the waypoint of the driving route is determined from the first charging area according to the first vehicle status information and the first station status information.

[0008] Compared to related technologies, the path planning method provided in the embodiments of the present application can, when the distance between the vehicle and a preset first charging area is less than a first distance threshold, determine a first charging station from the first charging area based on the vehicle's first vehicle status information and the first station status information corresponding to each charging station contained in the first charging area. In other words, when the vehicle approaches a charging area (e.g., the first charging area), this solution automatically determines a suitable charging station (e.g., the first charging station) in the charging area by acquiring real-time status information of the charging station and the vehicle, and uses the charging station as a waypoint in the vehicle's driving path. This approach, combining the real-time status of the charging station and the vehicle, facilitates the determination of a more suitable charging station, improves real-time performance, and more easily avoids the delay problem of re-determining the charging station in abnormal situations such as arriving at a pre-planned charging station and finding that the charging station is unavailable. This improves the real-time performance of charging path planning and the convenience of charging path adjustment. At the same time, this solution can also reduce users' unnecessary charging waiting time and reduce their charging anxiety.

[0009] In some embodiments, the method further comprises:

[0010] Obtaining the driving path of the vehicle from a starting position to an ending position;

[0011] One or more charging areas corresponding to the driving route are determined to obtain a charging area set, wherein any charging area in the charging area set includes at least two charging stations, and the charging area set includes the first charging area.

[0012] This embodiment uses one or more charging areas determined along the vehicle's driving route as a charging area set. That is, by pre-planning suitable charging areas for the vehicle, when the vehicle travels to any charging area in the charging area set, the charging station for each charging area can be quickly determined for the vehicle, thereby improving the efficiency and real-time performance of charging route planning.

[0013] In some embodiments, the distance between any two charging stations in each of the charging areas is less than a second distance threshold; and the distance between the center point of each of the charging areas and the driving path is less than a third distance threshold.

[0014] In this embodiment, the distance between any two charging stations in each charging area is less than the second distance threshold, indicating that the charging stations in each charging area pre-planned for the vehicle are relatively concentrated and continuous, so that when the vehicle drives to each charging area, it does not need to drive to a farther charging station for charging, reducing the user's charging anxiety; at the same time, the distance between the center point of each charging area and the vehicle's driving path is less than the third distance threshold, indicating that the planned charging areas are concentrated on the vehicle's driving path, that is, the charging areas match the driving path, avoiding planning relatively distant charging stations in the charging area, and improving the convenience of vehicle charging.

[0015] In some embodiments, determining one or more charging areas corresponding to the driving route to obtain a charging area set includes:

[0016] Determining a plurality of path division points included in the driving path, wherein the plurality of path division points are used to indicate a plurality of positions in the driving path;

[0017] Obtaining path division point information corresponding to each path division point, wherein the path division point information includes station information of each charging station corresponding to each path division point;

[0018] Second vehicle status information of the vehicle is obtained, and one or more charging areas corresponding to the driving path are determined based on the path division point information and the second vehicle status information to obtain the charging area set.

[0019] This embodiment dynamically plans one or more charging areas corresponding to the vehicle's travel path by combining the charging station information corresponding to each path division point in the vehicle's travel path with the vehicle's status information (e.g., the second vehicle status information). This method of planning charging areas effectively combines the vehicle's own status with the status of the charging stations along the travel path, improving the real-time performance and accuracy of charging path planning. Furthermore, through a hierarchical processing mechanism that first divides the travel path and then determines the charging station at each path division point, the global path planning is broken down into the planning of charging stations for each local path division point, reducing the computational complexity of path planning.

[0020] In some embodiments, the second vehicle status information includes a vehicle fully charged mileage, where the vehicle fully charged mileage indicates the mileage that the vehicle can travel when the battery is fully charged. The determining of the plurality of path division points included in the driving path includes:

[0021] Dividing the driving route into a plurality of interval routes according to the vehicle's full-charge mileage and the driving route;

[0022] The starting point of each interval path is used as the path division point.

[0023] This embodiment takes into account the vehicle's full charge range when dividing the driving route into multiple interval routes. This approach can prevent the distance between each planned charging area from being greater than the vehicle's full charge range during the vehicle's driving process, so that the vehicle's battery is sufficient to travel from one charging area to the next when fully charged, avoiding the vehicle being unable to reach its destination due to running out of power when passing through each charging area, thereby reducing the user's charging anxiety.

[0024] In some embodiments, the method further comprises:

[0025] According to the location information of the first charging station, the first charging station is added to the waypoint of the driving route to obtain updated navigation route information, so that the vehicle travels according to the updated navigation route information.

[0026] This embodiment directly adds the determined charging station (e.g., the first charging station) to the waypoint of the driving route to update the navigation route. This method improves the convenience of updating the navigation route. The navigation route can be quickly updated without the user having to manually add the charging station, meeting the real-time requirements in driving scenarios and ensuring the reliability of the navigation route during driving.

[0027] In some embodiments, the first vehicle status information includes at least one of vehicle positioning information, vehicle remaining power, vehicle remaining mileage, and charging time for the vehicle battery to reach a fully charged state;

[0028] The first station status information includes at least one of station location information corresponding to the charging station, charging price, number of idle charging piles, user preference information and road condition information.

[0029] This embodiment considers vehicle factors and charging station factors that affect charging station planning from multiple dimensions, making the determined charging stations more reasonable, meeting the real-time charging needs of vehicles, and improving the rationality of charging station planning.

[0030] In some embodiments, the method further comprises:

[0031] When the vehicle moves away from the first charging station in a direction toward an end position of the driving path, obtaining third vehicle state information of the vehicle;

[0032] If it is determined according to the third vehicle status information that the vehicle is within the first charging area, obtaining second station status information corresponding to each charging station included in the first charging area;

[0033] A second charging station is determined to be added to the waypoint of the driving route according to the third vehicle status information and the second station status information, where the second charging station is one of the charging stations in the first charging area other than the first charging station.

[0034] In this embodiment, when the vehicle is far away from the planned charging station (e.g., the first charging station), it is determined that the vehicle is currently in a yaw state. In this scenario, if it is determined through real-time acquired vehicle status information (e.g., the third vehicle status information) that the vehicle is currently still in the charging area corresponding to the charging station (e.g., the first charging area), other charging stations in the charging area are planned for the vehicle. This method of planning a new charging station in the charging area can plan a charging station closer to the vehicle, that is, an alternative charging station that is more suitable for the current charging needs of the vehicle is planned for the vehicle in real time, thereby avoiding the situation where the vehicle's battery is too low and cannot travel to the next charging area, thereby improving the real-time and rationality of the charging path planning.

[0035] In some embodiments, the method further comprises:

[0036] If it is determined according to the third vehicle state information that the distance between the vehicle and the first charging area is greater than or equal to the first distance threshold, a next charging area located after the first charging area on the driving path of the vehicle is determined.

[0037] In this embodiment, in a vehicle yaw scenario, if it is determined through real-time acquired vehicle status information (e.g., the third vehicle status information) that the distance between the vehicle and the planned charging area (e.g., the first charging area) is greater than or equal to a first distance threshold, indicating that the vehicle is not currently in the charging area, the next charging area is planned for the vehicle in real time. This planning method does not require the vehicle to return to the original charging area, which to a certain extent reduces the vehicle's driving time, avoids unnecessary driving distances, avoids unnecessary power consumption, and improves charging efficiency.

[0038] In some embodiments, the first charging area belongs to one of a set of charging areas corresponding to the driving route, and the set of charging areas includes one or more charging areas; and the method further includes:

[0039] If it is determined based on the first vehicle status information that the vehicle cannot travel to the next charging area of ​​the first charging station in the charging area set, the charging area set is updated based on the pre-stored path division point information corresponding to the vehicle, and the path division point information includes the station information of each charging station corresponding to the driving path.

[0040] When this embodiment determines, based on vehicle status information (e.g., first vehicle status information), that the vehicle is unable to travel to the next charging area of ​​the first charging station planned in the charging area set, it indicates that the charging areas in the charging area set do not match the current charging needs of the vehicle, and the charging area set is updated. This method of dynamically updating the planned charging area set based on the real-time driving status of the vehicle can adjust the charging area based on the actual situation of the vehicle, with higher real-time performance, ensures the rationality of charging route planning, and effectively reduces the user's charging anxiety.

[0041] The present invention provides a path planning method for a vehicle, the method comprising:

[0042] Determining, based on the vehicle positioning information, a distance between the vehicle and a preset first charging area, where the first charging area is a charging area determined based on the vehicle's travel path, and the first charging area includes at least two charging stations;

[0043] Sending a first event and first vehicle status information of the vehicle to a server, wherein the first event is used to indicate that the distance between the vehicle and the first charging area is less than a first distance threshold;

[0044] receiving location information of a first charging station sent by the server, where the first charging station is determined by the server in the first charging area based on the first vehicle status information and first station status information corresponding to each charging station included in the first charging area;

[0045] According to the location information of the first charging station, the first charging station is added to the waypoint of the driving route to obtain updated navigation route information.

[0046] In this embodiment, the vehicle can determine in real time whether it is close to any planned charging area (e.g., the first charging area), and report the event of the vehicle approaching the planned charging area (e.g., the first event) to the server in real time. After receiving the event reported by the vehicle, the server automatically determines the appropriate charging station (e.g., the first charging station) for the charging area based on the received vehicle status information (e.g., the first vehicle status information) and the station status information of each charging station in the charging area (e.g., the first station status information); and sends the location information of the charging station to the vehicle, and the vehicle updates the navigation route based on the location information. This method combines the real-time status of the charging station and the vehicle to facilitate the determination of a more suitable charging station, with better real-time performance, and more easily avoids the delay problem of re-determining the charging station in abnormal situations such as arriving at a pre-planned charging station and finding that the charging station is unavailable, thereby improving the real-time performance of charging route planning and the convenience of charging route adjustment. At the same time, it can also reduce the user's unnecessary charging waiting time and reduce the user's charging anxiety. In addition, in this solution, the vehicle can directly add the determined charging stations to the waypoints of the driving route to update the navigation route, which improves the convenience of updating the navigation route. The navigation route can be quickly updated without the user manually adding charging stations, meeting the real-time requirements in driving scenarios and ensuring the reliability of the navigation route during driving.

[0047] In some embodiments, the method further comprises:

[0048] Sending a route planning request to the server, wherein the route planning request includes a starting location and an end location;

[0049] receiving the driving route and charging area set sent by the server, wherein the driving route is the path of the vehicle from the starting position to the end position, and the charging area set is one or more charging areas determined by the server based on the driving route;

[0050] According to the driving route and the set of charging areas, a driving route map with each charging area marked is displayed on the display screen of the vehicle.

[0051] In this embodiment, after receiving the path planning request sent by the vehicle, the server can determine one or more charging areas of the vehicle's driving path as a charging area set, and send the driving path and the charging area set to the vehicle, so that the vehicle can display a driving path map with each charging area marked on the display screen. In this way, when the vehicle drives to any charging area in the charging area set, it can quickly report the event of approaching the charging area to the server, so that the server can quickly determine a suitable charging station for the vehicle, thereby improving the efficiency and real-time performance of charging path planning; at the same time, it can also allow users to understand the charging areas planned on the driving path in real time on the vehicle's display screen, reducing users' charging anxiety.

[0052] In some embodiments, after receiving the location information of the first charging station sent by the server, the method further includes:

[0053] Outputting a prompt message, the prompt message being used to inquire whether to add the first charging station to a waypoint of the driving route;

[0054] In response to an adding operation on the first charging station, the first charging station is added to a waypoint of the driving route.

[0055] In this embodiment, the vehicle can also ask the user through a prompt message whether to add the planned charging station (such as the first charging station) to the waypoint. This method is more personalized and the user can decide whether to add it independently, which optimizes the user's interactive experience.

[0056] In some embodiments, after outputting the prompt information, the method further includes:

[0057] If no addition operation for the first charging station is detected within a preset time period, feedback information is sent to the server, where the feedback information indicates that the first charging station has not been added to the waypoint of the driving route, and the feedback information is used to trigger the server to update the charging area set;

[0058] In this embodiment, when the user does not add a charging station (such as the first charging station) after receiving the updated charging area set and marking the displayed driving route map according to the updated charging area set, it indicates to a certain extent that the currently planned charging station does not meet the user's needs. The vehicle can send feedback information to the server to enable the server to update the charging area set. This method of updating the charging area set based on user needs makes the updated charging area set more in line with the user's actual needs. In addition, the vehicle will update the driving route map based on the updated charging area set, so that the user can timely understand the updated charging area.

