WO2022022514A1 - 一种路径确定方法、装置、设备及介质 - Google Patents

一种路径确定方法、装置、设备及介质 Download PDF

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Publication number
WO2022022514A1
WO2022022514A1 PCT/CN2021/108689 CN2021108689W WO2022022514A1 WO 2022022514 A1 WO2022022514 A1 WO 2022022514A1 CN 2021108689 W CN2021108689 W CN 2021108689W WO 2022022514 A1 WO2022022514 A1 WO 2022022514A1
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WIPO (PCT)
Prior art keywords
energy consumption
information
target vehicle
vehicle
value
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PCT/CN2021/108689
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English (en)
French (fr)
Inventor
邓林旺
杜冠浩
冯天宇
刘思佳
Original Assignee
比亚迪股份有限公司
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Publication date
Application filed by 比亚迪股份有限公司 filed Critical 比亚迪股份有限公司
Priority to JP2023506284A priority Critical patent/JP2023535828A/ja
Priority to KR1020237003965A priority patent/KR20230029993A/ko
Priority to EP21851090.7A priority patent/EP4184120A4/en
Publication of WO2022022514A1 publication Critical patent/WO2022022514A1/zh
Priority to US18/154,564 priority patent/US20230168097A1/en

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    • G08G1/096833—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route
    • G—PHYSICS
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    • 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
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    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/40—Business processes related to the transportation industry
    • G—PHYSICS
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    • G06Q10/00—Administration; Management
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    • G08G1/096816—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route where the route is computed offboard where the complete route is transmitted to the vehicle at once
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    • G—PHYSICS
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    • G08G1/096838—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route where the user preferences are taken into account or the user selects one route out of a plurality
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    • G08G1/096844—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route where the complete route is dynamically recomputed based on new data

Definitions

  • the present application relates to the field of automobiles, and in particular, to a route determination method, apparatus, device and medium.
  • the route is planned for the vehicle based on information such as the route length, the route congestion rate or the road condition.
  • the congested route can be avoided during the driving process, the vehicle is prone to the problem of insufficient energy consumption and thus unable to travel to the destination. Reduce vehicle driving efficiency.
  • Embodiments of the present application provide a path determination method, device, device, and medium, which can avoid the problem of insufficient energy consumption of a vehicle during driving, thereby improving the driving efficiency of the vehicle.
  • an embodiment of the present application provides a method for determining a path, including:
  • the candidate route is recommended to the target vehicle according to the first energy consumption information.
  • the candidate path includes at least one road segment
  • the road condition information of the road segment includes at least one of the segment type of the road segment, the congestion rate of the road segment, the length of the road segment, and the number of traffic indicating devices in the road segment
  • the reference vehicle information includes: The second energy consumption information of the reference vehicle traveling in each road section and the type of the reference vehicle, the first energy consumption information includes the first energy consumption required by the target vehicle to travel within a unit distance on each road section energy consumption value.
  • the determining, according to the road condition information and the reference vehicle information, the first energy consumption information that the target vehicle needs to consume when traveling within a unit distance on the candidate path includes: according to the road condition information of the road section and the The second energy consumption information of the driving reference vehicle is determined, and the second energy consumption value of the reference vehicle within the unit distance on the road section is determined; the energy consumption weight of the reference vehicle is determined according to the type of the reference vehicle; The second energy consumption value is normalized by the consumption weight value to obtain the third energy consumption value of the reference vehicle within the unit distance on each road section; according to the third energy consumption value corresponding to each road section, The first energy consumption value is determined.
  • determining the second energy consumption value of the reference vehicle within a unit distance on the road section according to the road condition information of the road section and the second energy consumption information including: according to the road condition information of the road section and the second energy consumption value energy consumption information, determine the total energy consumption value of the reference vehicle on this road section; according to the ratio between the total energy consumption value and the length of each road section, obtain the first reference vehicle within the unit distance on the road section. Two energy consumption values.
  • the number of the reference vehicles included in the road section is multiple, and one of the reference vehicles corresponds to one of the second energy consumption values; the first energy consumption is determined according to the third energy consumption value corresponding to each road section
  • the value includes: calculating the average value of the third energy consumption value corresponding to a plurality of reference vehicles on the road section respectively; and determining the average value as the first energy consumption value.
  • recommending the candidate path to the target vehicle according to the first energy consumption information includes: acquiring a driving map corresponding to the target vehicle; marking the candidate path and the first energy consumption information on the driving map, Obtain the energy consumption map; recommend the candidate route to the target vehicle according to the energy consumption map.
  • recommending the candidate road segment to the target vehicle according to the first energy consumption information includes: acquiring the remaining energy value of the target vehicle; determining, according to the first energy consumption information, where the target vehicle travels on the candidate path. The first total energy consumption to be consumed; compare the first total energy consumption with the remaining energy value of the target vehicle; if the first total energy consumption is less than the remaining energy value of the target vehicle, send the The target vehicle recommends this candidate path.
  • the method further includes: if the first total energy consumption is greater than or equal to the remaining energy value of the target vehicle, detecting whether the candidate path includes an energy supply station for replenishing energy for the target vehicle; if It is detected that the candidate route includes an energy supply station, and the fourth energy consumption value required by the target vehicle to reach the energy supply station is determined according to the first energy consumption information; if the fourth energy consumption value is less than the remaining energy consumption of the target vehicle energy value, the candidate path is recommended to the target vehicle.
  • the number of the candidate paths is multiple; recommending the candidate path to the target vehicle according to the first energy consumption information includes: determining, according to the first energy consumption information, the target vehicle in the multiple candidate paths. The total first energy consumption required to travel on each candidate path is obtained, and a plurality of first total energy consumptions are obtained, and one candidate path corresponds to one first total energy consumption; among the multiple first total energy consumptions The candidate path corresponding to the minimum value of is determined as the target candidate path, and the target candidate path is recommended to the target vehicle.
  • One aspect of the present application provides a computer device, including: a processor, a memory, and a network interface;
  • the above-mentioned processor is connected to a memory and a network interface, wherein the network interface is used to provide a data communication function, and the above-mentioned memory is used to store a computer program, and the above-mentioned computer program is suitable for being called by the processor to execute the above-mentioned aspects in the embodiments of the present application. method.
  • An aspect of an embodiment of the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, the computer program includes program instructions, and the program instructions are suitable for being invoked by a processor to execute the above-mentioned first aspect.
  • a path determination method is provided.
  • the current position information and end position information of the target vehicle are obtained; the candidate path of the target vehicle is determined according to the current position information and the end position information; the road condition information and reference vehicle information of the candidate path are obtained; according to the road condition information and the reference vehicle The information determines the first energy consumption information that the target vehicle needs to consume when traveling within a unit distance on the candidate path; the candidate path is recommended to the target vehicle according to the first energy consumption information.
  • the reference vehicle information is determined according to the energy consumption information required for at least one reference vehicle to travel within a unit distance on the candidate path within a historical time period (that is, within the time period before the candidate path is recommended for the target vehicle), Since the energy consumption information is obtained according to the actual driving of the reference vehicle, the energy consumption information can accurately reflect the energy consumption value required for the vehicle to travel on the candidate route.
  • the energy consumption value corresponding to each candidate path it is convenient for the user to make a reasonable choice, which can avoid the problem of insufficient energy consumption of the vehicle during the driving process, thereby realizing the optimization of the recommended driving path for the vehicle, thereby improving the driving efficiency of the vehicle.
