CN106871917A - A kind of electric motor car route planning method and device - Google Patents
A kind of electric motor car route planning method and device Download PDFInfo
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- CN106871917A CN106871917A CN201710058477.9A CN201710058477A CN106871917A CN 106871917 A CN106871917 A CN 106871917A CN 201710058477 A CN201710058477 A CN 201710058477A CN 106871917 A CN106871917 A CN 106871917A
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- charge point
- start position
- destination locations
- electric motor
- digraph
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/343—Calculating itineraries, i.e. routes leading from a starting point to a series of categorical destinations using a global route restraint, round trips, touristic trips
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
Abstract
The invention discloses a kind of electric motor car route planning method, comprise the following steps：According to the start position, destination locations, charge point can be used, and the start position, destination locations, an initial digraph can be built with the equivalent distances between charge point；According to the side that continuation of the journey condition is unsatisfactory in the electric motor car course continuation mileage deletion initial digraph, effective digraph is formed；The preferred travel route from the start position to destination locations is calculated according to effective digraph.By considering start position, destination locations, equivalent distances can be obtained with factors such as the path length between charge point, congestion level, route departure degrees；Then initial digraph cut according to continuation of the journey condition and obtain effective digraph；The preferred travel route from the start position to destination locations is calculated on the basis of effective digraph.The science and validity of electric motor car route planning are improve, can more fully using the electricity of electric motor car, beneficial to energy-saving and emission-reduction.
Description
Technical field
The present invention relates to electric automobile field, more particularly to electric motor car route planning method and device.
Background technology
Environment and the energy are the hot issues of our times concern, electronic for the consideration for alleviating environment and Pressure on Energy
Automobile has obtained extensive concern both domestic and external.Compared with orthodox car, electric automobile is excellent due to low noise, pollution-free and energy-conservation etc.
Point is developed rapidly.
But, the development of electric automobile still suffers from many challenges with popularization, wherein most severe is on-vehicle battery storage
Electricity is limited in one's ability, and electric automobile needs repeatedly to be charged when long range is travelled.Because the construction of charging station is one slow
Process, within a very long time, it is difficult to accomplish to have enough charging stations, electric automobile on driving path it is possible that
The situation of timely electric power supplement cannot be obtained.Therefore, it is necessary to be electronic when charging station quantity is not also extreme enrichment
Automobile plans rational driving path, it is ensured that electricity can be in time supplemented when electric automobile is travelled on the path, smoothly reaches
Destination.
The content of the invention
In order to overcome the deficiencies in the prior art, it is an object of the invention to provide electric motor car route planning method and device,
It can be solved because the construction of charging station is a slow process, within a very long time, it is difficult to accomplish on driving path
There are enough charging stations, electric automobile it is possible that the problem of timely electric power supplement cannot be obtained.
The purpose of the present invention is realized using following technical scheme：
A kind of electric motor car route planning method, comprises the following steps：
According to start position, destination locations, charge point can be used, and the start position, destination locations, charge point can be used
Between equivalent distances build an initial digraph；
According to the side that continuation of the journey condition is unsatisfactory in the electric motor car course continuation mileage deletion initial digraph, form effectively oriented
Figure；
The preferred travel route from the start position to destination locations is calculated according to effective digraph.
Preferably, it is described according to start position, destination locations, can use charge point, and the start position, purpose position
It is further comprising the steps of after putting, an initial digraph being built with the equivalent distances between charge point：
Calculating in the preferred travel route can mend electricity with the necessary of charge point.
Preferably, it is described according to start position, destination locations, can use charge point, and the start position, purpose position
It is further comprising the steps of before putting, an initial digraph being built with the equivalent distances between charge point：
According to start position and destination locations planning purpose travel route；
Search can use charge point in charge point hunting zone, and the charge point hunting zone travels road according to the purpose
Line is formulated.
Preferably, the search in charge point hunting zone can use charge point, specifically include following steps：
Searching request to charge point administrative center is sent, the searching request includes charge point hunting zone；
Being obtained from the charge point administrative center can use charge point information.