[0059] An embodiment of the present application provides a path planning device, comprising:

[0060] an acquisition module, configured to acquire, when a distance between the vehicle and a preset first charging area is less than a first distance threshold, first vehicle status information of the vehicle and first station status information corresponding to each charging station included in the first charging area, the first charging area being a charging area determined based on the vehicle's travel path, the first charging area including at least two charging stations;

[0061] A determination module is configured to determine, from the first charging area, a first charging station to be added to the waypoint of the driving route based on the first vehicle status information and the first station status information.

[0062] An embodiment of the present application provides a path planning device, applied to a vehicle, comprising:

[0063] a determination module, configured to determine, based on the vehicle positioning information, a distance between the vehicle and a preset first charging area, wherein the first charging area is a charging area determined based on the vehicle's travel path, and the first charging area includes at least two charging stations;

[0064] a sending module, configured to send a first event and first vehicle status information of the vehicle to a server, wherein the first event is used to indicate that the distance between the vehicle and the first charging area is less than a first distance threshold;

[0065] a receiving module, configured to receive location information of a first charging station sent by the server, where the first charging station is determined by the server in the first charging area based on the first vehicle status information and first station status information corresponding to each charging station included in the first charging area;

[0066] An adding module is used to add the first charging station to the waypoint of the driving path according to the location information of the first charging station to obtain updated navigation route information.

[0067] An embodiment of the present application provides an electronic device, including a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and when the processor executes the program, the method described in the embodiment of the present application is implemented.

[0068] An embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the method described in the embodiment of the present application is implemented.

[0069] An embodiment of the present application provides a computer program product, including a computer program, which implements the method described in the embodiment of the present application when executed by a processor. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0071] Figure 1 It is a scenario diagram of vehicle charging path planning;

[0072] Figure 2 This is a flow chart of a path planning method disclosed in an embodiment of the present application;

[0073] Figure 3 This is a flow chart of another path planning method disclosed in an embodiment of the present application;

[0074] Figure 4 This is a schematic diagram of a charging area set disclosed in an embodiment of the present application;

[0075] Figure 5 This is a flow chart of another path planning method disclosed in an embodiment of the present application;

[0076] Figure 6 This is a flow chart of another path planning method disclosed in an embodiment of the present application;

[0077] Figure 7 This is a flow chart of another path planning method disclosed in an embodiment of the present application;

[0078] Figure 8 This is a schematic diagram of the architecture of a path planning system disclosed in an embodiment of the present application;

[0079] Figure 9 This is a schematic diagram of the architecture of another path planning system disclosed in an embodiment of the present application;

[0080] Figure 10 This is a flow chart of another path planning method disclosed in an embodiment of the present application;

[0081] Figure 11 This is a flow chart of another path planning method disclosed in an embodiment of the present application;

[0082] Figure 12 This is a flow chart of another path planning method disclosed in an embodiment of the present application;

[0083] Figure 13 This is a flow chart of another path planning method disclosed in an embodiment of the present application;

[0084] Figure 14 This is a flow chart of another path planning method disclosed in an embodiment of the present application;

[0085] Figure 15 This is a schematic structural diagram of a path planning device disclosed in an embodiment of the present application;

[0086] Figure 16 is a structural diagram of another path planning device disclosed in an embodiment of the present application;

[0087] Figure 17 This is a structural diagram of an electronic device disclosed in an embodiment of the present application. DETAILED DESCRIPTION

[0088] To make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the specific technical solutions of the present application will be further described in detail below in conjunction with the drawings in the embodiments of the present application. The following embodiments are used to illustrate the present application but are not intended to limit the scope of the present application.

[0089] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein are for the purpose of describing the embodiments of this application only and are not intended to limit this application.

[0090] In the following description, references to “some embodiments” and “some implementation methods” describe a subset of all possible embodiments and implementation methods. However, it can be understood that “some embodiments” and “some implementation methods” may be the same subset or different subsets of all possible embodiments and implementation methods, and may be combined with each other without conflict.

[0091] It should be pointed out that the terms "first\second\third" involved in the embodiments of the present application are used to distinguish similar or different objects, and do not represent a specific ordering of the objects. It can be understood that "first\second\third" can be interchanged with a specific order or sequence where permitted, so that the embodiments of the present application described here can be implemented in an order other than that illustrated or described here.

[0092] With the popularization of electric vehicles and the increasingly complete construction of infrastructure such as charging stations, vehicles often do not have enough electricity to reach their destination in one go during long-distance driving, and often need to be charged at charging stations along the way.

[0093] However, problems such as uneven distribution of charging stations and fluctuating charging demand still exist. Related technologies often search for available charging stations nearby when a vehicle's battery level drops below a threshold, but there may be no suitable charging stations nearby. Alternatively, the vehicle pre-plans charging stations along its navigation route for recharging. However, this approach is inflexible and struggles to cope with uncertainties during driving. If a pre-planned charging station fails to recharge, the vehicle will struggle to find a suitable charging station in a timely manner. For example, if a vehicle misses a pre-planned charging station during driving, or if a charging station is unavailable due to insufficient charging resources or abnormal usage, this can cause charging anxiety for the user.

[0094] For example, see Figure 1 , Figure 1 It is a scenario diagram of vehicle charging route planning. Users can use third-party navigation applications to set charging stations along the route as waypoints. When the vehicle reaches the set waypoints, it can be charged. Figure 1 As shown in (a), when the vehicle misses the set waypoint 1 while driving to the destination, the navigation application replans the driving route to waypoint 1 for the user. However, this method requires the vehicle to go back to waypoint 1, which is a poor user experience. The user has to manually cancel the navigation and continue to search for nearby charging stations to set as new waypoints, which will cause charging anxiety for users who are not familiar with the route. Figure 1 As shown in (b), when the vehicle reaches the set waypoint 2, the user finds that there are no available charging piles at waypoint 2. In this case, users who are not familiar with the route may experience charging anxiety.

[0095] In view of this, embodiments of the present application provide a route planning method, apparatus, device, and storage medium. In the technical solution of the present application, when the distance between a vehicle and a pre-set first charging area is less than a first distance threshold, first vehicle status information of the vehicle and first station status information corresponding to each charging station included in the first charging area are obtained. The first charging area is a charging area determined based on the vehicle's driving path and includes at least two charging stations. Based on the first vehicle status information and the first station status information, a first charging station is determined from the first charging area to be added as a waypoint to the vehicle's driving path. This technical solution, by combining the real-time status of the charging stations and the vehicle, facilitates the determination of a more suitable charging station, improves real-time performance, and more easily avoids the delay problem of re-determining the charging station in abnormal situations such as arriving at a pre-planned charging station and finding that the charging station is unavailable. This improves the real-time performance of charging route planning and the convenience of charging route adjustment. At the same time, this solution can also reduce unnecessary charging waiting time for users and alleviate charging anxiety.

[0096] In order to make the purpose and technical solution of this application clearer and more intuitive, the path planning method disclosed in this application is described in detail below with reference to the accompanying drawings.

[0097] The path planning method disclosed in this application can be applied to servers, vehicles, electronic devices, etc., and this application does not limit this. Below, the path planning method provided in the embodiment of this application is described by taking the server as the execution subject as an example.

[0098] It should be noted that the server involved in the embodiment of the present application can be a server cluster, a cloud platform, etc. The cloud platform can be a constructed charging scheduling platform, a path planning platform, etc. In actual application scenarios, the cloud platform can be deployed to servers, electronic devices, etc. for operation.

[0099] It should be understood that the electronic devices involved in the embodiments of the present application may be mobile phones, tablet computers, laptop computers, mobile internet devices (MIDs), wearable devices, virtual reality (VR) devices, augmented reality (AR) devices, headphones, terminals in industrial control, terminals in self-driving, personal digital assistants (PDAs), etc., and the embodiments of the present application are not limited to this.

[0100] In the embodiment of the present application, when a vehicle approaches any planned charging area, a charging station in the charging area can be planned for the vehicle. Therefore, the embodiment of the present application provides an example of a path planning method, which will be described in detail below in conjunction with other figures. Figure 2 , Figure 2 This is a flow chart of a path planning method disclosed in the embodiment of this application. Figure 2 The method shown may include the following steps:

[0101] Step 210 : When the distance between the vehicle and a preset first charging area is less than a first distance threshold, first vehicle status information of the vehicle and first station status information corresponding to each charging station included in the first charging area are obtained.

[0102] In this embodiment of the present application, one or more charging areas can be pre-planned for the vehicle based on the charging stations that the vehicle passes through. The first charging area is any one of the pre-planned charging areas, and each charging area includes at least two charging stations. In other words, the first charging area is a charging area determined based on the vehicle's travel path, and the first charging area includes at least two charging stations.

[0103] It is understood that the vehicle's driving path in the embodiments of this application is the path from the vehicle's starting point to the vehicle's end point. The vehicle will pass through multiple charging stations along this driving path. Therefore, in order to meet the vehicle's charging needs and reduce the user's charging anxiety, charging areas can be pre-planned. It should be noted that the planned charging areas and the charging stations in each charging area are determined based on the vehicle's real-time vehicle status information and the real-time station status information of the charging stations passed along the driving path.

[0104] In an embodiment of the present application, vehicle positioning information can be obtained at preset time intervals, and the distance between the vehicle and the first charging area can be determined based on the vehicle positioning information and the location information of the first charging area. When the distance between the vehicle and the first charging area is less than a first distance threshold, it indicates that the vehicle is close to the first charging area, and the first vehicle status information of the vehicle and the first station status information corresponding to each charging station included in the first charging area are obtained.

[0105] It should be noted that the preset time interval may be any time interval, for example, 5 minutes, 10 minutes, etc. The first distance threshold may be any path length or straight-line distance, which is not limited.

[0106] Optionally, the location information of the first charging area may be the location information of the center point of the first charging area. That is, the distance between the vehicle and the first charging area is the distance between the vehicle and the center point of the first charging area. It should be noted that the first charging area may be a circular area with a preset distance as a radius, with the center point of the first charging area being the center of the circular area. Alternatively, the first charging area may be a square area with a preset distance as a diagonal, with the center point of the first charging area being the intersection point of the diagonals of the square area. In other words, the center point of the first charging area may be determined based on how the charging area is configured, and this is not limited to this.

[0107] Optionally, the location information of the first charging area may be the location information of the charging station closest to the vehicle in the first charging area. That is, the distance between the vehicle and the first charging area is the distance between the vehicle and the charging station closest to the vehicle in the first charging area.

[0108] It should be noted that the above-mentioned first charging area is any one of the planned charging areas. That is to say, it is possible to determine whether the vehicle is close to any planned charging area based on the vehicle positioning information and the location information of any charging area. When the vehicle is close to any charging area, the path planning method proposed in the embodiment of the present application can be executed.

[0109] In some embodiments, the first vehicle status information includes at least one of vehicle location information, vehicle remaining battery power, vehicle remaining mileage, and charging time for the vehicle battery to reach full charge. It is understood that the vehicle remaining mileage indicates the mileage that the vehicle can travel based on the remaining battery power.

[0110] In some embodiments, the first station status information includes at least one of the station location information corresponding to the charging station, charging prices, the number of available charging piles, user preferences, and road condition information. User preferences can be customized by the user, for example, the type of charging station, acceptable charging station prices, and pre-added charging stations on the driving route. Road condition information indicates the congestion level, travel time, and road type for each charging station from the location indicated by the vehicle location information. It is understood that the charging prices and the number of available charging piles at each charging station can be the same or different.

[0111] The above implementation methods for vehicle status information and charging station status information consider vehicle factors affecting charging station planning and charging station factors affecting charging station planning from multiple dimensions, making the determined charging stations more reasonable, meeting the real-time charging needs of vehicles, and improving the rationality of charging station planning.

[0112] Step 220 : Determine a first charging station in the first charging area as a waypoint to be added to the vehicle's driving route based on the first vehicle status information and the first station status information.

[0113] In an embodiment of the present application, after obtaining the first vehicle status information and the first station status information, a first charging station in the first charging area can be planned for the vehicle based on the first vehicle status information and the first station status information. The first charging station is one of the first charging areas. After the first charging station is determined, the first charging station can be added to the waypoint of the vehicle's travel route, and the vehicle can be navigated to the first charging station so that the vehicle can charge at the first charging station.