  • FIG. 1 is a schematic diagram of the architecture of a path determination system provided by an embodiment of the present application.
  • FIG. 2 is a schematic flowchart of a path determination method provided by an embodiment of the present application.
  • FIG. 3 is a schematic diagram of a candidate path provided by an embodiment of the present application.
  • FIG. 4 is a schematic diagram of an energy consumption map provided by an embodiment of the present application.
  • FIG. 5 is a schematic diagram of a candidate path provided by an embodiment of the present application.
  • FIG. 6 is a schematic flowchart of a path determination method provided by an embodiment of the present application.
  • FIG. 7 is a schematic diagram of a candidate path provided by an embodiment of the present application.
  • FIG. 8 is a schematic structural diagram of a path determination device provided by an embodiment of the present application.
  • FIG. 9 is a schematic structural diagram of a computer device provided by an embodiment of the present application.
  • FIG. 1 is a schematic structural diagram of a path determination system provided by an embodiment of the present application.
  • the schematic diagram of the system architecture includes a target vehicle 101, an on-board server 102 and a reference vehicle 103, wherein the target vehicle 101 can be a vehicle that needs to be routed, the on-board server 102 can be a background server of a vehicle control center, and the reference vehicle 103 can be a vehicle that has driven
  • the target vehicle 101 may include a vehicle on a planned path, for example, a vehicle that travels through one or more road segments on the planned path.
  • the target vehicle 101 can be used to send the vehicle information of the target vehicle 101 to the in-vehicle server 102 , for example, the vehicle information can include the current position information of the vehicle, the destination position information, the current remaining energy value of the vehicle, and so on.
  • the in-vehicle server 102 can be used to receive the vehicle information sent by the target vehicle 101 and the reference vehicle information sent by the reference vehicle 103, and process the vehicle information sent by the target vehicle 101 and the reference vehicle information sent by the reference vehicle 103 to obtain the target vehicle on the candidate path.
  • the first energy consumption information that needs to be consumed for driving within a unit distance on the above, and a candidate route is recommended to the target vehicle 101 .
  • the reference vehicle 103 may be used to send reference vehicle information to the onboard server 102 .
  • the number of target vehicles 101 may be one or more, and the embodiment of the present application is described by taking the number of target vehicles 101 as one as an example.
  • the target vehicle 101 and the reference vehicle 103 can be, for example, large trucks, small cars, and other vehicles equipped with on-board terminals, and the on-board terminals can include, for example, mobile phones, tablet computers, notebook computers, PDAs, smart speakers, on-board iPads, mobile Internet A device (MID, mobile internet device), a wearable device (such as a smart watch, a smart bracelet), etc.; the in-vehicle server 102 may refer to an independent server, a server cluster composed of several servers, or a cloud computing center ,etc.
  • the target vehicle 101 sends the current position information and destination position information of the target vehicle 101 to the vehicle server 102 ;
  • the current location information and the destination location information determine the candidate path of the target vehicle 101;
  • the reference vehicle 103 sends the reference vehicle information corresponding to the reference vehicle 103 traveling on the candidate path to the vehicle server 102;
  • the vehicle server 102 obtains the road condition information of the candidate path and the candidate path
  • the on-board server 102 determines the first energy consumption information that the target vehicle needs to consume within a unit distance on the candidate route according to the road condition information and the reference vehicle information;
  • the on-board server 102 A piece of energy consumption information recommends candidate routes to the target vehicle 101 .
  • the first energy consumption information that the target vehicle needs to consume when traveling within a unit distance on the candidate path is determined according to the reference vehicle information corresponding to the reference vehicle traveling on the candidate path, that is, the first energy consumption information is determined according to the reference vehicle information corresponding to the reference vehicle traveling on the candidate path.
  • the actual driving situation of the vehicle is determined, so the first energy consumption information is more accurate, so that the candidate route recommended to the target vehicle according to the first energy consumption information is more accurate, which is convenient for the user to make a reasonable selection, and avoids the problem of insufficient energy consumption of the vehicle during the driving process. problem, and then improve the driving efficiency of the target vehicle.
  • FIG. 2 is a schematic flowchart of a path determination method provided by an embodiment of the present application. As shown in FIG. 2, the method includes:
  • the target vehicle is a vehicle for which route planning needs to be performed
  • the current location information and end location information of the target vehicle may be, for example, a specific place name.
  • the target vehicle can upload the current location information and destination location information of the target vehicle to the vehicle server in real time, so that the vehicle server can adjust the candidate route according to the current location information and destination location information of the target vehicle, thereby improving the accuracy of route determination.
  • a candidate path including multiple end position information may be planned for the target vehicle.
  • current time information may also be acquired.
  • S102 Determine a candidate path of the target vehicle according to the current position information and the end position information.
  • multiple candidate paths may be included between the current location information and the destination location information, as shown in FIG. 3 , which is a schematic diagram of a candidate path provided by an embodiment of the present application.
  • the current position A and the end position C can be divided into 3 candidate paths according to factors such as road conditions or path length.
  • the first candidate path can be ABDC
  • the second The candidate path can be ABC
  • the third candidate path can be ABEC.
  • the reference vehicle information is the information corresponding to the reference vehicle driving on the candidate route
  • the candidate route includes at least one road segment, as shown in FIG. 3 , for example, for the candidate route ABDC, it can include 3 road segments, namely AB, BD, DC
  • the road condition information of the candidate path includes the road condition information of each road segment in at least one road segment
  • the road condition information of each road segment includes the road segment type of each road segment, the congestion rate of each road segment, the length of each road segment, the at least one of the number of traffic indicating devices.
  • the type of road segment can be divided according to the speed of vehicles defined on the road segment, such as highways, expressways, ordinary roads, rural roads, etc.; Cement roads, dirt roads, etc.; the types of road sections can also be divided according to the gentleness of the road sections, for example, divided into gentle road sections, steep slope sections, curved road sections, and so on.
  • the congestion rate of the road segment is used to indicate the degree of congestion of the road segment, that is, the higher the congestion rate, the more congested the traffic on the road segment, and the smaller the congestion rate, the less congested the traffic on the road segment.
  • Traffic indicating devices may include, for example, traffic lights, electronic cameras, and the like.
  • the reference vehicle is a vehicle that has completed driving on the candidate road segment before the target vehicle travels on the candidate road segment, and has uploaded its own reference vehicle information to the vehicle-mounted server.
  • the reference vehicle information includes the power consumption parameter information of the reference vehicle driving in each road section and the type of the reference vehicle.
  • the second energy consumption information of the reference vehicle refers to the energy consumption index of the reference vehicle, for example, it can be the reference vehicle when it leaves the factory.
  • the configured power consumption index such as 150 watt-hours per kilometer (energy unit, wh/km), means that the power consumption per kilometer is 150wh. Alternatively, it can also be the fuel consumption index configured at the factory for the reference vehicle, and so on.
  • the type of reference vehicle may include the type of vehicle, eg, van, car, trailer, or the seating type of the vehicle, eg, large 2-seat van, small 2-seat van, 5-seat car, 2-seat car, and so on.
  • the reference vehicle information may further include an identifier used to uniquely indicate the vehicle, such as a vehicle license plate number, a factory number of the vehicle, a vehicle number, and the like.
  • the reference vehicle information includes reference time information on which the reference vehicle travels on each section of the candidate route.
  • the reference vehicle may upload the reference vehicle information shown in Table 1 to the vehicle-mounted server.