Preferably, the start position, destination locations, the equivalent distances between charge point can be used, specially：It is described equivalent
Distance according to the start position, destination locations, can be obtained with the path length between charge point, congestion level.
A kind of electric motor car route planning device, including：
Statistical module, for according to the start position, destination locations, charge point, and the start position, mesh can be used
Position, an initial digraph can be built with the equivalent distances between charge point；
Judge module, for being unsatisfactory for continuation of the journey condition according in the electric motor car course continuation mileage deletion initial digraph
Side, forms effective digraph；
Preferred module, for calculating the preferred traveling from the start position to destination locations according to effective digraph
Route.
Preferably, the electric motor car route planning device also includes：
Computing module, electricity can be mended for calculating in the preferred travel route with the necessary of charge point.
Preferably, the electric motor car route planning device also includes：
Planning module, for according to start position and destination locations planning purpose travel route；
Search module, in charge point hunting zone search can use charge point, the charge point hunting zone according to
The purpose travel route is formulated.
Preferably, the statistical module includes：
Range cell, for according to the start position, destination locations, path length, the congestion between charge point can be used
Degree obtains the start position, destination locations, can use the equivalent distances between charge point.
A kind of electric motor car route planning device, including：
Processor and the memory for storing the executable instruction of processor；
The processor is configured as：
According to the start position, destination locations, charge point can be used, and the start position, destination locations, available filled
Equivalent distances between electricity point build an initial digraph；
According to the side that continuation of the journey condition is unsatisfactory in the electric motor car course continuation mileage deletion initial digraph, form effectively oriented
Figure；
The preferred travel route from the start position to destination locations is calculated according to effective digraph.
Compared to existing technology, the beneficial effects of the present invention are：By considering start position, destination locations, can use
The factors such as path length, congestion level, route departure degree between charge point obtain equivalent distances；Then according to continuation of the journey condition
Initial digraph cut and obtains effective digraph；Calculated on the basis of effective digraph from the start position to
The preferred travel route of destination locations.The science and validity of electric motor car route planning are improve, can be more fully sharp
With the electricity of electric motor car, beneficial to energy-saving and emission-reduction.
Brief description of the drawings
Fig. 1 is the schematic flow sheet of the electric motor car route planning method that the embodiment of the present invention one is provided.
Fig. 2 is the schematic flow sheet of the electric motor car route planning method that the embodiment of the present invention two is provided.
Fig. 3 is the schematic diagram of a scenario of the electric motor car route planning method shown in Fig. 2.
Fig. 4 is the structural representation of the electric motor car route planning device that the embodiment of the present invention three is provided.
Fig. 5 is the structural representation of the electric motor car route planning device that the embodiment of the present invention four is provided.
Specific embodiment
Described above is only the general introduction of technical solution of the present invention, in order to better understand technological means of the invention,
And can be practiced according to the content of specification, and in order to allow the above and other objects, features and advantages of the invention can
Become apparent, below especially exemplified by preferred embodiment, and coordinate accompanying drawing, describe in detail as follows.
Embodiment one：
Electric motor car route planning method as shown in Figure 1, comprises the following steps：
S130, according to the start position, destination locations, can use charge point, and the start position, destination locations,
An initial digraph can be built with the equivalent distances between charge point；Specifically, with the start position, destination locations, can use
Charge point is node, with the start position, destination locations, value of the equivalent distances between charge point as side can be used to build at the beginning of one
Beginning digraph.
With reference to Fig. 3, initial digraph includes start position S, destination locations T, can use ten nodes of charge point a-h, node
Between have side.Under actual conditions, arbitrary node A to B may be different with the route of B to A distance, for ease of description, it is assumed that section
The route distance of point A to B and B to A is all identical.The direction of A to B with from start position S to the direction of destination locations T differ compared with
Greatly, part side is not shown in unlikely selecting the route, therefore Fig. 3.Ten nodes and some sides constitute digraph, oriented
Side in figure has certain value, and the value is the equivalent distances between node.
The start position, destination locations, the equivalent distances between charge point can be used, specially：The equivalent distances root
According to the start position, destination locations, can be obtained with the path length between charge point, congestion level, route departure degree etc..