[0114] In some embodiments, based on the first vehicle status information and the first station status information, determining the first charging station in the first charging area to be added as a waypoint to the vehicle's driving path includes: calculating the comprehensive cost corresponding to each charging station in the first charging area based on a preset heuristic function, the first vehicle status information, and the first station status information, and determining the charging station with the lowest comprehensive cost among the comprehensive costs corresponding to each charging station in the first charging area as the first charging station to be added as the waypoint to the vehicle's driving path.

[0115] Optionally, based on a preset heuristic function, the first vehicle status information and the first station status information, the comprehensive cost corresponding to each charging station in the first charging area is calculated, including: determining the actual cost of the vehicle traveling to each charging station in the first charging area based on the first vehicle status information; determining the estimated cost of the vehicle traveling to each charging station in the first charging area based on the first station status information; and determining the comprehensive cost corresponding to each charging station in the first charging area based on the actual cost and the estimated cost.

[0116] Optionally, determining, based on the first vehicle status information, an actual cost for the vehicle to travel to each charging station in the first charging area includes determining, based on a weight of each type of vehicle status information in the first vehicle status information, the actual cost for the vehicle to travel to each charging station in the first charging area. It should be noted that the weight of each type of vehicle status information may be preset and is not limited thereto.

[0117] Optionally, determining, based on the first station status information, an estimated cost for the vehicle to travel to each charging station in the first charging area includes determining, based on a weight of each type of station status information in the first station status information, an estimated cost for the vehicle to travel to each charging station in the first charging area. It should be noted that the weight of each type of station status information may be preset and is not limited thereto.

[0118] Optionally, determining the comprehensive cost corresponding to each charging station in the first charging area based on the actual cost and the estimated cost includes determining the comprehensive cost corresponding to each charging station in the first charging area based on the actual cost, the estimated cost, and corresponding weights. It should be noted that the weights of the actual cost and the estimated cost can be pre-set and are not limited thereto.

[0119] Exemplarily, the preset heuristic function is:

[0120] F(n)=x*g(n)+y*h(n);

[0121] g(n)=α1*1 / A1(n)+β1*C1(n)+γ1*T1(n)+δ1*1 / P1(n);

[0122] h(n)=α2*1 / A2(n)+β2*C2(n)+γ2*T2(n)+δ2*1 / P2(n);

[0123] Where F(n) is the comprehensive cost, g(n) is the actual cost of the vehicle traveling from the location indicated by the vehicle positioning information to the location indicated by the station location information of each charging station, h(n) is the heuristic estimated cost of the vehicle traveling from the location indicated by the vehicle positioning information to the location indicated by the station location information of each charging station, and x and y are the weights of g(n) and h(n).

[0124] A1(n) represents the vehicle's location information, C1(n) represents the vehicle's remaining battery charge, T1(n) represents the vehicle's remaining range, and P1(n) represents the charging time required for the vehicle's battery to reach full charge. α1, β1, γ1, and δ1 are the weight coefficients corresponding to each parameter. A2(n) represents the number of available charging stations, C2(n) represents the charging price, T2(n) represents road conditions, and P2(n) represents user preferences. α2, β2, γ2, and δ2 are the weight coefficients corresponding to each parameter.

[0125] It should be noted that the weight coefficients corresponding to various parameters can be adjusted dynamically. For example, when the vehicle's battery level is detected to be low, the priority recommendation of a nearby charging station will be increased, and the weight coefficient of A1(n) will be reduced, so that the comprehensive cost score is lower.

[0126] It should be noted that the above-mentioned preset heuristic function is a pre-built path planning algorithm. The parameter types involved in the algorithm can be set by those skilled in the art according to actual needs and are not limited here.

[0127] It can be seen that by implementing the above embodiment, when the vehicle approaches a charging area (such as the first charging area), the status information of the charging station and the vehicle is obtained in real time, and the appropriate charging station (such as the first charging station) in the charging area is automatically determined, and the charging station is used as a waypoint on the vehicle's driving route. This method, combined with the real-time status of the charging station and the vehicle, is conducive to determining a more suitable charging station, has better real-time performance, and can more easily avoid the time delay problem of re-determining the charging station under abnormal circumstances such as arriving at a pre-planned charging station and finding that the charging station is unavailable. It improves the real-time performance of charging route planning and the convenience of charging route adjustment, and also improves the utilization rate of charging infrastructure. At the same time, this solution can also reduce users' unnecessary charging waiting time, reduce users' charging anxiety, and thus comprehensively improve users' travel experience.

[0128] In some embodiments, one or more charging areas along the vehicle's travel path may also be planned. Therefore, the present application provides another example of a path planning method, which will be described in detail below in conjunction with other figures. Figure 3 , Figure 3 This is a flow chart of another path planning method disclosed in an embodiment of the present application. Figure 3 The method shown may include the following steps:

[0129] Step 310: Obtain the driving path of the vehicle from the starting position to the end position.

[0130] In an embodiment of the present application, a driving path for a vehicle from a starting location to a destination location can be obtained through a navigation application, a map application, or the like, where the starting location is the location indicated by the vehicle's current vehicle positioning information. For example, a user can use a navigation application to input a destination location, and the navigation application will plan a reasonable driving path or multiple driving paths for the vehicle based on the starting location and the destination location indicated by the vehicle positioning information. When multiple driving paths are planned, the user can manually select and confirm one of the driving paths as the driving path for the vehicle from the starting location to the destination location.

[0131] Step 320 : Determine one or more charging areas corresponding to the driving route to obtain a charging area set.

[0132] In an embodiment of the present application, after determining a vehicle's travel path from a starting location to a destination, charging areas corresponding to the vehicle's travel path from the starting location to the destination can be planned for the vehicle. Each charging area includes at least two charging stations. The charging area can be one or more, thereby obtaining a set of charging areas corresponding to the travel path. The set of charging areas includes a first charging area.

[0133] In some embodiments, determining one or more charging areas corresponding to the driving path to obtain a charging area set includes: determining multiple path division points contained in the driving path, the multiple path division points are used to indicate multiple positions in the driving path; obtaining path division point information corresponding to each path division point, the path division point information including station information of each charging station corresponding to each path division point; obtaining second vehicle status information of the vehicle, and determining one or more charging areas corresponding to the driving path based on the path division point information and the second vehicle status information to obtain the charging area set.

[0134] In this embodiment, the driving route typically includes multiple road segments. Due to actual road planning, the length of each road segment may vary. Therefore, the sections of the driving route from the starting position to the end position can be re-divided, that is, the driving route can be segmented into multiple paths, resulting in multiple path division points. Then, based on the station information of each charging station around each path division point and the current second vehicle status information of the vehicle, one or more charging areas are determined.

[0135] Optionally, each charging station corresponding to each path division point may be a charging station within a preset distance range from each path division point, and the area where each charging station within the preset distance range from each path division point is located is the charging area corresponding to each path division point. For example, with the coordinates of each path division point as the center of a circle and a radius of 1 km from the center of the circle, the charging station corresponding to each path division point within the range is obtained, and the area where the charging station corresponding to each path division point within the range is located is determined as the charging area corresponding to each path division point.

[0136] It should be noted that the charging area set is composed of one or more charging areas corresponding to the driving path. The one or more charging areas corresponding to the driving path are at least one of the charging areas corresponding to each path dividing point. Any charging area in the charging area set includes at least two charging stations, that is, each charging area includes at least two charging stations.

[0137] This implementation dynamically plans one or more charging areas corresponding to the vehicle's route by combining the charging station information corresponding to each route division point in the vehicle's route with the vehicle's vehicle status information (e.g., second vehicle status information). This approach to planning charging areas effectively combines the vehicle's own status with the status of the charging stations along the route, improving the real-time and accuracy of charging route planning. Furthermore, through a hierarchical processing mechanism that first divides the route and then determines the charging station at each route division point, global route planning is broken down into planning for the charging station at each local route division point, reducing the computational complexity of route planning.

[0138] In some embodiments, the second vehicle status information includes the vehicle's fully charged range, which indicates the range the vehicle's battery can travel when fully charged. Determining multiple route division points included in the driving route includes: dividing the driving route into multiple interval routes based on the vehicle's fully charged range and the driving route; and using the starting point of each interval route as a route division point. This embodiment considers the vehicle's fully charged range when dividing the multiple interval routes of the driving route. This approach can prevent the distance between each planned charging area from being greater than the vehicle's fully charged range during driving. This ensures that the vehicle's battery, when fully charged, is sufficient to travel from one charging area to the next, preventing the vehicle from being unable to reach its destination due to a runout of power while passing through each charging area, thereby reducing the user's charging anxiety.

[0139] It should be noted that the method for dividing the driving route into multiple interval routes can be average segmentation, incremental segmentation, or preset route length, etc., which is not limited here. The preset route length can be determined based on the vehicle's full range, user preference information, and road segment information. For example, the distance corresponding to 10% or 20% of the vehicle's full range can be divided into an interval route.

[0140] Optionally, using the starting point of each interval path as a path division point includes: removing starting points corresponding to multiple interval paths that do not have nearby charging stations, and using the remaining starting points as path division points. This embodiment eliminates path division points that do not have nearby charging stations when determining path division points. This prevents path division points without nearby charging stations from being included in the charging area set when planning charging areas, ensuring the rationality and effectiveness of the planned charging areas.

[0141] Optionally, after the driving route is divided into a plurality of interval routes, the center point or end point of each interval route may be used as a route dividing point.

[0142] In some embodiments, one or more charging areas corresponding to the driving path are determined based on the path division point information and the second vehicle status information, including: determining one or more charging areas corresponding to the driving path based on the station information of each charging station corresponding to each path division point and the second vehicle status information.

[0143] Optionally, the second vehicle status information includes at least one of vehicle positioning information, vehicle remaining power, vehicle remaining mileage, and charging time when the vehicle battery reaches a fully charged state.

[0144] Optionally, the station information of each charging station corresponding to each route division point includes at least one of station location information, charging price, number of idle charging piles, user preference information and road condition information.

[0145] Optionally, determining one or more charging areas corresponding to the driving route based on the station information of each charging station corresponding to each route division point and the second vehicle status information includes: calculating the comprehensive cost corresponding to each charging station corresponding to each route division point based on a preset heuristic function, the second vehicle status information, and the station information of each charging station corresponding to each route division point; determining the charging station corresponding to the driving route as the charging station corresponding to the driving route among the comprehensive costs corresponding to the charging stations corresponding to each route division point whose comprehensive cost is less than a comprehensive cost threshold; and obtaining one or more charging areas corresponding to the driving route based on the area information of the charging stations corresponding to the driving route, each charging area including at least two charging stations, and the distance between any two charging stations in each charging area being less than a second distance threshold. It should be noted that the preset heuristic function can be found in the aforementioned embodiment and will not be further described here.

[0146] Optionally, the comprehensive cost threshold is determined based on the vehicle's full-charge mileage and the length of the driving route. For example, the minimum number of charging times required for the vehicle to travel from the starting position to the end position can be determined based on the vehicle's full-charge mileage and the length of the driving route as the comprehensive cost threshold. It can be understood that the minimum number of charging times means that the vehicle determines the minimum number of charging stations that need to be added to the waypoints on the driving route with the minimum number of charging times, and then one or more charging areas are determined based on the determined minimum number of charging stations, each charging area including at least two of the minimum number of charging stations. It should be noted that the comprehensive cost threshold can be set by those skilled in the art according to actual needs, such as the lowest charging price, the shortest charging time, etc., which are not limited here.

[0147] In conjunction with the above-mentioned implementation of determining the charging area set, for example, see Figure 4 , Figure 4 This is a schematic diagram of a charging area set disclosed in an embodiment of the present application. Figure 4 As shown, a plurality of charging areas are planned in the driving path of the vehicle from its starting position to its end position, each charging area includes at least two charging stations, and each charging area is a corresponding circular area.

[0148] It should be noted that, since path division points without charging stations can be eliminated, and charging stations with comprehensive costs below a comprehensive cost threshold are determined as charging stations corresponding to the driving path, it can be understood that the one or more charging areas included in the determined charging area set can be areas where at least two charging stations corresponding to at least some of the multiple path division points are located, where at least some of the multiple path division points are some or all of the multiple path division points; and the number of charging stations corresponding to each charging area determined is at least two of the multiple charging stations corresponding to each path division point.