  • Table 1 Reference Vehicle Information Sheet (Example)
  • S is the unit distance
  • Ts is the starting time when the reference vehicle travels within the unit distance S
  • Te is the end time when the reference vehicle travels within the unit distance S
  • Ec is the reference vehicle’s travel time within the unit distance S.
  • the total energy consumption value Ers is the starting residual energy of the reference vehicle within the unit distance S
  • Ere is the ending residual energy of the reference vehicle within the unit distance S
  • type is the vehicle type of the reference vehicle.
  • the reference vehicle may also upload information such as the current speed of the vehicle.
  • S104 Determine, according to the road condition information and the reference vehicle information, first energy consumption information that the target vehicle needs to consume when traveling within a unit distance on the candidate path.
  • the first energy consumption information that the target vehicle needs to consume when traveling within a unit distance on the candidate path includes the energy consumption value that the target vehicle needs to consume when traveling within a unit distance on the candidate path.
  • the candidate path includes paths within 3 unit distances, that is, the candidate path is 30 meters and the unit distance is 10 meters, then the candidate path includes paths within 3 unit distances, and the first energy consumption information includes the target vehicle driving in 3 The energy consumption value that needs to be consumed per unit distance within a unit distance.
  • the first energy consumption information required by the target vehicle to travel on the candidate route includes the energy consumption value required by the target vehicle to travel within all unit distances on each road segment.
  • the candidate route includes 3 road sections
  • the first energy consumption information includes the energy consumption value that the target vehicle needs to consume within a unit distance of each of the 3 road sections.
  • the energy consumed by the vehicle at each position on the candidate route may be different.
  • the energy used to travel the same distance on a path varies. Therefore, the first energy consumption information that the target vehicle needs to consume when traveling within a unit distance on the candidate path can be determined according to the road condition information and the reference vehicle information.
  • the energy change difference value corresponding to the candidate path of the vehicle such as the difference between Ere and Ers in Table 1, so as to determine the energy consumption required for the target vehicle to travel within a unit distance on the candidate path.
  • First energy consumption information it is also possible to directly obtain the energy change difference value corresponding to the candidate path of the vehicle, such as the difference between Ere and Ers in Table 1, so as to determine the energy consumption required for the target vehicle to travel within a unit distance on the candidate path.
  • each reference time information of the reference vehicle traveling on the road section is obtained.
  • the reference time information that matches the current time information is determined from the multiple pieces of reference time information corresponding to the vehicle. Therefore, according to the energy consumption information consumed by the reference vehicle within the unit distance on the candidate road segment within the reference time information, the first energy consumption information required by the target vehicle to travel within the unit distance on the candidate route is determined.
  • the reference time information that matches the current time information can be, for example, the same time before the current time and within the preset time; or the time when the difference between the current time and the same time in the preset time meets the time threshold, etc. .
  • the reference vehicle is a vehicle that travels on the candidate route within the reference time information that matches the current time information.
  • the current time is 18:00 on June 18, 2020 (Thursday)
  • the reference time information matching the current time information can be, for example, June 17, 2020 Sunday (Wednesday) 18:00 pm, June 17, 2020 (Wednesday) 17:30-18:00 pm
  • the preset time is one week and the time threshold is 30 minutes
  • the reference time information that matches the current time information For example, it can be 18:00 pm on June 15, 2020 (Monday), 18:00 pm on June 16, 2020 (Tuesday), 18:00 pm on June 17, 2020 (Wednesday), June 2020 15th (Monday) 17:30-18:00 pm, June 16, 2020 (Tuesday) 17:30-18:00 pm, June 17, 2020 (Wednesday) 17:30-18:00 pm .
  • the first energy consumption information that the target vehicle needs to consume when traveling within a unit distance on the candidate path can be determined through the following process:
  • a road segment refers to any one of the at least one road segment included in the candidate path, and here is the processing performed for any one road segment.
  • this processing method For other road segments in the at least one road segment included in the candidate path, reference may be made to this processing method. It can be known that, since the second energy consumption value is the energy consumption value of the reference vehicle within the unit distance of each road section during the reference time, if the reference vehicle travels on the same road section in multiple different time periods, the corresponding energy consumption values may vary. Due to different driving times on the road section, the congestion rate of the road section may be different, so that the same vehicle travels on the same road section and consumes different values of the second energy consumption.
  • a reference time matching the current time of the target vehicle is obtained, so as to determine the second energy consumption value of the reference vehicle traveling on the reference time and the road section. It is avoided that the determined first energy consumption information required for the target vehicle to travel within a unit distance on the candidate path is different due to different time periods.
  • the road segment type is a gentle road segment type
  • the second energy consumption value of the reference vehicle within the unit distance of the smooth road segment is smaller than the second energy consumption value of the reference vehicle within the unit distance of the steep road segment, and the reference vehicle is in the
  • the second energy consumption value within the unit distance traveled on the asphalt road is smaller than the second energy consumption value within the unit distance traveled by the reference vehicle on the dirt road, and so on. Therefore, the second energy consumption value of the reference vehicle within a unit distance on each road segment can be determined according to the specific road condition information and the second energy consumption information of the reference vehicle.
  • the total energy consumption value of the reference vehicle on each road segment can be determined according to the road condition information of each road segment and the second energy consumption information of the reference vehicle driving in each road segment; according to the total energy consumption value and the The ratio between the lengths of each road segment obtains the second energy consumption value of the reference vehicle within a unit distance on each road segment.
  • the reference vehicle when the reference vehicle is driving in the road section, the reference vehicle sends the current location information and the remaining energy value to the vehicle server in real time, and the vehicle server sends the current location information and the remaining energy value of the reference vehicle according to the location information of the reference vehicle and the remaining energy value of the reference vehicle.
  • the vehicle server calculates the total energy consumption of the reference vehicle on each road segment.
  • the second energy consumption value of the reference vehicle within the unit distance on each road segment is obtained.
  • formula (1-1) can be used to calculate the second energy consumption value of the reference vehicle within a unit distance on each road segment:
  • P is the second energy consumption value of the reference vehicle within the unit distance on road segment 1
  • S is the length of road segment 1
  • E c is the total energy consumption value of the reference vehicle on road segment 1
  • T The total time spent traveling this segment 1 for the reference vehicle
  • the energy consumption relationship between the reference vehicle and the standard model vehicle may be obtained first, and the energy consumption weight of the reference vehicle may be determined according to the energy consumption relationship.
  • the energy consumption relationship between the standard model vehicle and the reference vehicle a1 is 1:2, 1:3, then the corresponding The energy consumption weights of the reference vehicle can be 1/2 and 1/3 respectively.
  • the second energy consumption value is normalized by using the energy consumption weight value to obtain the third energy consumption value corresponding to the road section.
  • the third energy consumption value corresponding to the road section is the energy consumption value of the reference vehicle within a unit distance on the road section.
  • the third energy consumption value of the reference vehicle within the unit distance of the road section can be calculated by using the formula (1-2):
  • n is the road segment
  • P nominal is the third energy consumption value of the reference vehicle within the unit distance on the road segment n
  • k n is the energy consumption weight of the reference vehicle
  • P n is the reference vehicle within the unit distance on the road segment n. the second energy consumption value.
  • the first energy consumption value refers to the energy consumption value that the target vehicle needs to consume when traveling within a unit distance on the road section.
  • the third energy consumption value corresponding to the reference vehicle is determined as the first energy consumption value.
  • the average value of the third energy consumption values corresponding to the multiple reference vehicles on the road segment is calculated respectively; the average value is determined as the first energy consumption value.
  • consumption value a reference vehicle corresponds to a third energy consumption value.