Specifically, the equivalent distances can by the start position, destination locations, path length, the congestion between charge point can be used
The weighting such as degree, route departure degree is obtained, and path length, congestion level, the weight coefficient of route departure degree are positive number or 0.
Path length is more long, and the equivalent distances are bigger；Route gets over congestion, and the equivalent distances are bigger；Route departure degree is got over
Greatly, the equivalent distances are also bigger.
Congestion level can be obtained by the data of Baidu map, moral map high etc.；Route departure degree refer to the side with
The distance and angle of purpose travel route ST are very big if side d-h, the h-g in Fig. 3 comparatively equivalent distances.
Certain equivalent distances can also be only between finger joint point path length, simply comprehensive congestion level, route deviate journey
After the various factors such as degree, can cause that route planning is more scientific, user can faster reach destination locations.
S140, according to the side that continuation of the journey condition is unsatisfactory in the electric motor car course continuation mileage deletion initial digraph, is formed with
Effect digraph.
Preferably, continuation of the journey condition can be：The equivalent distances corresponding to side in the initial digraph are less than electronic
Car course continuation mileage.When the route between equivalent distances finger joint point apart from when, continuation of the journey condition is：Side institute in the initial digraph
Corresponding route distance is less than electric motor car course continuation mileage.
Equivalent distances in initial digraph in Fig. 3 corresponding to side S-t, c-g are all higher than the course continuation mileage of electric motor car.Such as
Fruit electric motor car is travelled on the route represented by such side, and midway is not charged and do not arrive next charge point constantly, can be in
Way short of electricity.
The route departure degree of route represented by side d-h, h-g is higher in initial digraph, if electric motor car is on such side
Travelled on represented route, more time energy and electric power can be wasted.
Therefore side S-t, c-g, d-h, h-g are unsatisfactory for continuation of the journey condition, and continuation of the journey condition is unsatisfactory in the initial digraph of deletion
Side, forms effective digraph.Further can be according to effective planning digraph travel route.
In another embodiment, each charge point node also has weights in digraph.The weights of charge point node can be with root
Calculated according to charge point number of devices, charging expense, charge point operation attribute, charge point scoring etc., so that further optimization traveling
Route.
S150, the preferred travel route from the start position to destination locations is calculated according to effective digraph.
Preferably, optimal route of the footpath algorithm acquisition from start position to destination locations is sought using figure.Specifically, figure seeks footpath
Algorithm can be dijkstra's algorithm or A* algorithms.The figures such as dijkstra's algorithm, A* algorithms seek footpath algorithm prior art more
Using will not be described here.
It is having comprising one or more available charge points according to the preferred travel route that effective digraph is calculated
To the paths in figure, the S-a-d-f-g-T in such as Fig. 3.It is preferred that driving path also need to be designed according to road conditions it is excellent
The actual travel route of choosing.Specifically can be with charge point a, d, f, g as by way of position, using navigation equipment or Baidu ground
Figure, moral map high etc. design the actual travel route from S to T.
Electric motor car route planning method described in the present embodiment, by considering start position, destination locations, can use and fill
The factors such as path length, congestion level, route departure degree between electricity point obtain equivalent distances；Then according to continuation of the journey condition pair
Initial digraph cut and obtains effective digraph；Calculated on the basis of effective digraph from the start position to mesh
Position preferred travel route.The science and validity of electric motor car route planning are improve, can more fully be utilized
The electricity of electric motor car, beneficial to energy-saving and emission-reduction.
Embodiment two：
Electric motor car route planning method as shown in Figure 2, including step S210-S250, wherein S230-S250 and embodiment
S130-S150 in one is identical, repeats no more.S210-S220 is as follows：
S210, according to start position and destination locations planning purpose travel route.
The schematic diagram of a scenario of the electric motor car route planning method with reference to shown in Fig. 3, start position is S, and destination locations are T,
It is the straight line (dotted line) of S to T in Fig. 3, in another embodiment according to start position S and destination locations T planning purpose travel routes
In, also including centre position, travel route is the broken line or curve for including start position S, centre position and destination locations T.
S220, search can use charge point in charge point hunting zone, and the charge point hunting zone is according to the purpose
Travel route is formulated.