[0149] For example, assuming that the number of path division points initially divided in the driving path is 15, the multiple path division points after screening can be 10, that is, the number of areas where the charging stations corresponding to the multiple path division points are located is 10. Furthermore, based on the path division point information and the second vehicle status information, at least two charging stations corresponding to each path division point are obtained from the charging stations corresponding to each path division point, that is, the areas where the at least two charging stations corresponding to each path division point are located are further screened and determined. The areas where the at least two charging stations corresponding to the multiple path division points are located are the determined charging areas. Based on the obtained charging areas, a charging area set is determined. The number of charging areas in the charging area set can be 8 or 10.

[0150] It can be understood that at least two charging stations corresponding to each path division point are screened from the charging stations corresponding to each path division point, that is, the charging stations of each charging area in the final determined charging area set are determined according to the algorithm of the constructed preset heuristic function. Different preset heuristic functions can determine the charging stations of each charging area in the charging area set to be different or the same.

[0151] In some embodiments, within the planned set of charging areas, the distance between any two charging stations in each charging area is less than a second distance threshold. In this embodiment, the distance between any two charging stations in each charging area is less than the second distance threshold, indicating that the charging stations in each charging area pre-planned for the vehicle are relatively concentrated and continuous. This allows subsequent vehicles traveling to each charging area, even if a charging station is unavailable, to plan a suitable charging station within a relatively close range for the vehicle, avoiding the need to travel to a distant charging station for charging and reducing charging anxiety for users.

[0152] In some embodiments, the distance between the center point of each charging area in the planned charging area set and the driving path is less than a third distance threshold. In this embodiment, the distance between the center point of each charging area and the vehicle's driving path is less than the third distance threshold, indicating that the planned charging areas are concentrated on the vehicle's driving path, that is, the charging areas are matched to the driving path, avoiding the planning of relatively distant charging stations in the charging areas, thereby improving the convenience of vehicle charging.

[0153] The above-mentioned implementation method of limiting the distance between charging stations in each charging area and the distance between the center point of each charging area and the driving path through a quantifiable distance threshold makes the pre-planned one or more charging areas more reasonable, improves the rationality of charging path planning, and is conducive to the subsequent real-time planning of more suitable charging stations for vehicles. From a dual perspective, it reduces users' charging anxiety.

[0154] It should be noted that the second distance threshold and the third distance threshold may be any set path length or straight-line distance, and are not limited thereto.

[0155] In some embodiments, determining one or more charging zones corresponding to a driving route to obtain a charging zone set includes: if the length of the driving route is less than the vehicle's fully charged range, determining the charging zone corresponding to the starting location or the charging zone corresponding to the end location as the charging zone set. For example, assuming the driving route length is 20 km and the vehicle's fully charged range is 400 km, this indicates a short trip.

[0156] In this embodiment, the mileage of the vehicle's battery when fully charged is also taken into consideration when planning the charging area. If the vehicle's driving path is less than the vehicle's fully charged mileage, it indicates that the current scenario is a short-distance scenario. In this scenario, the charging area corresponding to the vehicle's starting position or end position can be planned as a charging area set. There is no need to perform complicated calculations such as path division to plan the charging area, which improves the efficiency of charging path planning and reduces the amount of calculation and complexity of path planning.

[0157] In some embodiments, in a short-distance scenario, it is also possible to determine whether the vehicle can travel to the destination location in combination with the remaining mileage of the vehicle. That is, the second vehicle status information also includes the remaining mileage of the vehicle; the charging area corresponding to the starting location or the charging area corresponding to the destination location is determined as a charging area set, including: if the path length corresponding to the driving path is less than or equal to the remaining mileage of the vehicle, then the charging area corresponding to the destination location is determined as the charging area set; or, if the path length corresponding to the driving path is greater than the remaining mileage of the vehicle, then the charging area corresponding to the starting location is determined as the charging area set. For example, assuming that the path length corresponding to the driving path is 20km and the remaining mileage of the vehicle is 40km, it means that in a short-distance scenario, the vehicle can travel to the destination location, and the vehicle can be planned to be charged in the charging area corresponding to the destination location; for another example, assuming that the path length corresponding to the driving path is 20km and the remaining mileage of the vehicle is 10km, it means that in a short-distance scenario, the vehicle cannot travel to the destination location, and the vehicle can be planned to be charged in the charging area corresponding to the current starting point location.

[0158] Optionally, the charging area corresponding to the destination location may be a charging area corresponding to a charging station within a preset distance range from the destination location, where the preset distance range is a distance range less than the distance between the vehicle's remaining range and the path length corresponding to the travel route. For example, assuming the path length corresponding to the travel route is 20 km and the vehicle's remaining range is 40 km, the charging stations corresponding to the destination location within this range can be obtained using the coordinates of the destination location as the center and a radius of 10 km from the center. The charging stations corresponding to the destination location within this range are then determined as the charging area corresponding to the destination location.

[0159] Optionally, the charging area corresponding to the starting position may be a charging area corresponding to a charging station within a preset distance range from the starting position, where the preset distance range is a distance range less than the remaining range of the vehicle. For example, assuming the path length corresponding to the driving route is 20 km and the remaining range of the vehicle is 10 km, the starting position coordinates may be used as the center of a circle with a remaining range of 5 km as the radius to obtain the charging stations corresponding to the starting position within this range. The charging area corresponding to the starting position within this range may then be determined as the charging area corresponding to the starting position.

[0160] In the short-distance scenario of this embodiment, if the driving path is less than or equal to the remaining mileage of the vehicle, it means that the remaining power of the vehicle is sufficient to travel to the destination. In order to save the vehicle's driving time and avoid planning unnecessary charging stations for the vehicle, the charging area corresponding to the destination can be directly planned as a charging area set for the vehicle, and the vehicle only needs to charge when it travels to the destination; on the contrary, if the driving path is greater than the remaining mileage of the vehicle, it means that the remaining power of the vehicle is not enough to travel to the destination, then the charging area corresponding to the starting position is planned as a charging area set, so that the vehicle is fully charged at the starting position and can travel to the destination after being fully charged; the above-mentioned charging path planning method fully considers the real-time power of the vehicle in the short-distance scenario, and plans reasonable charging areas for the vehicle, which not only improves planning efficiency, but also reduces unnecessary charging anxiety for users, and can better meet the travel needs of each user.

[0161] Step 330 : When the distance between the vehicle and the first charging area is less than a first distance threshold, first vehicle status information of the vehicle and first station status information corresponding to each charging station included in the first charging area are obtained.

[0162] Step 340 : Determine a first charging station in the first charging area to be added to the waypoint of the driving route based on the first vehicle status information and the first station status information.

[0163] In some embodiments, based on the location information of the first charging station, the first charging station is added to the waypoint of the driving route to obtain updated navigation route information, so that the vehicle can travel according to the updated navigation route information. In this embodiment, the determined charging station (e.g., the first charging station) is directly added to the waypoint of the driving route to update the navigation route. This method improves the convenience of updating the navigation route. The navigation route can be quickly updated without the user having to manually add the charging station, meeting the real-time requirements of driving scenarios and ensuring the reliability of the navigation route during driving.

[0164] Regarding the implementation of steps 330 to 340 , reference may be made to the contents of steps 210 to 220 described above, and will not be repeated here.

[0165] It can be seen that by implementing the above embodiment, one or more charging areas of the determined vehicle's driving path are used as a charging area set. In other words, by pre-planning suitable charging areas for the vehicle, when the vehicle travels to any charging area in the charging area set, the charging station for each charging area can be quickly determined for the vehicle, thereby improving the efficiency and real-time performance of charging route planning. Moreover, based on the determined charging area set, this solution can combine the real-time status of the charging station and the vehicle when traveling to the charging area to facilitate the determination of a more suitable charging station, with better real-time performance. It is easier to avoid the delay problem of re-determining the charging station in abnormal situations such as arriving at a pre-planned charging station and finding that the charging station is unavailable, thereby improving the real-time performance of charging route planning and the convenience of charging route adjustment. At the same time, this solution can also reduce users' unnecessary charging waiting time and reduce their charging anxiety.

[0166] In some embodiments, when a vehicle starts charging at a first charging station, if it is determined that the vehicle cannot travel to the next charging area in the charging area set located in the first charging area corresponding to the first charging station after charging, the charging area set needs to be dynamically updated. Therefore, the embodiment of the present application provides another example of a path planning method, which will be described in detail below in conjunction with other figures. Figure 5 , Figure 5 This is a flow chart of another path planning method disclosed in an embodiment of the present application. Figure 5 The method shown may include the following steps:

[0167] Step 510: Obtain the driving path of the vehicle from the starting position to the end position.

[0168] Step 520 : Determine one or more charging areas corresponding to the driving route to obtain a charging area set, where the charging area set includes at least two charging stations, and the charging area set includes a first charging area.

[0169] Step 530 : When the distance between the vehicle and the first charging area is less than a first distance threshold, first vehicle status information of the vehicle and first station status information corresponding to each charging station included in the first charging area are obtained.

[0170] Step 540 : Determine a first charging station in the first charging area to be added to the waypoint of the driving route based on the first vehicle status information and the first station status information.

[0171] Regarding the implementation of steps 510 to 540 , reference may be made to the contents of steps 310 to 340 described above, which will not be repeated here.

[0172] Step 550: If it is determined based on the first vehicle status information that the vehicle cannot travel to the next charging area of ​​the first charging station in the charging area set, the charging area set is updated based on pre-stored path division point information corresponding to the vehicle.

[0173] According to the description of the above embodiment, the first vehicle status information includes at least one of vehicle positioning information, vehicle remaining power, vehicle remaining mileage, and charging time when the vehicle battery reaches a fully charged state.

[0174] In the embodiment of the present application, the first charging station is a charging station in a first charging area. The first charging area is one of a charging area set corresponding to the driving route. The charging area set includes one or more charging areas.

[0175] In this embodiment of the present application, it can be determined based on the first vehicle status information that the vehicle is unable to travel to the next charging area of ​​the first charging station in the charging area set. It can be understood that since each charging area in the charging area set is determined based on the station information of each charging station included in the charging area corresponding to the path division point and the second vehicle status information, that is, the next charging area is the charging area corresponding to the next division point of the first charging area in the direction of the end point of the driving path.

[0176] In an embodiment of the present application, when a vehicle is charging at a planned first charging station, if it is determined that the vehicle cannot travel to the next charging area of ​​the first charging station in the charging area set, it means that the pre-planned charging area no longer meets the current actual charging needs of the vehicle, and the charging area set needs to be updated.

[0177] In some embodiments, updating the charging area set according to pre-stored path division point information corresponding to the vehicle includes: updating the charging area set according to the current vehicle status information of the vehicle and the station information of each charging station corresponding to the driving path.

[0178] Optionally, updating the charging area set based on the vehicle's current state information and the station information of each charging station corresponding to the driving route includes: calculating a comprehensive cost corresponding to each charging station based on a preset heuristic function, the current vehicle state information, and the station information of each charging station; determining charging stations with a comprehensive cost below a comprehensive cost threshold among the comprehensive costs corresponding to each charging station as one or more updated charging areas corresponding to the driving route; and obtaining an updated charging area set based on the one or more updated charging areas. It should be noted that the preset heuristic function can be found in the aforementioned embodiment and will not be further described here.

[0179] According to the description of the aforementioned embodiment, the station information of each charging station corresponding to the driving route may include at least one of the station location information, charging price, number of idle charging piles, user preference information and road condition information corresponding to each charging station.

[0180] It can be seen that when the above embodiment is implemented, when the vehicle is charging at a planned charging station (such as the first charging station), if it is determined based on the vehicle status information of the vehicle that the vehicle cannot travel to the next charging area planned in the charging area set after charging at the charging station, it means that the charging areas in the charging area set do not match the current charging needs of the vehicle, and the charging area set is updated. This method of dynamically updating the planned charging area set according to the real-time driving status of the vehicle can adjust the charging area based on the actual situation of the vehicle, with higher real-time performance, ensures the rationality of the charging route planning, and effectively reduces the user's charging anxiety.

[0181] In some embodiments, when a vehicle misses the first planned charging station, a second charging station other than the first charging station in the first charging area can be planned for the vehicle. Therefore, the present application embodiment provides another example of a path planning method, which will be described in detail below in conjunction with other figures. Figure 6 , Figure 6 This is a flow chart of another path planning method disclosed in an embodiment of the present application. Figure 6 The method shown may include the following steps:

[0182] Step 610 : When the distance between the vehicle and the first charging area is less than a first distance threshold, first vehicle status information of the vehicle and first station status information corresponding to each charging station included in the first charging area are obtained.

[0183] Step 620 : Determine a first charging station in the first charging area to be added to the waypoint of the driving route based on the first vehicle status information and the first station status information.