  • the average value of the third energy consumption value corresponding to multiple reference vehicles on each road segment can be calculated according to formula (1-3):
  • m is the road segment
  • tn is the reference time
  • m is the road segment
  • tn is the reference time
  • m is the road segment
  • tn is the reference time
  • m is the road segment
  • tn is the reference time
  • m is the road segment
  • tn is the reference time
  • a reference time corresponds to the average value of the third energy consumption value of a reference vehicle, that is, a reference time corresponds to a target vehicle on each road segment.
  • the first energy consumption value that needs to be consumed for driving within a unit distance.
  • the third energy consumption values corresponding to the reference vehicle at the three reference times T1-T3 are x1, x2, and x3, respectively, which are different from those of the target vehicle.
  • the reference time of the current time matching is T2
  • the third energy consumption value corresponding to T2 is determined as x2 as the energy consumption value that the target vehicle needs to consume within a unit distance on the road section.
  • the above method can be used to calculate the first energy consumption value that the target vehicle needs to consume within a unit distance of each road segment, so that the corresponding energy consumption value of the candidate path can be calculated.
  • the average energy consumption of each candidate path is obtained from the average value of multiple road sections; or, the sum of the energy consumption values of multiple road sections corresponding to the candidate path is calculated to obtain the total energy consumption of each candidate path.
  • the first energy consumption information refers to the energy consumption information that the target vehicle needs to consume when traveling within a unit distance on the candidate path.
  • the first energy consumption information it can be determined that the target vehicle travels within all unit distances on the candidate path.
  • the total energy consumption value that needs to be consumed, and the candidate route is recommended to the target vehicle according to the total energy consumption value that the target vehicle needs to consume in all unit distances on the candidate route.
  • the average energy consumption value required for the target vehicle to travel within all unit distances on the candidate route may be determined according to the first energy consumption information, and the candidate route may be recommended to the target vehicle according to the average energy consumption value.
  • a candidate route can be recommended to the target vehicle according to the total energy consumption information and road condition information of each candidate route; alternatively, the vehicle can be based on the energy consumption information of each candidate route and the total travel time required for the vehicle to travel on each candidate route , and recommend candidate paths to the target vehicle.
  • the candidate path with the smallest total energy consumption required for the target vehicle to travel on the candidate path can be determined as the target candidate path, and the target candidate path can be recommended to the target vehicle; or, according to the total energy consumption of the vehicle on each candidate path at least one of parameters such as duration, road segment type of each road segment in each candidate route, congestion rate of each candidate route, number of traffic indicating devices in each candidate route, and energy consumption information in combination with the candidate routes, Recommend candidate paths to the target vehicle.
  • a candidate path with the smallest energy consumption value and the shortest total driving time or a candidate path with the smallest energy consumption value and the best road segment type (that is, many smooth road sections, few steep road sections, and less curved road sections, etc.), or energy consumption
  • the energy consumption map at multiple times corresponding to a road segment may be, for example, the following matrix (1-4), where tn is the time, Lm is the road segment, and P(tn, Lm) is the reference vehicle at The third energy consumption value required to travel within a unit distance on the road segment Lm at time tn.
  • the driving map corresponding to the target vehicle can be obtained first; then, the candidate path and the first energy consumption information are marked on the driving map to obtain the energy consumption map; finally, the target vehicle is sent to the target vehicle according to the energy consumption map. Recommend candidate paths.
  • the driving map includes current position information and end position information of the target vehicle, and a plurality of candidate paths.
  • the first energy consumption value corresponding to each road segment in each candidate path can be obtained, and the first energy consumption value of each road segment can be marked on the driving map to obtain the first energy consumption value of each candidate path. information.
  • multiple first energy consumption values may be divided according to the energy consumption value range to obtain multiple energy consumption levels, for example, including extremely high energy consumption A+ (greater than 500wh/km), extremely high energy consumption A (500wh/km- 450wh/km), extremely high energy consumption B (450wh/km-400wh/km), high energy consumption A (400wh/km-350wh/km), high energy consumption B (350wh/km-300wh/km), normal energy consumption (300wh /km-150wh/km), low energy consumption (less than 150wh/km), it can be marked in the driving map with different colors to display the energy consumption level corresponding to each road section in the candidate route.
  • extremely high energy consumption A+ greater than 500wh/km
  • extremely high energy consumption A 500wh/km- 450wh/km
  • extremely high energy consumption B 450wh/km-400wh/km
  • high energy consumption A 400wh/km-350wh/km
  • high energy consumption B 350wh/km-300w
  • the corresponding energy consumption level can be A+; On the road section, the corresponding energy consumption level may be low energy consumption, and so on.
  • the energy consumption map may be shown in FIG. 4 , which is a schematic diagram of an energy consumption map provided by an embodiment of the present application. path, and the energy consumption level corresponding to each road segment in each candidate path.
  • the average energy consumption of each candidate path may also be marked on the driving map; or, the total energy consumption of each candidate path may be marked on the driving map.
  • the target vehicle travels according to the candidate path, and the vehicle information of the target vehicle will be uploaded in real time.
  • the target vehicle can be used as a reference vehicle, and the vehicle information of the target vehicle can be used as a reference.
  • the reference vehicle information of the vehicle is used to update the energy consumption value per unit distance of the road segment according to the aforementioned method, so as to recommend candidate paths for subsequent vehicles.
  • the number of candidate paths is one, it can be determined according to the candidate path and the total energy consumption value that the target vehicle needs to consume when traveling on the candidate path or the first energy consumption that the target vehicle needs to consume when traveling within a unit distance on the candidate path.
  • the average of the energy consumption values recommends candidate paths to the target vehicle.
  • the first total amount of energy consumption required for the target vehicle to travel on each of the multiple candidate paths may be determined according to the first energy consumption information, and a plurality of first energy consumptions may be obtained.
  • the total energy consumption; the candidate path corresponding to the minimum value of the plurality of first total energy consumptions is determined as the target candidate path, and the target candidate path is recommended to the target vehicle.
  • one candidate path corresponds to a first total energy consumption value, and the first total energy consumption value may be the sum of the first energy consumption values consumed by all the unit distances on the candidate path.
  • the first average energy consumption required for the target vehicle to travel on each of the multiple candidate paths may be determined according to the first energy consumption information, and a plurality of first average energy consumption values may be obtained; A candidate path corresponding to the minimum value of the average energy consumption is determined as the target candidate path, and the target candidate path is recommended to the target vehicle.
  • the average value of the first energy consumption value is the average energy consumption per unit kilometer.
  • FIG. 5 is a schematic diagram of a candidate path provided by an embodiment of the present application.
  • FIG. 5 includes the current position information and end point position information of the target vehicle, candidate path 1 and candidate path 2 .
  • the first energy consumption value corresponding to each road segment and may also include the average energy consumption per kilometer corresponding to each candidate path. If the energy consumption per kilometer is 335Wh/km, the candidate path 1 is determined as the target candidate path, and the candidate path 1 is recommended to the target vehicle.
  • the third energy consumption value corresponding to the reference vehicle on the candidate path may be directly obtained, and the target vehicle may be recommended according to the candidate path and the third energy consumption value corresponding to the candidate path. candidate path.
  • the current position information and the end position information of the target vehicle are obtained; the candidate path of the target vehicle is determined according to the current position information and the end position information; the road condition information of the candidate path is obtained with reference to the vehicle information; according to the road condition information and the reference vehicle information Determine the first energy consumption information required by the target vehicle to travel within a unit distance on the candidate path; and recommend the candidate path to the target vehicle according to the first energy consumption information.