Preferably, charge point hunting zone is the region in the purpose travel route both sides predetermined width, in such as Fig. 3,
Region representation hunting zone between two dotted lines of purpose travel route ST both sides, predetermined width is W.Predetermined width W can be with
It is that major trunk roads or path, user arrive at the feelings such as the urgency level of position according to electric motor car course continuation mileage, travel route
Condition is chosen.
The search in charge point hunting zone can use charge point, specifically include following steps：
S221, sends searching request to charge point administrative center, and the searching request includes charge point hunting zone.Charge
Point administrative center is provided with the database of electric vehicle charging device, and electric motor car can be to the related letter of charge point administrative center acquisition request
Breath.
S222, being obtained from the charge point administrative center can use charge point information.Electric motor car gets the correlation of charge point
After information, according to charging inlet type, charge point, whether the free time can preengage etc. judges whether the charge point can use.As in Fig. 3 institutes
Available charge point a-h is searched in the region of search for showing.
Electric motor car route planning method described in the present embodiment, available filling is searched for by Rational choice charge point hunting zone
Electric point；Consider start position, destination locations, path length, congestion level, the route departure degree between charge point can be used
Equivalent distances are obtained etc. factor；Then initial digraph cut according to continuation of the journey condition and obtain effective digraph；Effective
The preferred travel route from the start position to destination locations is calculated on the basis of digraph.Improve electric bicycle road line gauge
The science and validity drawn, can more fully using the electricity of electric motor car, beneficial to energy-saving and emission-reduction.
In another embodiment, it is described according to start position, destination locations, can use charge point, and the start position,
Destination locations, an initial digraph can be built with the equivalent distances between charge point after, it is further comprising the steps of：
S260, electricity can be mended in the calculating preferred travel route with the necessary of charge point.
Specifically, to that can use charge point in the preferred travel route, i.e., it is optimal mend in electric charging point sequence all fill
It is electric, according to its charge rate and expense, calculate and mend electric priority, to charge point in sequence, its necessity is calculated successively and is mended in electricity
Journey.
Necessity mends electricity mileage=Min (D+K, V).
Wherein, D is represented and is arrived at next route distance for mending electric priority ratio oneself charge point high；
K represents safe distance, i.e., arrive at next electricity of mending in theory and put remaining course continuation mileage；
V represents the maximum course continuation mileage of vehicle.
So just obtain needing to mend the mileage number of electricity in each charge point.The time in charge point can be planned, more just
Just user, improves efficiency, saves expense.
Embodiment three：
Electric motor car route planning device as shown in Figure 4, including：
Planning module 110, for according to start position and destination locations planning purpose travel route；
Search module 120, charge point, charge point hunting zone root can be used for the search in charge point hunting zone
Formulated according to the purpose travel route；
Statistical module 130, for according to the start position, destination locations, can use charge point, and the starting point position
Put, destination locations, an initial digraph can be built with the equivalent distances between charge point；
Judge module 140, for being unsatisfactory for continuation of the journey condition according in the electric motor car course continuation mileage deletion initial digraph
Side, form effective digraph；
Preferred module 150, for being calculated from the start position to the preferred of destination locations according to effective digraph
Travel route.
Further, search module 120 includes：
Transmitting element 121, for sending searching request to charge point administrative center, the searching request is searched including charge point
Rope scope；
Acquiring unit 122, charge point information can be used for being obtained from the charge point administrative center.
In another embodiment, search module 130 also includes：
Range cells 123, for formulating charge point hunting zone according to the purpose travel route, specifically, described fill
Electric point search scope is the region in the purpose travel route both sides predetermined width.
Further, statistical module 130 includes：
Range cell 131, for according to the start position, destination locations, can with the path length between charge point, gather around
Stifled degree obtains the start position, destination locations, can use the equivalent distances between charge point.
In another embodiment, electric motor car route planning device also includes：
Computing module (not shown), electricity can be mended for calculating in the preferred travel route with the necessary of charge point.
Specifically, to the optimal all charge points mended in electric charging point sequence, according to its charge rate and expense, calculating and mending
Electric priority, to charge point in sequence, calculates its necessity and mends electric mileage successively.