[0184] Regarding the implementation of steps 610 and 620, reference may be made to the contents of steps 210 and 220 as well as steps 330 and 340, which will not be repeated here.

[0185] Step 630 : When the vehicle moves away from the first charging station in a direction toward an end position of the driving route, third vehicle status information of the vehicle is obtained.

[0186] In some embodiments, based on the vehicle positioning information of the vehicle and the station location information of the first charging station, it is determined that the vehicle is between the first charging station and the end location, and the distance between the vehicle and the first charging station is greater than a fourth distance threshold, indicating that the vehicle is moving away from the first charging station in the direction of the end location of the driving path.

[0187] It should be noted that the fourth distance threshold may be any set path length or straight-line distance, and is not limited thereto.

[0188] Optionally, the third vehicle status information includes at least one of vehicle positioning information, vehicle remaining power, vehicle remaining mileage, and charging time when the vehicle battery reaches a fully charged state.

[0189] Step 640: If it is determined according to the third vehicle status information that the vehicle is in the first charging area, then second station status information corresponding to each charging station included in the first charging area is obtained.

[0190] In some embodiments, the third vehicle status information includes vehicle positioning information, and determining that the vehicle is within the first charging area based on the third vehicle status information includes: determining that the vehicle is within the first charging area based on the vehicle positioning information and area information of the first charging area, wherein the area information of the first charging area includes station location information of each charging station included in the first charging area.

[0191] Optionally, determining that the vehicle is within the first charging area based on the vehicle positioning information and the area information of the first charging area includes: determining the distance between the vehicle and any charging station included in the first charging area based on the vehicle positioning information and the area information of the first charging area; if the distance between the vehicle and any charging station included in the first charging area is less than a first distance threshold, indicating that the vehicle is within the first charging area. For example, assuming the first distance threshold is 5 km, if the distance between the vehicle and any charging station included in the first charging area is less than 5 km, then the vehicle is within the first charging area.

[0192] Optionally, the second station status information corresponding to each charging station included in the first charging area may include at least one of the station location information, charging price, number of idle charging piles, user preference information and road condition information corresponding to each charging station included in the first charging area.

[0193] Step 650 : Determine a second charging station to be added to the waypoint of the driving route based on the third vehicle status information and the second station status information. The second charging station is one of the charging stations in the first charging area other than the first charging station.

[0194] In this embodiment, in a scenario where the vehicle is off course, if it is determined through real-time acquired vehicle status information (e.g., third vehicle status information) that the vehicle is still within a planned charging area (e.g., the first charging area), an alternative charging station (e.g., the second charging station) in the charging area is planned for the vehicle using the real-time acquired vehicle status information and the station status information of each charging station in the charging area (e.g., the second station status information). This method of planning a new charging station in the charging area can plan a charging station that is closer to the vehicle, thereby avoiding the situation where the vehicle's battery is too low and cannot travel to the next charging area.

[0195] In this embodiment of the present application, after obtaining the third vehicle status information and the second station status information, a second charging station within the first charging area can be planned for the vehicle based on the third vehicle status information and the second station status information. Once the second charging station is determined, the second charging station can be added to the waypoints of the vehicle's travel route, and the vehicle can be navigated to the second charging station so that the vehicle can charge at the second charging station.

[0196] In some embodiments, determining a second charging station to be added as a waypoint to the vehicle's travel route based on the third vehicle status information and the second station status information includes: calculating a comprehensive cost corresponding to each charging station other than the first charging station in the first charging area based on a preset heuristic function, the third vehicle status information, and the second station status information, and determining the charging station with the lowest comprehensive cost among the comprehensive costs corresponding to each charging station other than the first charging station in the first charging area as the second charging station to be added to the vehicle's travel route. It should be noted that the implementation method for determining the second charging station in conjunction with the preset heuristic function can refer to the implementation method for determining the first charging station described above and will not be further described here.

[0197] In some embodiments, based on the location information of the second charging station, the second charging station is added to the waypoint of the driving route to obtain updated navigation route information, so that the vehicle can travel according to the updated navigation route information. In this embodiment, the determined alternative charging station (e.g., the second charging station) is directly added to the waypoint of the driving route to update the navigation route. This method improves the convenience of updating the navigation route. The navigation route can be quickly updated without the user having to manually add the alternative charging station, meeting the real-time requirements of driving scenarios and ensuring the reliability of the navigation route during driving.

[0198] In some embodiments, if the distance between the vehicle and the first charging area is determined to be greater than or equal to a first distance threshold based on the third vehicle status information, a next charging area located after the first charging area on the vehicle's travel path is determined. The next charging area is the charging area corresponding to the next path division point on the travel path toward the end point of the travel path, located within the first charging area. In other words, if the vehicle misses the first planned charging station and the distance between the vehicle and the first charging area is greater than or equal to the first distance threshold, indicating that the vehicle has moved away from the first charging area and is no longer within the first charging area, the next charging area in the set of charging areas located after the first charging area is planned for the vehicle, eliminating the need for the vehicle to return to the first charging station.

[0199] Optionally, based on the area information corresponding to the next charging area, the next charging area is added to the driving path to obtain updated navigation route information so that the vehicle travels according to the updated navigation route information, wherein the area information corresponding to the next charging area includes the station location information of each charging station included in the next charging area.

[0200] When the vehicle is traveling toward the next charging area and the distance between the vehicle and the next charging area is less than a first distance threshold, the fifth vehicle status information of the vehicle and the fourth station status information corresponding to each charging station in the next charging area are continuously acquired. Based on the fifth vehicle status information and the fourth station status information, a charging station is determined from the next charging area to be added to the waypoint of the driving route. It should be noted that the implementation method for determining the charging station from the next charging area to be added to the waypoint of the driving route can be referred to the implementation method for determining the first charging station described above and will not be repeated here.

[0201] In this embodiment, in a scenario where the vehicle is off course, if it is determined through real-time acquired vehicle status information (e.g., the third vehicle status information) that the distance between the vehicle and a planned charging area (e.g., the first charging area) is greater than or equal to a first distance threshold, indicating that the vehicle is not currently in the charging area, the next charging area is planned for the vehicle in real time. This planning method does not require the vehicle to return to the original charging area, and to a certain extent also reduces the vehicle's driving time, avoids unnecessary driving distance, avoids unnecessary power consumption, and improves the rationality of charging path planning.

[0202] It can be seen that when the above embodiment is implemented, when the vehicle is far away from the planned charging station (such as the first charging station), it is determined that the vehicle is currently in a yaw state. In this scenario, the vehicle status information of the vehicle (such as the third vehicle status information) obtained in real time is used to further determine whether the vehicle is currently in the charging area corresponding to the charging station (such as the first charging area), and different strategies are adopted according to the judgment results to plan reasonable charging for the vehicle. This method can plan an alternative charging station that is more suitable for the current charging needs of the vehicle in real time when the vehicle leaves the charging station due to missing the planned charging station or because the charging station has no available charging piles, thereby improving the real-time and rationality of the charging path planning; at the same time, this planning method does not require the vehicle to return to the original charging station, which to a certain extent reduces the vehicle's driving time, avoids unnecessary driving distance, and avoids unnecessary power consumption.

[0203] In some embodiments, when a vehicle is in a low battery scenario and cannot travel to any charging area in the planned charging area set, a recommended charging area can be temporarily planned for the vehicle to ensure normal driving of the vehicle. Therefore, the embodiment of the present application provides another example of a path planning method, which will be described in detail below in conjunction with other figures. Figure 7 , Figure 7 This is a flow chart of another path planning method disclosed in the embodiment of this application. Figure 7 The method shown may include the following steps:

[0204] Step 710: Obtain the driving path of the vehicle from the starting position to the end position.

[0205] Step 720 : Determine one or more charging areas corresponding to the driving route to obtain a charging area set, where the charging area set includes at least two charging stations, and the charging area set includes a first charging area.

[0206] Regarding the implementation of steps 710 and 720, reference may be made to the contents of the aforementioned steps 310 and 320, which will not be repeated here.

[0207] Step 730: Acquire fourth vehicle status information of the vehicle, where the fourth vehicle status information includes vehicle positioning information and remaining battery power of the vehicle.

[0208] In an embodiment of the present application, fourth vehicle status information of the vehicle can also be obtained while the vehicle is traveling.

[0209] Step 740: If it is determined based on the fourth vehicle status information that the vehicle cannot travel to any charging area in the charging area set, then based on the vehicle positioning information, a charging station within a preset distance range of the vehicle is determined as a recommended charging area.

[0210] In an embodiment of the present application, the method of determining that the vehicle cannot travel to any charging area in the charging area set based on the fourth vehicle status information is to determine that the vehicle cannot travel to any charging area in the charging area set based on the vehicle positioning information and the remaining power of the vehicle.

[0211] In an embodiment of the present application, after determining that the vehicle cannot travel to any charging area in the charging area set, it indicates that the vehicle is currently in a low-battery scenario, and the charging areas in the pre-planned charging area set no longer meet the vehicle's current charging needs. Then, based on the vehicle positioning information, the charging stations within a preset distance range of the vehicle are determined as recommended charging areas, and the recommended charging areas include at least one charging station.

[0212] In some embodiments, based on the vehicle's location information, charging stations within a preset distance range of the vehicle are determined as recommended charging areas, including: using the vehicle's location information as the center of a circle and the preset distance range as the radius, and determining the corresponding charging stations within the range as recommended charging areas. For example, if the preset distance range is 10 km, the vehicle's location coordinates can be used as the center of a circle with a radius of 10 km from the center of the circle to obtain the corresponding charging stations within the range, and determine the corresponding charging stations within the range as the charging area corresponding to the destination location.

[0213] Optionally, the fourth vehicle status information also includes the remaining mileage of the vehicle, the preset distance range is less than the remaining mileage of the vehicle, and there is an available charging station within the preset distance range. The available charging station means that the charging station includes an idle charging pile. For example, assuming that the remaining mileage of the vehicle is 15 km and there is an available charging station within 10 km of the vehicle, the preset distance range can be set to 10 km. It should be noted that the preset distance range can be an arbitrarily set path length when it is less than the remaining mileage of the vehicle and there is an available charging station.

[0214] It can be seen that by implementing the above embodiment, it is possible to determine whether the vehicle can currently drive to any planned charging area through the vehicle status information of the vehicle obtained in real time (such as the fourth vehicle status information). If it cannot drive to any charging area, it means that the vehicle is currently in a low-battery scenario. In this scenario, the charging stations within a preset distance range of the vehicle are planned as temporary recommended charging areas based on the vehicle positioning information to avoid the vehicle being unable to drive to the destination due to too low remaining power. This method takes into account the remaining power and real-time location of the vehicle, improves the real-time nature of charging area planning, and reduces the user's charging anxiety when the vehicle is in a low-battery scenario.

[0215] In some embodiments, the present application provides a path planning system, see Figure 8 , Figure 8 This is a schematic diagram of the architecture of a path planning system disclosed in an embodiment of the present application. Figure 8 The illustrated route planning system includes a server 810, a vehicle 820, and a charging station 830. Server 810 is configured to receive real-time vehicle status and event information from vehicle 820 and to send planned charging stations to vehicle 820. Server 810 is also configured to send instructions to charging station 830 to obtain charging station status information via a charging station cloud platform, and to receive status information from charging station 830 via the charging station cloud platform. The charging station cloud platform is a charging station operation platform built by charging operators.

[0216] In some embodiments, see Figure 9 , Figure 9 This is a schematic diagram of the architecture of another path planning system disclosed in the embodiment of this application. Figure 9 The server shown includes a path planning module, a monitoring module and an early warning module, wherein the monitoring module transmits data with the vehicle and the charging pile cloud platform respectively.

[0217] The monitoring module communicates with the vehicle and charging pile cloud platform to obtain vehicle status information, vehicle events, and charging pile status information. The route planning module plans routes based on the information obtained by the monitoring module. The early warning module generates alerts when abnormalities occur in the vehicle or charging pile, including situations such as the vehicle being unable to reach a designated charging station, the vehicle's battery being too low, or the planned charging station running out of charging piles.

[0218] The path planning method proposed in the embodiment of the present application can be Figure 8 and Figure 9 The following describes the path planning method provided by the embodiment of the present application using the interaction between the vehicle and the server in the path planning system. For the convenience of description, the following description of the vehicle and the server will not be included. Figure 8 and Figure 9 The modules are numbered as shown, and exemplarily, the server 810 is described by the server.