  • the reference vehicle information is determined according to the energy consumption information required for at least one reference vehicle to travel within a unit distance on the candidate path within a historical time period (that is, within the time period before the candidate path is recommended for the target vehicle), Since the energy consumption information is obtained according to the actual driving of the reference vehicle, the energy consumption information can accurately reflect the energy consumption value required for the vehicle to travel on the candidate route.
  • the energy consumption value corresponding to each candidate path it is convenient for the user to make a reasonable choice, which can avoid the problem of insufficient energy consumption of the vehicle during the driving process, so as to optimize the recommended driving path for the vehicle, thereby improving the driving efficiency of the vehicle.
  • FIG. 6 is a schematic flowchart of a path determination method provided by an embodiment of the present application. As shown in FIG. 6, the method includes:
  • S201 Acquire current position information and terminal position information of the target vehicle.
  • S202 Determine a candidate path of the target vehicle according to the current position information and the terminal position information.
  • S204 Determine, according to the road condition information and the reference vehicle information, first energy consumption information that the target vehicle needs to consume when traveling within a unit distance on the candidate path.
  • steps S201 to S204 reference may be made to the description of steps S101 to S104 in the embodiment corresponding to FIG. 2 , and details are not repeated here.
  • the target vehicle may send the current time and the remaining energy value corresponding to the current time to the vehicle-mounted server.
  • S206 Determine, according to the first energy consumption information, the first total energy consumption that the target vehicle needs to consume when traveling on the candidate path.
  • the first energy consumption information required for the target vehicle to travel within a unit distance on the candidate path includes the first total energy consumption required for the target vehicle to travel within all unit distances on each road segment in the candidate path, That is, the sum of the first energy consumption values that the target vehicle needs to consume when traveling within all unit distances on each road segment in the candidate path.
  • the candidate path includes two road segments, namely, road segment 1 and road segment 2.
  • the energy consumption within the three unit distances corresponding to road segment 1 is y1, y2, and y3, respectively, and the energy consumption within the two unit distances corresponding to road segment 2 is z1.
  • z2 the total first energy consumption required by the target vehicle to travel on the candidate path can be the sum of the first energy consumption values y1+y2+ y3+z1+z2.
  • S207 Determine whether the first total energy consumption is less than the remaining energy value of the target vehicle.
  • step S208 If yes, go to step S208, if not, go to step S209.
  • the total first energy consumption required for the target vehicle to travel on the candidate path can be compared with the remaining energy value of the target vehicle, so as to determine the first total energy consumption required for the target vehicle to travel on the candidate path. Whether the value is less than the remaining energy value of the target vehicle.
  • the target vehicle can travel from the current position of the target vehicle to the target vehicle based on the current remaining energy value according to the candidate path.
  • the end position that is, the current remaining energy value of the target vehicle is sufficient to drive the target vehicle to the end position. If the first total energy consumption required by the target vehicle to travel on the candidate path is greater than or equal to the remaining energy value of the target vehicle, it means that the target vehicle cannot travel from the current position of the target vehicle to the target vehicle based on the current remaining energy value based on the candidate path.
  • the end position that is, the current remaining energy value of the target vehicle is insufficient to drive the target vehicle to the end position.
  • S209 Detect whether the candidate route includes an energy supply station for supplying energy to the target vehicle.
  • the energy supply station can be, for example, a charging pile, or a charging station, a gas station, a gas station, and the like.
  • the type of energy supply station may be determined according to the type of energy required by the target vehicle. For example, if the target vehicle is an electric vehicle, the energy supply station may be a charging station, a charging pile, or the like. If the current remaining energy value of the target vehicle is not enough to drive the target vehicle to the end position, it means that the target vehicle needs to be supplemented with energy during the travel of the candidate path to achieve the end position.
  • S210 Determine, according to the first energy consumption information, a fourth energy consumption value that the target vehicle needs to consume to reach the energy supply station.
  • the fourth energy consumption value may be compared with the remaining energy value of the target vehicle to determine whether the fourth energy consumption value is smaller than the remaining energy value of the target vehicle.
  • the fourth energy consumption value is the total energy consumption per kilometer required by the target vehicle to travel from the current position to the energy supply station on the candidate route, and the fourth energy consumption value is less than the remaining energy value of the target vehicle, indicating that the target vehicle’s
  • the remaining energy value can make the target vehicle travel to the energy supply station, and when the target vehicle travels to the energy supply station, energy supplementation can be performed, so as to achieve driving to the end position.
  • the fourth energy consumption value is greater than or equal to the remaining energy value of the target vehicle, indicating that the remaining energy value of the target vehicle is insufficient to enable the target vehicle to travel to the energy supply station. Therefore, when the target vehicle travels on the candidate route, the problem of insufficient energy and inability to continue driving is likely to occur, resulting in low vehicle driving efficiency. Therefore, in order to avoid this situation, the target vehicle can be prompted to change the end position information.
  • S212 Acquire the current location information of the target vehicle and the location information of at least one energy supply station between the current location information of the target vehicle and the destination location information, and output prompt information.
  • the prompt information is used to prompt the target vehicle for location information of at least one energy supply station, so that the target vehicle reselects the destination location information according to the location information of the at least one energy supply station. That is, step S201 is executed, according to the current position information of the target vehicle and the re-selected end position information, determine the corresponding candidate path, and determine the energy consumption information that the target vehicle needs to consume within a unit distance on the candidate path, according to the The energy consumption information recommends candidate paths to the target vehicle.
  • the output method of the prompt information can include text output or voice output, and the prompt information can include "Your current remaining energy is not enough to support you to drive to the end position, please change the end position information according to the position of the prompted energy supply station".
  • FIG. 7 is a schematic diagram of a candidate path provided by an embodiment of the present application, and FIG. 7 includes the current position information and end point position information of the target vehicle, multiple candidate paths, and each road segment in each candidate path.
  • the energy consumption value per kilometer, and the location information of the energy supply station, the location of the “optimal charging station” marked in Figure 7 is the location of the energy supply station.
  • the target vehicle recommends the candidate route; if not, check whether there is an energy supply station in the candidate route, if so, determine whether the current residual energy value of the target vehicle can drive to the energy supply station, if so, recommend the candidate to the target vehicle.
  • Path if not, output a prompt message to remind the user to change the end position according to the position information of the energy supply station, so as to avoid the failure to complete the candidate route due to the insufficient remaining energy of the vehicle, or the inability to travel to the energy supply station, thus affecting the driving of the vehicle Efficiency, which can facilitate users to make reasonable choices, so as to optimize the driving path of the vehicle, thereby improving the driving efficiency of the vehicle.
  • FIG. 8 is a schematic diagram of the composition and structure of a path determination apparatus provided by an embodiment of the present application.
  • the above-mentioned path determination apparatus may be a computer program (including program code) running in a computer device, such as this one
  • the path determination device is application software; the device can be used to execute corresponding steps in the methods provided by the embodiments of the present application.
  • the apparatus 80 includes:
  • the vehicle position acquisition module 801 is used to acquire the current position information and end point position information of the target vehicle;
  • a candidate path determination module 802 configured to determine a candidate path of the target vehicle according to the current position information and the end point position information
  • a road condition information acquisition module 803, configured to acquire road condition information and reference vehicle information of the candidate path;
  • a unit energy consumption determination module 804 configured to determine, according to the road condition information and the reference vehicle information, first energy consumption information that the target vehicle needs to consume when traveling within a unit distance on the candidate path;
  • the route recommendation module 805 is configured to recommend the candidate route to the target vehicle according to the first energy consumption information.