Necessity mends electricity mileage=Min (D+K, V).
Wherein, D is represented and is arrived at next route distance for mending electric priority ratio oneself charge point high；
K represents safe distance, i.e., arrive at next electricity of mending in theory and put remaining course continuation mileage；
V represents the maximum course continuation mileage of vehicle.
So just obtain needing to mend the mileage number of electricity in each charge point.The time in charge point can be planned, more just
Just user, improves efficiency, saves expense.
The method in device and previous embodiment in the present embodiment is two aspects being based under same inventive concept,
Above method implementation process is described in detail, thus those skilled in the art can according to it is described above clearly
The structure and implementation process of the system in this implementation are solved, it is succinct for specification, just repeat no more herein.
For convenience of description, it is divided into various modules with function during description apparatus above to describe respectively.Certainly, this is being implemented
The function of each module can be realized in same or multiple softwares and/or hardware during invention.
As seen through the above description of the embodiments, those skilled in the art can be understood that the present invention can
Realized by the mode of software plus required general hardware platform.Based on such understanding, technical scheme essence
On the part that is contributed to prior art in other words can be embodied in the form of software product, the computer software product
Can store in storage medium, such as ROM/RAM, magnetic disc, CD, including some instructions are used to so that a computer equipment
(can be personal computer, server, or network equipment etc.) performs some of each embodiment of the invention or embodiment
Method described in part.
The device embodiment of description is only schematical, wherein the module illustrated as separating component or unit can
To be or may not be physically separate, the part illustrated as module or unit can be or may not be thing
Reason module, both may be located at a place, or can also be distributed on multiple mixed-media network modules mixed-medias.Can select according to the actual needs
Some or all of unit therein is selected to realize the purpose of this embodiment scheme.Those of ordinary skill in the art are not paying wound
In the case that the property made is worked, you can to understand and implement.
The present invention can be used in numerous general or special purpose computing system environments or configuration.For example：Personal computer, service
Device computer, handheld device or portable set, laptop device, multicomputer system, the system based on microprocessor, machine top
Box, programmable consumer-elcetronics devices, network PC, minicom, mainframe computer, including any of the above system or equipment
DCE etc., such as embodiment three.
Embodiment three：
Device as shown in Figure 5, including：Processor 200 and the storage for storing the executable instruction of processor 200
Device 300；
The processor 200 is configured as：
According to the start position, destination locations, charge point can be used, and the start position, destination locations, available filled
Equivalent distances between electricity point build an initial digraph；
According to the side that continuation of the journey condition is unsatisfactory in the electric motor car course continuation mileage deletion initial digraph, form effectively oriented
Figure；
The preferred travel route from the start position to destination locations is calculated according to effective digraph.
The method in device and previous embodiment in the present embodiment is two aspects being based under same inventive concept,
Above method implementation process is described in detail, thus those skilled in the art can according to it is described above clearly
The structure and implementation process of the system in this implementation are solved, it is succinct for specification, just repeat no more herein.
Device provided in an embodiment of the present invention, by consider start position, destination locations, can be between charge point
The factors such as path length, congestion level, route departure degree obtain equivalent distances；Then according to continuation of the journey condition to initial digraph
Cut and obtain effective digraph；Calculated on the basis of effective digraph from the start position to the excellent of destination locations
Select travel route.The science and validity of electric motor car route planning are improve, can more fully using the electricity of electric motor car
Amount, beneficial to energy-saving and emission-reduction.
For a person skilled in the art, technical scheme that can be as described above and design, make other each
Plant corresponding change and deform, and all these changes and deforms the protection model that should all belong to the claims in the present invention
Within enclosing.
Claims (10)
1. a kind of electric motor car route planning method, it is characterised in that comprise the following steps：
According to start position, destination locations, charge point can be used, and the start position, destination locations, can be between charge point
Equivalent distances build an initial digraph；
According to the side that continuation of the journey condition is unsatisfactory in the electric motor car course continuation mileage deletion initial digraph, effective digraph is formed；
The preferred travel route from the start position to destination locations is calculated according to effective digraph.