[0219] In some embodiments, the vehicle can monitor the distance between the vehicle and any planned charging area in real time. When the vehicle is detected approaching the first planned charging area, the server is notified of a first event indicating that the vehicle is approaching the first charging area. The server responds to the first event and plans a charging station for the vehicle in the first charging area. Therefore, the embodiment of the present application provides another example of a path planning method, which will be described in detail below in conjunction with other figures. Figure 10 , Figure 10 This is a flow chart of another path planning method disclosed in the embodiment of this application. Figure 10 The method shown may include the following steps:

[0220] In step 1010 , the vehicle determines the distance between the vehicle and a preset first charging area based on the vehicle positioning information.

[0221] In step 1020 , the vehicle sends a first event and first vehicle status information of the vehicle to the server, where the first event indicates that the distance between the vehicle and the first charging area is less than a first distance threshold.

[0222] Step 1030: In response to the first event, the server obtains first station status information corresponding to each charging station included in the first charging area.

[0223] In step 1040 , the server determines a first charging station in the first charging area to be added to the waypoint of the driving route based on the first vehicle status information and the first station status information.

[0224] Step 1050: The server sends the location information of the first charging station to the vehicle.

[0225] In step 1060 , the vehicle adds the first charging station to a waypoint of the driving route based on the location information of the first charging station, and obtains updated navigation route information.

[0226] In an embodiment of the present application, after the vehicle travels to the first charging station according to the updated navigation route information, it can be charged at an idle charging pile corresponding to the first charging station.

[0227] In some embodiments, after the vehicle arrives at the first charging station, the vehicle sends a charging request instruction to the server; the server responds to the charging request instruction and sends the charging request instruction to the charging pile cloud platform; the charging pile cloud platform responds to the charging request instruction, determines the first charging pile for the vehicle, and sends the location information corresponding to the first charging pile to the vehicle through the server; the vehicle drives to the first charging pile according to the location information corresponding to the first charging pile and charges; after the vehicle starts charging at the first charging pile, the vehicle sends a third event to the server, and the third event is used to indicate that the vehicle starts charging at the first charging station, so that the server responds to the third event and monitors in real time whether the vehicle can drive to the next charging area in the charging area set located at the first charging station after charging at the first charging pile is completed.

[0228] In some embodiments, the server can add the first charging station to a waypoint on the driving route based on the location information of the first charging station, thereby obtaining updated navigation route information. The server can then send the updated navigation route information to the vehicle, causing the vehicle to travel according to the updated navigation route information. In this embodiment, the server can directly update the navigation route information and send it to the vehicle, eliminating the need for the vehicle to update the navigation route information. This reduces the vehicle's computational efficiency and avoids situations where the navigation route cannot be updated in real time due to network or signal failures, thereby ensuring the real-time and effectiveness of route planning.

[0229] It should be noted that the implementation methods of steps 1010 to 1060 in this embodiment have been similarly described in the aforementioned embodiments. Please refer to the contents of the aforementioned embodiments and no further details will be given here.

[0230] It can be seen that by implementing the above embodiment, the vehicle can determine in real time whether it is close to any planned charging area (such as the first charging area) and report the event of the vehicle approaching the planned charging area (such as the first event) to the server in real time. After receiving the event reported by the vehicle, the server automatically determines the appropriate charging station (such as the first charging station) for the charging area based on the received vehicle status information (such as the first vehicle status information) and the station status information of each charging station in the charging area (such as the first station status information); and sends the location information of the charging station to the vehicle, and the vehicle updates the navigation route based on the location information. This method combines the real-time status of the charging station and the vehicle to facilitate the determination of a more suitable charging station, with better real-time performance, and more easily avoids the delay problem of re-determining the charging station in abnormal situations such as arriving at a pre-planned charging station and finding that the charging station is unavailable, thereby improving the real-time performance of charging route planning and the convenience of charging route adjustment; at the same time, it can also reduce the user's unnecessary charging waiting time and reduce the user's charging anxiety. In addition, in this solution, the vehicle can directly add the determined charging stations to the waypoints of the driving route to update the navigation route, which improves the convenience of updating the navigation route. The navigation route can be quickly updated without the user manually adding charging stations, meeting the real-time requirements in driving scenarios and ensuring the reliability of the navigation route during driving.

[0231] In some embodiments, the vehicle may also send a route planning request to the server, and the server responds to the request and plans one or more charging areas. Therefore, the embodiment of the present application provides another example of a route planning method, which will be described in detail below in conjunction with other figures. Figure 11 , Figure 11 This is a flow chart of another path planning method disclosed in the embodiment of this application. Figure 11 The method shown may include the following steps:

[0232] In step 1110 , the vehicle sends a route planning request to the server, where the route planning request includes a starting location and an end location.

[0233] In step 1120 , the server obtains the driving path of the vehicle from the starting position to the ending position.

[0234] In step 1130 , the server determines one or more charging areas corresponding to the driving route and obtains a charging area set.

[0235] In some embodiments, the path planning request also includes second vehicle status information; the server determines one or more charging areas corresponding to the driving path and obtains a charging area set, including: the server determines multiple path division points contained in the driving path, and the multiple path division points are used to indicate multiple positions in the driving path; the server obtains path division point information corresponding to each path division point, and the path division point information includes station information of each charging station corresponding to each path division point; the server determines one or more charging areas corresponding to the driving path based on the path division point information and the second vehicle status information, and obtains a charging area set.

[0236] In some embodiments, the second vehicle status information includes the vehicle's fully charged mileage, which is used to indicate the mileage that the vehicle battery can travel when it is fully charged; the server determines multiple path division points contained in the driving path, including: the server divides the driving path into multiple interval paths based on the vehicle's fully charged mileage and the driving path; the server uses the starting point of each interval path as the path division point.

[0237] In some embodiments, the server uses the starting point of each interval path as the path division point, including: the server eliminates the starting points corresponding to multiple interval paths, where there is no charging station nearby, and uses the remaining starting points as the path division points.

[0238] In some embodiments, the server determines one or more charging areas corresponding to the driving path to obtain a charging area set, including: when the path length corresponding to the driving path is less than the vehicle's fully charged mileage, the server determines the charging area corresponding to the starting position or the charging area corresponding to the end position as the charging area set.

[0239] In some embodiments, the second vehicle status information also includes the remaining mileage of the vehicle; the server determines the charging area corresponding to the starting position or the charging area corresponding to the end position as a charging area set, including: if the path length corresponding to the driving path is less than or equal to the remaining mileage of the vehicle, the server determines the charging area corresponding to the end position as the charging area set; or, if the path length corresponding to the driving path is greater than the remaining mileage of the vehicle, the server determines the charging area corresponding to the starting position as the charging area set.

[0240] Step 1140: The server sends the driving route and charging area set to the vehicle.

[0241] It should be noted that the one or more charging areas included in the charging area set may be areas where at least two charging stations corresponding to at least some of the multiple path division points are located.

[0242] In some embodiments, the server may store the charging station information corresponding to each route division point in the server's storage module and transmit the charging area set to the vehicle. In other words, the server may store the charging station information corresponding to each route division point in the vehicle's travel path in the storage module.

[0243] Step 1150: The vehicle displays a driving route map with each charging area marked on the vehicle's display screen based on the driving route and charging area set.

[0244] In some embodiments, the method of displaying the driving route map with each charging area marked on the vehicle display screen may include: the vehicle displays the driving route with each charging area marked on the vehicle display screen according to a preset display method.

[0245] Optionally, the preset display method includes highlighting each charging area in the driving route map; or, displaying each charging area in the driving route map with a preset animation; or, displaying each charging area in the driving route map with a preset color.

[0246] It should be noted that the preset display mode can be set by those skilled in the art according to actual needs and is not limited thereto.

[0247] In step 1160 , the vehicle determines the distance between the vehicle and a preset first charging area based on the vehicle positioning information.

[0248] In the embodiment of the present application, the charging area set includes a first charging area.

[0249] In step 1170 , the vehicle sends a first event and first vehicle status information of the vehicle to the server. The first event is used to indicate that the distance between the vehicle and the first charging area is less than a first distance threshold.

[0250] Step 1180: In response to the first event, the server obtains first station status information corresponding to each charging station included in the first charging area.

[0251] In step 1190 , the server determines a first charging station in the first charging area to be added to the waypoint of the driving route based on the first vehicle status information and the first station status information.

[0252] Step 11100: The server sends the location information of the first charging station to the vehicle.

[0253] In step 11110, the vehicle adds the first charging station to the waypoint of the driving route based on the location information of the first charging station, and obtains updated navigation route information.

[0254] In some embodiments, after receiving the location information of the first charging station from the server, the vehicle outputs a prompt message, which inquires whether to add the first charging station to the waypoint of the driving route. In response to the addition operation for the first charging station, the vehicle adds the first charging station to the waypoint of the driving route. In this embodiment, the vehicle can also prompt the user to add the planned charging station (e.g., the first charging station) to the waypoint through the prompt message. This method is more personalized and allows the user to decide whether to add the charging station, thereby optimizing the user interaction experience.

[0255] Optionally, the vehicle may output prompt information in the form of voice prompts, text prompts, pop-up prompts, etc.

[0256] In some embodiments, after the vehicle outputs the prompt message, if no addition operation for the first charging station is detected within a preset time period, the vehicle sends feedback information to the server. The feedback information indicates that the first charging station has not been added to the waypoint of the driving route. The feedback information is used to trigger the server to update the charging area set. In this embodiment, when the user does not add a charging station (e.g., the first charging station), it indicates to some extent that the currently planned charging station does not meet the user's needs. The vehicle can send feedback information to the server to cause the server to update the charging area set. This method of updating the charging area set based on user needs makes the updated charging area set more in line with the user's actual needs.

[0257] In some embodiments, the server receives feedback information reported by the vehicle, and in response to the feedback information, updates the charging area set based on the first vehicle status information and pre-stored path division point information corresponding to the vehicle, and sends the updated charging area set to the vehicle, wherein the path division point information includes station information of each charging station corresponding to the driving path.

[0258] Optionally, the server updates the charging area set based on the first vehicle status information and pre-stored path division point information corresponding to the vehicle, including: the server may obtain pre-stored path division point information corresponding to the vehicle from a storage module, the pre-stored path division point information corresponding to the vehicle including station information of each charging station corresponding to each path division point, and update the charging area set based on the first vehicle status information and the station information of each charging station corresponding to each path division point. It should be noted that the method for updating the charging area set in this embodiment can be referred to the content of determining the charging area set based on a preset heuristic function in the embodiment, and will not be repeated here.

[0259] The implementation of steps 1110 to 11110 has been similarly described in the aforementioned embodiments. Please refer to the contents of the aforementioned embodiments and will not be repeated here.

[0260] In some embodiments, the vehicle receives the updated charging zone set and updates the charging zones marked on the displayed driving route map based on the updated charging zone set. In this embodiment, the server can send the updated charging zone set to the vehicle, and the vehicle will update the driving route map based on the updated charging zone set, allowing the user to promptly understand the updated charging zones.

[0261] It should be noted that the implementation methods of step 1110 to step 11110 in this embodiment have similar descriptions in the aforementioned embodiments. Please refer to the contents of the aforementioned embodiments and will not be repeated here.

[0262] It can be seen that by implementing the above embodiment, after receiving the path planning request sent by the vehicle, the server can determine one or more charging areas of the vehicle's driving path as a charging area set, and send the driving path and the charging area set to the vehicle, so that the vehicle can display a driving path map with each charging area marked on the display screen. In this way, when the vehicle drives to any charging area in the charging area set, it can quickly report the event of approaching the charging area to the server, so that the server can quickly determine a suitable charging station for the vehicle, thereby improving the efficiency and real-time performance of charging path planning; at the same time, it can also allow users to understand the charging areas planned on the driving path in real time on the vehicle's display screen, reducing the user's charging anxiety.

[0263] In some embodiments, when a vehicle detects that it has missed a planned first charging station, it can report a second event of the vehicle missing the first charging station to the server. The server responds to the second event and plans another charging station in the first charging area as a second charging station for the vehicle. Therefore, the embodiment of the present application provides another example of a path planning method, which will be described in detail below in conjunction with other figures. Figure 12 , Figure 12 This is a flow chart of another path planning method disclosed in the embodiment of this application. Figure 12 The method shown may include the following steps:

[0264] In step 1210 , the vehicle sends a second event and third vehicle status information to the server. The second event is used to indicate that the vehicle is moving away from the first charging station in the direction of the end position of the driving path.