  • the candidate path includes at least one road segment
  • the road condition information of the road segment includes at least one of the segment type of the road segment, the congestion rate of the road segment, the length of the road segment, and the number of traffic indicating devices in the road segment
  • the reference vehicle information includes: The second energy consumption information of the reference vehicle traveling in the road section and the type of the reference vehicle, the first energy consumption information includes the first energy consumption that the target vehicle needs to consume when driving within a unit distance on each road section value.
  • the unit energy consumption determination module 804 is specifically used for:
  • the second energy consumption value is normalized by using the energy consumption weight to obtain the third energy consumption value of the reference vehicle within the unit distance on each road section;
  • the first energy consumption value is determined according to the third energy consumption value corresponding to each road section.
  • the unit energy consumption determination module 804 is specifically used for:
  • the second energy consumption value of the reference vehicle within the unit distance on the road section is obtained.
  • the unit energy consumption determination module 804 is specifically used for:
  • the average value is determined as the first energy consumption value.
  • the path recommendation module 805 is specifically used for:
  • the candidate route is recommended to the target vehicle according to the energy consumption map.
  • the path recommendation module 805 is specifically used for:
  • the candidate route is recommended to the target vehicle.
  • the device 80 further includes: an energy supplement module 806 for:
  • the candidate path includes an energy supply station for supplementing energy for the target vehicle
  • the candidate route includes an energy supply station, determining a fourth energy consumption value that the target vehicle needs to consume to reach the energy supply station according to the first energy consumption information;
  • the candidate route is recommended to the target vehicle.
  • the path recommendation module 805 is specifically used for:
  • the first energy consumption information determine the first total energy consumption required for the target vehicle to travel on each of the multiple candidate paths, and obtain multiple first total energy consumptions, one candidate path corresponds to one The first total energy consumption;
  • a candidate path corresponding to the minimum value of the plurality of first energy consumption total values is determined as a target candidate path, and the target candidate path is recommended to the target vehicle.
  • step S101 shown in FIG. 2 may be performed by the vehicle position acquisition module 801 shown in FIG. 8
  • step S102 shown in FIG. 2 may be performed by the candidate path determination module 802 shown in FIG. 8
  • Step S103 can be executed by the road condition information acquisition module 803 in FIG. 8
  • Step S104 shown in FIG. 2 can be executed by the unit energy consumption determination module 804 in FIG. 8
  • the route recommendation module 805 is executed.
  • the above modules are divided based on logical functions.
  • the function of one module may also be implemented by multiple units, or the functions of multiple modules may be implemented by one unit.
  • a path determination apparatus may also include other units.
  • these functions may also be implemented with the assistance of other units, and may be implemented by cooperation of multiple units.
  • a general-purpose computer device such as a computer including processing elements and storage elements such as a central processing unit (CPU), random access storage medium (RAM), read only storage medium (ROM), etc.
  • CPU central processing unit
  • RAM random access storage medium
  • ROM read only storage medium
  • Run a computer program capable of executing the steps involved in the corresponding methods as shown in FIG. 2 and FIG. 6, to construct a path determination device as shown in FIG. 8, and to implement the implementation of the present application
  • An example of a path determination method An example of a path determination method.
  • the above-mentioned computer program can be recorded on, for example, a computer-readable recording medium, loaded in the above-mentioned computing device via the computer-readable recording medium, and executed therein.
  • the current position information and end position information of the target vehicle are obtained; the candidate path of the target vehicle is determined according to the current position information and the end position information; the road condition information and reference vehicle information of the candidate path are obtained; according to the road condition information and the reference vehicle The information determines the first energy consumption information that the target vehicle needs to consume when traveling within a unit distance on the candidate path; the candidate path is recommended to the target vehicle according to the first energy consumption information.
  • the reference vehicle information is determined according to the energy consumption information required for at least one reference vehicle to travel within a unit distance on the candidate path within a historical time period (that is, within the time period before the candidate path is recommended for the target vehicle), Since the energy consumption information is obtained according to the actual driving of the reference vehicle, the energy consumption information can accurately reflect the energy consumption value required for the vehicle to travel on the candidate route.
  • the energy consumption value corresponding to each candidate path it is convenient for the user to make a reasonable choice, which can avoid the problem of insufficient energy consumption of the vehicle during the driving process, thereby realizing the optimization of the recommended driving path for the vehicle, thereby improving the driving efficiency of the vehicle.
  • FIG. 9 is a schematic structural diagram of a computer device provided by an embodiment of the present application.
  • the above-mentioned computer device 90 may include: a processor 901 , a network interface 904 and a memory 905 , in addition, the above-mentioned computer device 90 may further include: a user interface 903 , and at least one communication bus 902 .
  • the communication bus 902 is used to realize the connection and communication between these components.
  • the user interface 903 may include a display screen (Display) and a keyboard (Keyboard), and the optional user interface 903 may also include a standard wired interface and a wireless interface.
  • the network interface 904 may include a standard wired interface and a wireless interface (eg, a WI-FI interface).
  • the memory 905 may be a high-speed RAM memory, or a non-volatile memory, such as at least one disk memory.
  • the memory 905 can optionally also be at least one storage device located away from the aforementioned processor 901 .
  • the memory 905, which is a computer-readable storage medium may include an operating system, a network communication module, a user interface module, and a device control application program.
  • the network interface 904 can provide a network communication function;
  • the user interface 903 is mainly used to provide an input interface for the user; and
  • the processor 901 can be used to call the device control application stored in the memory 905 program to achieve:
  • the candidate route is recommended to the target vehicle according to the first energy consumption information.
  • the computer device 90 described in the embodiment of the present application can execute the description of the above-mentioned one path determination method in the embodiment corresponding to FIG. 2 and FIG. A description of a path determination apparatus is omitted here. In addition, the description of the beneficial effects of using the same method will not be repeated.
  • the current position information and end position information of the target vehicle are obtained; the candidate path of the target vehicle is determined according to the current position information and the end position information; the road condition information and reference vehicle information of the candidate path are obtained; according to the road condition information and the reference vehicle The information determines the first energy consumption information that the target vehicle needs to consume when traveling within a unit distance on the candidate path; the candidate path is recommended to the target vehicle according to the first energy consumption information.
  • the reference vehicle information is determined according to the energy consumption information required for at least one reference vehicle to travel within a unit distance on the candidate path within a historical time period (that is, within the time period before the candidate path is recommended for the target vehicle), Since the energy consumption information is obtained according to the actual driving of the reference vehicle, the energy consumption information can accurately reflect the energy consumption value required for the vehicle to travel on the candidate route.
  • the energy consumption value corresponding to each candidate path it is convenient for the user to make a reasonable choice, which can avoid the problem of insufficient energy consumption of the vehicle during the driving process, thereby realizing the optimization of the recommended driving path for the vehicle, thereby improving the driving efficiency of the vehicle.
  • Embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and the computer program includes program instructions, and when executed by a computer, the program instructions cause the computer to perform the above-mentioned embodiments.
  • the method, the computer may be part of the above mentioned computer equipment.
  • it is the above-mentioned processor 901 .
  • program instructions may be deployed for execution on one computer device, or on multiple computer devices located at one site, or alternatively, distributed across multiple sites and interconnected by a communications network Implemented, multiple computer devices distributed in multiple locations and interconnected by a communication network can form a blockchain network.