2. electric motor car route planning method as claimed in claim 1, it is characterised in that described according to start position, purpose position
Put, with charge point, and the start position, destination locations, can build one with the equivalent distances between charge point and initially have
It is further comprising the steps of after to figure：
Calculating in the preferred travel route can mend electricity with the necessary of charge point.
3. electric motor car route planning method as claimed in claim 1, it is characterised in that described according to start position, purpose position
Put, with charge point, and the start position, destination locations, can build one with the equivalent distances between charge point and initially have
It is further comprising the steps of before to figure：
According to start position and destination locations planning purpose travel route；
Search can use charge point in charge point hunting zone, and the charge point hunting zone is according to the purpose travel route system
It is fixed.
4. electric motor car route planning method as claimed in claim 3, it is characterised in that described to be searched in charge point hunting zone
Rope can use charge point, specifically include following steps：
Searching request to charge point administrative center is sent, the searching request includes charge point hunting zone；
Being obtained from the charge point administrative center can use charge point information.
5. electric motor car route planning method as claimed in claim 1, it is characterised in that the start position, destination locations, can
With the equivalent distances between charge point, specially：The equivalent distances according to the start position, destination locations, can with charge
Path length, congestion level between point are obtained.
6. a kind of electric motor car route planning device, it is characterised in that including：
Statistical module, for according to the start position, destination locations, can use charge point, and the start position, purpose position
Put, an initial digraph can be built with the equivalent distances between charge point；
Judge module, for according to the side that continuation of the journey condition is unsatisfactory in the electric motor car course continuation mileage deletion initial digraph, shape
Into effective digraph；
Preferred module, for calculating the preferred traveling road from the start position to destination locations according to effective digraph
Line.
7. electric motor car route planning device as claimed in claim 6, it is characterised in that also include：
Computing module, electricity can be mended for calculating in the preferred travel route with the necessary of charge point.
8. electric motor car route planning device as claimed in claim 6, it is characterised in that also include：
Planning module, for according to start position and destination locations planning purpose travel route；
Search module, charge point can be used for the search in charge point hunting zone, and the charge point hunting zone is according to
Purpose travel route is formulated.
9. electric motor car route planning device as claimed in claim 6, it is characterised in that the statistical module includes：
Range cell, for according to the start position, destination locations, path length, the congestion level between charge point can be used
Obtain the start position, destination locations, the equivalent distances between charge point can be used.
10. a kind of electric motor car route planning device, it is characterised in that including：
Processor and the memory for storing the executable instruction of processor；
The processor is configured as：
According to the start position, destination locations, charge point can be used, and the start position, destination locations, charge point can be used
Between equivalent distances build an initial digraph；
According to the side that continuation of the journey condition is unsatisfactory in the electric motor car course continuation mileage deletion initial digraph, effective digraph is formed；
The preferred travel route from the start position to destination locations is calculated according to effective digraph.
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Cited By (6)
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| CN107323300A (en) * | 2017-07-26 | 2017-11-07 | 河海大学 | A kind of electric automobile reservation charging method based on way station car conjunctive model |
| CN107525515A (en) * | 2017-09-15 | 2017-12-29 | 江西爱驰亿维实业有限公司 | Charging equipment searching method, system and electronic equipment applied to new-energy automobile |
| CN109269519A (en) * | 2018-09-10 | 2019-01-25 | 威马智慧出行科技（上海）有限公司 | A kind of navigation route planning system and method |
| CN109767613A (en) * | 2019-01-23 | 2019-05-17 | 浙江数链科技有限公司 | Method for early warning, device, equipment and the storage medium of vehicle deviation scheduled circuit |
| CN110329266A (en) * | 2019-07-15 | 2019-10-15 | 腾讯科技（深圳）有限公司 | Can course continuation mileage determine method, apparatus, terminal and storage medium |
| CN111947676A (en) * | 2020-08-11 | 2020-11-17 | 上海寻梦信息技术有限公司 | Express delivery path planning method and device, electronic equipment and storage medium |
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| CN111947676A (en) * | 2020-08-11 | 2020-11-17 | 上海寻梦信息技术有限公司 | Express delivery path planning method and device, electronic equipment and storage medium |
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