[0265] Step 1220 : In response to the second event, if the server determines that the vehicle is in the first charging area based on the third vehicle status information, the server obtains second station status information corresponding to each charging station included in the first charging area.

[0266] In step 1230 , the server determines a second charging station to be added to the waypoint of the driving route based on the third vehicle status information and the second station status information. The second charging station is one of the charging stations in the first charging area other than the first charging station.

[0267] Step 1240: The server sends the location information of the second charging station to the vehicle.

[0268] Step 1250: The vehicle adds the second charging station to the waypoint of the driving route based on the location information of the second charging station, and obtains updated navigation route information.

[0269] In an embodiment of the present application, after the vehicle travels to the second charging station according to the updated navigation route information, it can be charged at an idle charging pile corresponding to the second charging station.

[0270] In some embodiments, after the vehicle arrives at the second charging station, the vehicle sends a charging request instruction to the server; the server responds to the charging request instruction and sends the charging request instruction to the charging pile cloud platform; the charging pile cloud platform responds to the charging request instruction, determines a second charging pile for the vehicle, and sends the location information corresponding to the second charging pile to the vehicle through the server; the vehicle drives to the second charging pile according to the location information corresponding to the second charging pile and charges; after the vehicle starts charging at the second charging pile, the vehicle sends a third event to the server, and the third event is used to indicate that the vehicle starts charging at the second charging station, so that the server responds to the third event and monitors in real time whether the vehicle can drive to the next charging area in the charging area set located at the second charging station after charging at the second charging pile is completed.

[0271] In some embodiments, after receiving the location information of the second charging station sent by the server, the vehicle outputs a prompt message, which is used to ask whether to add the second charging station to the waypoint of the driving route; the vehicle responds to the addition operation for the second charging station and adds the second charging station to the waypoint of the driving route.

[0272] In some embodiments, after the vehicle outputs the prompt information, if the vehicle does not detect an addition operation for the second charging station within a preset time period, the vehicle sends feedback information to the server. The feedback information is used to indicate that the second charging station has not been added to the waypoint of the driving route. The feedback information is used to trigger the server to update the charging area set.

[0273] In some embodiments, the server receives feedback information reported by the vehicle, and in response to the feedback information, updates the charging area set based on the third vehicle status information and pre-stored path division point information corresponding to the vehicle, and sends the updated charging area set to the vehicle, wherein the path division point information includes the station information of each charging station corresponding to the driving path.

[0274] It should be noted that the implementation method of the server updating the charging area set based on the third vehicle status information and the pre-stored path division point information corresponding to the vehicle can be referred to the aforementioned embodiment in which the server updates the content of the charging area set based on the first vehicle status information and the pre-stored path division point information corresponding to the vehicle, which will not be repeated here.

[0275] In some embodiments, if the server determines that the distance between the vehicle and the first charging area is greater than or equal to the first distance threshold based on the third vehicle status information, it determines the next charging area located after the first charging area on the vehicle's driving path, and sends the area information corresponding to the next charging area to the vehicle, wherein the area information corresponding to the next charging area includes the station location information of each charging station included in the next charging area.

[0276] In some embodiments, the server can add the second charging station to the waypoint of the driving route based on the location information of the second charging station to obtain updated navigation route information; and send the updated navigation route information to the vehicle so that the vehicle travels according to the updated navigation route information.

[0277] It should be noted that the implementation methods of steps 1210 to 1250 in this embodiment have been similarly described in the aforementioned embodiments. Please refer to the contents of the aforementioned embodiments and will not be repeated here.

[0278] It can be seen that when the above embodiment is implemented, when the vehicle detects that the vehicle is away from the planned charging station (such as the first charging station), it determines that the vehicle is currently in a yaw state and sends a corresponding event (such as the second event) to the server. In this scenario, the server further determines whether the vehicle is currently in the charging area corresponding to the charging station (such as the first charging area) through the vehicle status information (such as the third vehicle status information), and adopts different strategies to plan reasonable charging for the vehicle based on the judgment result. This method can plan an alternative charging station that is more suitable for the vehicle's current charging needs in real time when the vehicle leaves the charging station due to missing the planned charging station or because the charging station has no available charging piles, thereby improving the real-time and rationality of the charging path planning; at the same time, this planning method does not require the vehicle to return to the original charging station, which to a certain extent reduces the vehicle's driving time, avoids unnecessary driving distance, and avoids unnecessary power consumption.

[0279] In some embodiments, when the vehicle detects that it has started charging at the first planned charging station, it can report a third event of starting charging at the first charging station to the server. The server responds to the third event and determines whether the vehicle can drive to the next charging area after charging. If not, the server updates the planned charging area set. Therefore, the embodiment of the present application provides another example of a path planning method, which will be described in detail below in conjunction with other figures. Figure 13 , Figure 13 This is a flow chart of another path planning method disclosed in the embodiment of this application. Figure 13 The method shown may include the following steps:

[0280] Step 1310: The vehicle sends a third event to the server, where the third event is used to indicate that the vehicle starts charging at the first charging station.

[0281] In step 1320, in response to the third event, if the server determines based on the first vehicle status information that the vehicle cannot travel to the next charging area of ​​the first charging station in the charging area set after completing charging, the server updates the charging area set based on the pre-stored path division point information corresponding to the vehicle.

[0282] Step 1330: The server sends the updated charging area set to the vehicle.

[0283] In step 1340 , the server updates the charging areas marked on the displayed driving route diagram according to the updated charging area set.

[0284] It should be noted that the implementation methods of steps 1310 to 1340 in this embodiment have been similarly described in the aforementioned embodiments. Please refer to the contents of the aforementioned embodiments and will not be repeated here.

[0285] It can be seen that when the above embodiment is implemented, when the vehicle starts charging at a charging station (such as the first charging station), a corresponding event (such as the third event) can be sent to the server. If the server determines based on the vehicle status information (such as the first vehicle status information) of the vehicle that the vehicle cannot travel to the next charging area planned in the charging area set after charging at the charging station, it means that the charging areas in the charging area set do not match the current charging needs of the vehicle, and the charging area set is updated. This method of dynamically updating the planned charging area set according to the real-time driving status of the vehicle can adjust the charging area based on the actual situation of the vehicle, with higher real-time performance, ensures the rationality of charging route planning, and effectively reduces the user's charging anxiety.

[0286] In some embodiments, when the vehicle detects that it is in a low battery scenario and cannot travel to any charging area in the planned charging area set, the vehicle can report a fourth event to the server. The server responds to the fourth event and plans a temporary recommended charging area for the vehicle. Therefore, the embodiment of the present application provides another example of a path planning method, which will be described in detail below in conjunction with other figures. Figure 14 , Figure 14 This is a flow chart of another path planning method disclosed in the embodiment of this application. Figure 14 The method shown may include the following steps:

[0287] In step 1410 , the vehicle sends a fourth event and fourth vehicle status information to the server. The fourth event is used to indicate that the vehicle's battery power is low. The fourth vehicle status information includes vehicle positioning information and the vehicle's remaining battery power.

[0288] Step 1420 , in response to the fourth event, if the server determines based on the fourth vehicle status information that the vehicle cannot travel to any charging area in the charging area set, then based on the vehicle positioning information, the server determines a charging station within a preset distance range of the vehicle as a recommended charging area.

[0289] In an embodiment of the present application, the recommended charging area includes at least one charging station, and the server may send station information corresponding to each charging station included in the recommended charging area to the vehicle.

[0290] It should be noted that the implementation methods of steps 1410 to 1420 in this embodiment have been similarly described in the aforementioned embodiments. Please refer to the contents of the aforementioned embodiments and no further details will be given here.

[0291] It can be seen that by implementing the above embodiment, the vehicle can send a corresponding event (such as the fourth event) and vehicle status information (such as the fourth vehicle status information) to the server when the vehicle's battery is low. The server can determine whether the vehicle can currently drive to any planned charging area based on the vehicle status information. If it cannot drive to any charging area, it means that the vehicle is currently in a low-battery scenario. In this scenario, the server plans a charging station within a preset distance range of the vehicle as a temporary recommended charging area based on the vehicle positioning information, so as to avoid the vehicle being unable to drive to the destination due to too low remaining battery. This method takes into account the remaining battery and real-time location of the vehicle, improves the real-time nature of charging area planning, and reduces the user's charging anxiety when the vehicle is in a low-battery scenario.

[0292] It should be understood that, although the various steps in the above-mentioned flowcharts are displayed in sequence as indicated by the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the above-mentioned flowcharts may include a plurality of sub-steps or a plurality of stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these sub-steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with at least a portion of other steps or sub-steps or stages of other steps. In addition, the above-mentioned multiple embodiments can be implemented independently, or can be combined with each other, and the different implementation methods in the above-mentioned multiple embodiments can also be combined with each other, which is not limited here.

[0293] Based on the foregoing embodiments, an embodiment of the present application provides a path planning device, which includes the modules included and the units included in each module, and can be implemented by a processor; of course, it can also be implemented by a specific logic circuit; in the implementation process, the processor can be a central processing unit (CPU), a microprocessor (MPU), a digital signal processor (DSP) or a field programmable gate array (FPGA), etc.

[0294] See Figure 15 , Figure 15 This is a schematic diagram of the structure of a path planning device disclosed in an embodiment of the present application. Figure 15 The path planning device shown includes:

[0295] Acquisition module 1510 is configured to acquire first vehicle status information of the vehicle and first station status information corresponding to each charging station included in the first charging area when the distance between the vehicle and a preset first charging area is less than a first distance threshold. The first charging area is a charging area determined based on the vehicle's travel path, and the first charging area includes at least two charging stations.

[0296] The determining module 1520 is configured to determine, from the first charging area, a first charging station to be added to the waypoint of the driving route based on the first vehicle status information and the first station status information.

[0297] In some embodiments, the acquisition module 1510 is further configured to acquire a driving path of the vehicle from the starting position to the ending position;

[0298] The determination module 1520 is further configured to determine one or more charging areas corresponding to the driving route, and obtain a charging area set, wherein any charging area in the charging area set includes at least two charging stations, and the charging area set includes the first charging area.

[0299] In some embodiments, the distance between any two charging stations in each charging area is less than a second distance threshold; and the distance between the center point of each charging area and the driving path is less than a third distance threshold.

[0300] In some embodiments, the determination module 1520 is specifically configured to:

[0301] Determining a plurality of path division points included in the driving path, where the plurality of path division points are used to indicate a plurality of positions in the driving path;

[0302] Obtaining path division point information corresponding to each path division point, where the path division point information includes station information of each charging station corresponding to each path division point;

[0303] Second vehicle status information of the vehicle is obtained, and one or more charging areas corresponding to the driving route are determined based on the route division point information and the second vehicle status information to obtain a charging area set.

[0304] In some embodiments, the second vehicle status information includes a vehicle fully charged mileage, where the vehicle fully charged mileage is used to indicate the mileage that the vehicle can travel when the battery is fully charged;

[0305] The determination module 1520 is further specifically configured to:

[0306] Divide the driving route into multiple interval routes based on the vehicle's full charge mileage and driving route;

[0307] The starting point of each interval path is used as the path division point.

[0308] In some embodiments, the path planning device further includes an adding module;

[0309] The adding module is used to add the first charging station to the waypoint of the driving route according to the location information of the first charging station, obtain updated navigation route information, and enable the vehicle to travel according to the updated navigation route information.

[0310] In some embodiments, the first vehicle status information includes at least one of vehicle positioning information, vehicle remaining power, vehicle remaining mileage, and charging time for the vehicle battery to reach a fully charged state;

[0311] The first station status information includes at least one of station location information corresponding to the charging station, charging price, number of idle charging piles, user preference information and road condition information.

[0312] In some embodiments, the acquisition module 1510 is further configured to acquire third vehicle status information of the vehicle when the vehicle moves away from the first charging station in a direction toward an end position of the driving route;

[0313] If it is determined according to the third vehicle status information that the vehicle is within the first charging area, obtaining second station status information corresponding to each charging station included in the first charging area;

[0314] The determination module 1520 is further configured to determine a second charging station to be added to the waypoint of the driving route based on the third vehicle status information and the second station status information, where the second charging station is one of the waypoints in the first charging area other than the first charging station.

[0315] In some embodiments, the determination module 1520 is further configured to determine a next charging area located after the first charging area on the vehicle's driving path if the distance between the vehicle and the first charging area is determined to be greater than or equal to a first distance threshold based on the third vehicle status information.