  • the storage medium may be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM) or a random access memory (Random Access Memory, RAM) or the like.

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Abstract

一种路径确定方法、装置、设备及介质，其中，方法包括：获取目标车辆的当前位置信息以及终点位置信息（S101）；根据该当前位置信息以及该终点位置信息确定该目标车辆的候选路径（S102）；获取该候选路径的路况信息以及参考车辆信息（S103）；根据该路况信息以及该参考车辆信息确定该目标车辆在该候选路径上的单位距离内行驶所需要消耗的第一能耗信息（S104）；根据该第一能耗信息向该目标车辆推荐该候选路径（S105）。采用本方法，可以提高车辆行驶效率。

Description

一种路径确定方法、装置、设备及介质
相关申请的交叉引用
本申请基于申请号为202010742850.4(申请日为2020-07-28)的中国专利申请提出，并要求上述中国专利申请的优先权，上述中国专利申请的全部内容在此引入本申请作为参考。
技术领域
本申请涉及汽车领域，尤其涉及一种路径确定方法、装置、设备及介质。
背景技术
由于交通道路的数量增加导致道路情况越发的复杂，因此车辆导航系统被广泛应用于车辆行驶过程中，例如规划车辆行驶路线。现有技术中是根据路径长度、路径拥堵率或者路况等信息为车辆规划路径，虽然行驶过程中可以避开拥堵路径等情况，但是车辆容易出现能耗不足导致无法行驶至目的地的问题，从而降低车辆行驶效率。
申请内容
本申请实施例提供一种路径确定方法、装置、设备及介质，可避免车辆在行驶过程能耗不足的问题，从而提高车辆行驶效率。
本申请实施例一方面提供一种路径确定方法，包括：
获取目标车辆的当前位置信息以及终点位置信息；
根据该当前位置信息以及该终点位置信息确定该目标车辆的候选路径；
获取该候选路径的路况信息以及参考车辆信息；
根据该路况信息以及该参考车辆信息确定该目标车辆在该候选路径上的单位距离内行驶所需要消耗的第一能耗信息；
根据该第一能耗信息向该目标车辆推荐该候选路径。
可选的，该候选路径包括至少一条路段，路段的路况信息包括路段的路段类型、路段的拥堵率、路段的长度、路段中的交通指示装置的数量中的至少一种，该参考车辆信息包括该每条路段中所行驶的参考车辆的第二能耗信息以及该参考车辆的类型，该第一能耗信息包括该目标车辆在该每条路段上的单位距离内行驶所需要消耗的第一能耗值。
可选的，该根据该路况信息以及该参考车辆信息确定该目标车辆在该候选路径上的单位距离内行驶所需要消耗的第一能耗信息，包括：根据该路段的路况信息以及该路段中所行驶的参考车辆的第二能耗信息，确定该参考车辆在该路段上的单位距离内的第二能耗值；根据该参考车辆的类型确定该参考车辆的能耗权值；采用该能耗权值对该第二能耗值进行归一化处理，得到该参考车辆在该每条路段上的单位距离内的第三能耗值；根据该每条路段对应的第三能耗值，确定该第一能耗值。
可选的，该根据该路段的路况信息以及该第二能耗信息，确定该参考车辆在该路段上的单位距离内的第二能耗值，包括：根据该路段的路况信息以及该第二能耗信息，确定该参考车辆在该路段上的总能耗值；根据该总能耗值与该每条路段的长度之间的比值，得到该参考车辆在该路段上的单位距离内的第二能耗值。
可选的，该路段包括的该参考车辆的数量为多个，一个该参考车辆对应一个该第二能耗值；该根据该每条路段对应的第三能耗值，确定该第一能耗值，包括：分别计算该路段上的多个参考车辆对应的该第三能耗值的平均值；将该平均值确定为该第一能耗值。
可选的，该根据该第一能耗信息向该目标车辆推荐该候选路径，包括：获取该目标车辆对应的行驶地图；将该候选路径以及该第一能耗信息标注在该行驶地图上，得到能耗地图；根据该能耗地图向该目标车辆推荐该候选路径。
可选的，该根据该第一能耗信息向该目标车辆推荐该候选路段，包括：获取该目标车辆的剩余能量值；根据该第一能耗信息确定该目标车辆在该候选路径上行驶所需要消耗的第一能耗总值；将该第一能耗总值与该目标车辆的剩余能量值进行比对；若该第一能耗总值小于该目标车辆的剩余能量值，则向该目标车辆推荐该候选路径。
可选的，该方法还包括：若该第一能耗总值大于或等于该目标车辆的剩余能量值，则检测该候选路径中是否包括用于为该目标车辆补充能量的能量补给站；若检测到该候选路径中包括能量补给站，根据该第一能耗信息确定该目标车辆到达该能量补给站所需消耗的第四能耗值；若该第四能耗值小于该目标车辆的剩余能量值，则向该目标车辆推荐该候选路径。
可选的，该候选路径的数量为多条；该根据该第一能耗信息向该目标车辆推荐该候选路径，包括：根据该第一能耗信息确定该目标车辆在多条候选路径中的每条候选路径上行驶所需要消耗的第一能耗总值，得到多个第一能耗总值，一条候选路径对应一个第一能耗总值；将该多个第一能耗总值中的最小值对应的候选路径确定为目标候选路径，向该目标车辆推荐该目标候选路径。
本申请一方面提供了一种计算机设备，包括：处理器、存储器、网络接口；
上述处理器与存储器、网络接口相连，其中，网络接口用于提供数据通信功能，上述存储器用于存储计算机程序，上述计算机程序适于由处理器调用以执行本申请实施例中上述一方面中的方法。
本申请实施例一方面提供了一种计算机可读存储介质，该计算机可读存储介质存储有计算机程序，该计算机程序包括程序指令，该程序指令适于由处理器调用以执行上述第一方面的一种路径确定方法。
本申请实施例中，获取目标车辆的当前位置信息以及终点位置信息；根据当前位置信息以及终点位置信息确定目标车辆的候选路径；获取候选路径的路况信息以及参考车辆信息；根据路况信息以及参考车辆信息确定目标车辆在候选路径上的单位距离内行驶所需要消耗的第一能耗信息；根据第一能耗信息向目标车辆推荐候选路径。这里，参考车辆信息是根据至少一个参考车辆在历史时间段内(即为目标车辆推荐候选路径之前的时间段内)在候选路径上的单位距离内行驶所需消耗的能耗信息确定得到的，由于该能耗信息是根据参考车辆实际行驶得到的，因此该能耗信息能准确反映车辆在该候选路径行驶所需的能耗值。通过确定出每条候选路径对应的能耗值，便于用户进行合理选择，可避免车辆在行驶过程能耗不足的问题，从而实现优化为车辆推荐行驶路径，进而提高车辆行驶效率。
附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本申请实施例提供的一种路径确定系统的架构示意图；
图2是本申请实施例提供的一种路径确定方法的流程示意图；
图3是本申请实施例提供的一种候选路径的示意图；
图4是本申请实施例提供的一种能耗地图的示意图；
图5是本申请实施例提供的一种候选路径的示意图；
图6是本申请实施例提供的一种路径确定方法的流程示意图；
图7是本申请实施例提供的一种候选路径的示意图；
图8是本申请实施例提供的一种路径确定装置的组成结构示意图；
图9是本申请实施例提供的一种计算机设备的组成结构示意图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