[0316] In some embodiments, the route planning device further includes an updating module, wherein the first charging area belongs to one of a set of charging areas corresponding to the driving route, and the set of charging areas includes one or more charging areas;

[0317] An updating module is configured to update the charging area set based on pre-stored path division point information corresponding to the vehicle if it is determined based on the first vehicle status information that the vehicle cannot travel to the next charging area of ​​the first charging station in the charging area set, where the path division point information includes station information of each charging station corresponding to the driving path.

[0318] It should be noted that in the embodiments of this application Figure 15 The division of modules in the path planning device shown is schematic and is merely a logical function division. There may be other division methods in actual implementation.

[0319] Based on the above embodiments, the present application also provides a path planning device, see Figure 16 , Figure 16 This is a schematic diagram of the structure of another path planning device disclosed in the embodiment of this application. Figure 16 The path planning device shown is applied to a vehicle, and the device includes:

[0320] Determining module 1610, configured to determine, based on the vehicle positioning information, a distance between the vehicle and a preset first charging area, where the first charging area is a charging area determined based on the vehicle's travel path, and the first charging area includes at least two charging stations;

[0321] A sending module 1620 is configured to send a first event and first vehicle status information of the vehicle to a server, where the first event indicates that the distance between the vehicle and the first charging area is less than a first distance threshold;

[0322] a receiving module 1630 configured to receive location information of a first charging station sent by a server, where the first charging station is determined by the server in the first charging area based on the first vehicle status information and first station status information corresponding to each charging station included in the first charging area;

[0323] The adding module 1640 is configured to add the first charging station to a waypoint of the driving route according to the location information of the first charging station, and obtain updated navigation route information.

[0324] In some embodiments, the path planning device further includes a display module;

[0325] The sending module 1620 is further configured to send a path planning request to the server, where the path planning request includes a starting location and an end location;

[0326] The receiving module 1630 is further configured to receive a driving route and a charging zone set sent by the server. The driving route is the path of the vehicle from the starting position to the end position. The charging zone set is one or more charging zones determined by the server based on the driving route.

[0327] The display module is used to display a driving route map with each charging area marked on the vehicle's display screen based on the driving route and charging area set.

[0328] In some embodiments, the path planning device further includes an output module;

[0329] an output module, configured to output a prompt message, wherein the prompt message is used to inquire whether to add the first charging station to a waypoint of the driving route;

[0330] The adding module 1640 is further configured to add the first charging station to the waypoint of the driving route in response to the adding operation on the first charging station.

[0331] In some embodiments, the path planning device further includes an updating module;

[0332] The sending module 1620 is further configured to send feedback information to the server if no addition operation for the first charging station is detected within a preset time period. The feedback information is used to indicate that the first charging station has not been added to the waypoint of the driving route. The feedback information is used to trigger the server to update the charging area set.

[0333] The updating module is further configured to receive the updated charging area set and update the charging areas marked on the displayed driving route map according to the updated charging area set.

[0334] It should be noted that in the embodiments of this application Figure 16The division of modules in the path planning device shown is schematic and is merely a logical function division. There may be other division methods in actual implementation.

[0335] Please refer to Figure 17 , Figure 17 This is a schematic diagram of the structure of an electronic device disclosed in an embodiment of the present application. Figure 17 As shown, the electronic device includes:

[0336] A memory 1710 storing executable program code;

[0337] a processor 1720 coupled to the memory 1710;

[0338] The processor 1720 calls the executable program code stored in the memory 1710 to execute any one of the path planning methods in the above method embodiments.

[0339] An embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of any one of the path planning methods provided in the above embodiments are implemented.

[0340] The embodiments of the present application further disclose a computer program product, including a computer program, and when the computer program is executed by a processor, it implements part or all of the steps of the method in the above method embodiments.

[0341] Those skilled in the art will understand that Figure 17 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 electronic device to which the solution of the present application is applied. The specific electronic device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0342] It should be noted that the descriptions of the above embodiments of the apparatus, device, computer-readable storage medium, and computer program product are similar to the descriptions of the above-mentioned method embodiments and have similar beneficial effects as the method embodiments. For technical details not disclosed in the embodiments of the apparatus, device, computer-readable storage medium, and computer program product of this application, please refer to the description of the method embodiments of this application for understanding.

[0343] It should be understood that "one embodiment" or "an embodiment" or "some embodiments" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, "in one embodiment" or "in an embodiment" or "in some embodiments" appearing throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application. The above-mentioned serial numbers of the embodiments of the present application are for description only and do not represent the advantages and disadvantages of the embodiments. The above description of the various embodiments tends to emphasize the differences between the various embodiments. The same or similar aspects can be referenced to each other. For the sake of brevity, they will not be repeated here.

[0344] The term "and / or" in this article is only a description of the association relationship between associated objects, indicating that there can be three relationships. For example, object A and / or object B can mean: object A exists alone, object A and object B exist at the same time, and object B exists alone.

[0345] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0346] In the several embodiments provided in this application, it should be understood that the disclosed devices, equipment and methods can be implemented in other ways. The embodiments described above are merely illustrative. For example, the division of the modules above is only a logical function division. In actual implementation, there may be other division methods, such as: multiple modules or components can be combined, or can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or modules can be electrical, mechanical or other forms.

[0347] Those skilled in the art will understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above-mentioned method embodiments; and the aforementioned storage medium includes: mobile storage devices, read-only memories (ROM), magnetic disks or optical disks, and other media that can store program codes.

[0348] The methods disclosed in the several method embodiments provided in this application can be arbitrarily combined without conflict to obtain new method embodiments.

[0349] The features disclosed in the several device embodiments provided in this application can be arbitrarily combined without conflict to obtain new device embodiments.

[0350] The above is merely an embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A path planning method, characterized in that: The method comprises: When the distance between the vehicle and a preset first charging area is less than a first distance threshold, obtaining first vehicle status information of the vehicle and first station status information corresponding to each charging station included in the first charging area, where the first charging area is a charging area determined based on the vehicle's travel path, and the first charging area includes at least two charging stations; A first charging station to be added to the waypoint of the driving route is determined from the first charging area according to the first vehicle status information and the first station status information.

2. The method according to claim 1, characterized in that The method further comprises: Obtaining the driving path of the vehicle from a starting position to an ending position; One or more charging areas corresponding to the driving route are determined to obtain a charging area set, wherein any charging area in the charging area set includes at least two charging stations, and the charging area set includes the first charging area.

3. The method according to claim 2, characterized in that The distance between any two charging stations in each of the charging areas is less than a second distance threshold; and the distance between the center point of each of the charging areas and the driving path is less than a third distance threshold.

4. The method according to claim 2, characterized in that The determining one or more charging areas corresponding to the driving route to obtain a charging area set includes: Determining a plurality of path division points included in the driving path, wherein the plurality of path division points are used to indicate a plurality of positions in the driving path; Obtaining path division point information corresponding to each path division point, wherein the path division point information includes station information of each charging station corresponding to each path division point; Second vehicle status information of the vehicle is obtained, and one or more charging areas corresponding to the driving path are determined based on the path division point information and the second vehicle status information to obtain the charging area set.

5. The method according to claim 4, characterized in that The second vehicle status information includes a vehicle fully charged mileage, where the vehicle fully charged mileage is used to indicate the mileage that the vehicle can travel when the battery is fully charged; The determining of the plurality of path division points included in the driving path includes: Dividing the driving route into a plurality of interval routes according to the vehicle's full-charge mileage and the driving route; The starting point of each interval path is used as the path division point.

6. The method according to any one of claims 1 to 5, characterized in that The method further comprises: According to the location information of the first charging station, the first charging station is added to the waypoint of the driving route to obtain updated navigation route information, so that the vehicle travels according to the updated navigation route information.

7. The method according to any one of claims 1 to 5, characterized in that The first vehicle status information includes at least one of vehicle positioning information, vehicle remaining power, vehicle remaining mileage, and charging time when the vehicle battery reaches a fully charged state; The first station status information includes at least one of station location information corresponding to the charging station, charging price, number of idle charging piles, user preference information and road condition information.

8. The method according to any one of claims 1 to 5, characterized in that The method further comprises: When the vehicle moves away from the first charging station in a direction toward an end position of the driving path, obtaining third vehicle state information of the vehicle; If it is determined according to the third vehicle status information that the vehicle is within the first charging area, obtaining second station status information corresponding to each charging station included in the first charging area; A second charging station is determined to be added to the waypoint of the driving route according to the third vehicle status information and the second station status information, where the second charging station is one of the charging stations in the first charging area other than the first charging station.

9. The method according to claim 8, characterized in that The method further comprises: If it is determined according to the third vehicle state information that the distance between the vehicle and the first charging area is greater than or equal to the first distance threshold, a next charging area located after the first charging area on the driving path of the vehicle is determined.

10. The method according to any one of claims 1 to 5, characterized in that The first charging area belongs to one of a set of charging areas corresponding to the driving route, the set of charging areas including one or more charging areas, and the method further includes: If it is determined based on the first vehicle status information that the vehicle cannot travel to the next charging area of ​​the first charging station in the charging area set, the charging area set is updated based on the pre-stored path division point information corresponding to the vehicle, and the path division point information includes the station information of each charging station corresponding to the driving path.

11. A path planning method, characterized in that: Applied to a vehicle, the method comprises: Determining, based on the vehicle positioning information, a distance between the vehicle and a preset first charging area, where the first charging area is a charging area determined based on the vehicle's travel path, and the first charging area includes at least two charging stations; Sending a first event and first vehicle status information of the vehicle to a server, wherein the first event is used to indicate that the distance between the vehicle and the first charging area is less than a first distance threshold; receiving location information of a first charging station sent by the server, where the first charging station is determined by the server in the first charging area based on the first vehicle status information and first station status information corresponding to each charging station included in the first charging area; According to the location information of the first charging station, the first charging station is added to the waypoint of the driving route to obtain updated navigation route information.

12. The method according to claim 11, characterized in that The method further comprises: Sending a route planning request to the server, wherein the route planning request includes a starting location and an end location; receiving the driving route and charging area set sent by the server, wherein the driving route is the path of the vehicle from the starting position to the end position, and the charging area set is one or more charging areas determined by the server based on the driving route; According to the driving route and the set of charging areas, a driving route map with each charging area marked is displayed on the display screen of the vehicle.

13. The method according to claim 11 or 12, characterized in that After receiving the location information of the first charging station sent by the server, the method further includes: Outputting a prompt message, the prompt message being used to inquire whether to add the first charging station to a waypoint of the driving route; In response to an adding operation on the first charging station, the first charging station is added to a waypoint of the driving route.

14. The method according to claim 13, characterized in that After outputting the prompt information, the method further includes: If no addition operation for the first charging station is detected within a preset time period, feedback information is sent to the server, where the feedback information indicates that the first charging station has not been added to the waypoint of the driving route, and the feedback information is used to trigger the server to update the charging area set; The updated charging area set is received, and the charging area marked on the displayed driving route diagram is updated according to the updated charging area set.

15. A path planning device, characterized in that: include: an acquisition module, configured to acquire, when a distance between the vehicle and a preset first charging area is less than a first distance threshold, first vehicle status information of the vehicle and first station status information corresponding to each charging station included in the first charging area, the first charging area being a charging area determined based on the vehicle's travel path, the first charging area including at least two charging stations; A determination module is configured to determine, from the first charging area, a first charging station to be added to the waypoint of the driving route based on the first vehicle status information and the first station status information.

16. A path planning device, characterized in that: Applied to a vehicle, the device comprises: a determination module, configured to determine, based on the vehicle positioning information, a distance between the vehicle and a preset first charging area, wherein the first charging area is a charging area determined based on the vehicle's travel path, and the first charging area includes at least two charging stations; a sending module, configured to send a first event and first vehicle status information of the vehicle to a server, wherein the first event is used to indicate that the distance between the vehicle and the first charging area is less than a first distance threshold; a receiving module, configured to receive location information of a first charging station sent by the server, where the first charging station is determined by the server in the first charging area based on the first vehicle status information and first station status information corresponding to each charging station included in the first charging area; An adding module is used to add the first charging station to the waypoint of the driving path according to the location information of the first charging station to obtain updated navigation route information.

17. An electronic device comprising a memory and a processor, wherein the memory stores a computer program that can be run on the processor, wherein: When the processor executes the program, the steps of the method according to any one of claims 1 to 10 or 11 to 14 are implemented.

18. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 10 or 11 to 14 is implemented.

19. A computer program product, characterized in that The invention comprises a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 10 or 11 to 14 is implemented.

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