本申请的技术方案适用于为车辆规划候选路径的场景中。请参见图1，图1是本申请实施例提供的一种路径确定系统的架构示意图。该系统架构示意图包括目标车辆101、车载服务器102和参考车辆103，其中，目标车辆101可以是需要进行路径规划的车辆，车载服务器102可以是车辆控制中心的后台服务器，参考车辆103可以是行驶过目标车辆101需要规划的路径的车辆，例如可以包括行驶过需要规划的路径中的一条或者多条路段的车辆。目标车辆101可以用于发送目标车辆101的车辆信息给车载服务器102，例如车辆信息可以包括车辆的当前位置信息、终点位置信息、车辆当前剩余能量值，等等。车载服务器102可以用于接收目标车辆101发送的车辆信息和参考车辆103发送的参考车辆信息、对目标车辆101发送的车辆信息和参考车辆103发送的参考车辆信息进行处理后得到目标车辆在候选路径上的单位距离内行驶所需要消耗的第一能耗信息，以及向目标车辆101推荐候选路径。参考车辆103可以用于发送参考车辆信息至车载服务器102。其中，目标车辆101的数量可以为一个或者多个，本申请实施例以目标车辆101的数量为一个为例进行说明，若目标车辆101的数量为多个，其他的目标车辆101的路径确定方法可参考该目标车辆的路径确定方法；车载服务器102可以为独立的服务器或者是多个服务器组成的服务器集群；参考车辆103的数量可以为一个或者多个，本申请以参考车辆103的数量为多个为例进行说明。
其中，目标车辆101和参考车辆103例如可以为大型货车、小型汽车以及其他配置有车载终端的车辆，车载终端例如可以包括手机、平板电脑、笔记本电脑、掌上电脑、智能音响、车载iPad、移动互联网设备(MID，mobile internet device)、可穿戴设备(例如智能手表、智能手环)等；车载服务器102可以是指是一台独立的服务器、或由若干台服务器组成的服务器集群、或云计算中心，等等。
进一步地，如图1所示，在具体实施该路径确定方法的过程中，例如，目标车辆101发送目标车辆101的当前位置信息以及终点位置信息至车载服务器102；车载服务器102根据目标车辆101的当前位置信息以及终点位置信息确定目标车辆101的候选路径；参考车辆103发送候选路径上所行驶的参考车辆103对应的参考车辆信息至车载服务器102；车载服务器102获取候选路径的路况信息以及候选路径上所行驶的参考车辆103对应的参考车辆信息；车载服务器102根据路况信息以及参考车辆信息确定目标车辆在候选路径上的单位距离内行驶所需要消耗的第一能耗信息；车载服务器102根据第一能耗信息向目标车辆101推荐候选路径。由于目标车辆在候选路径上的单位距离内行驶所需要消耗的第一能耗信息是根据在候选路径上所行驶的参考车辆对应的参考车辆信息确定的，即该第一能耗信息是根据参考车辆的实际行驶情况确定的，因此该第一能耗信息较准确，从而根据第一能耗信息向目标车辆推荐的候选路径更准确，便于用户进行合理选择，避免车辆在行驶过程能耗不足的问题，进而提高目标车辆的行驶效率。
请参见图2，图2是本申请实施例提供的一种路径确定方法的流程示意图，如图2所示，该方法包括：
S101，获取目标车辆的当前位置信息以及终点位置信息。
这里，目标车辆为需要进行路径规划的车辆，目标车辆的当前位置信息和终点位置信息例如可以为具体地名。目标车辆可以实时上传目标车辆的当前位置信息以及终点位置信息至车载服务器，便于车载服务器根据目标车辆的当前位置信息以及终点位置信息对候选路径进行调整，从而提高路径确定的准确性。可选的，若接收到目标车辆发送的多个终点位置信息，可以为目标车辆规划包含多个终点位置信息的候选路径。可选的，在获取目标车辆的当前位置信息以及终点位置信息时，还可以获取当前的时间信息。
S102，根据当前位置信息以及终点位置信息确定目标车辆的候选路径。
这里，当前位置信息和终点位置信息之间可以包括多条候选路径，如图3所示，图3是本申请实施例提供的一种候选路径的示意图。以目标车辆从当前位置A行驶到终点位置C为例，可以根据路况或者路径长度等因素将当前位置A和终点位置C划分为3条候选路径，第一条候选路径可以为A-B-D-C，第二条候选路径可以为A-B-C，第三条候选路径可以为A-B-E-C。
S103，获取候选路径的路况信息以及参考车辆信息。
这里，参考车辆信息为在该候选路径上所行驶的参考车辆对应的信息，候选路径包 括至少一条路段，如图3所示，例如对于候选路径A-B-D-C，可以包括3条路段分别为AB、BD、DC，候选路径的路况信息包括至少一条路段中每条路段的路况信息，每条路段的路况信息包括每条路段的路段类型、每条路段的拥堵率、每条路段的长度、每条路段中的交通指示装置的数量中的至少一种。例如，路段类型可以根据路段上限定的车辆行驶速度划分，例如划分为高速公路、快速公路、普通公路、乡村道路等等；路段类型也可以根据路段的建筑材料类型划分，例如划分为沥青道路、水泥道路、泥面道路等等；路段类型也可以根据路段的平缓程度划分，例如划分为平缓路段、陡坡路段、弯道路段等等。路段的拥堵率用于指示路段拥堵的程度，即拥堵率越大表示该路段的交通越拥堵，拥堵率越小表示该路段的交通越不拥堵。交通指示装置例如可以包括交通信号灯、电子拍摄装置等等。
参考车辆为在目标车辆在候选路段上行驶之前，已经在候选路段上行驶完成的车辆，并且，已经将其自身的参考车辆信息上传至车载服务器的车辆。参考车辆信息包括每条路段中所行驶的参考车辆的耗电参数信息以及参考车辆的类型，这里，参考车辆的第二能耗信息是指参考车辆的耗能指标，例如可以为参考车辆出厂时配置的耗电指标，如150瓦时每千米(能量单位，wh/km)，即每公里耗电150wh。或者，也可以为参考车辆出厂时配置的耗油指标，等等。参考车辆的类型可以包括车辆的种类，例如货车、汽车、挂车，或者包括车辆的座位类型，例如大型2座货车、小型2座货车、5座汽车、2座汽车等等。可选的，参考车辆信息还可以包括用于唯一地指示该车辆的标识，例如车辆车牌号、车辆的出厂号以及车辆编号等等。此外，参考车辆信息包括参考车辆行驶在候选路径的每个路段的参考时间信息。
可选的，参考车辆可以上传如表1中所示的参考车辆信息至车载服务器。
S T s T e E c E rs E re type
S1 T 1s T 1e E c1 E 1rs E 1re type 1
S2 T 2s T 2e E c2 E 2rs E 2re type 2
… … … … … … …
Sn T ns T ne E cn E nrs E nre type n
表1：参考车辆信息表(示例)
表1中，S为单位距离，Ts为参考车辆在单位距离S内行驶的起始时间，Te为参考车辆在单位距离S内行驶的结束时间，Ec为参考车辆在单位距离S内行驶消耗的总 能耗值，Ers为参考车辆在单位距离S内起始剩余能量，Ere为参考车辆在单位距离S内的结束剩余能量，type为参考车辆的车辆类型。可选的，参考车辆还可以上传车辆当前速度等信息。
S104，根据路况信息以及参考车辆信息确定目标车辆在候选路径上的单位距离内行驶所需要消耗的第一能耗信息。
其中，目标车辆在候选路径上的单位距离内行驶所需要消耗的第一能耗信息包括目标车辆在候选路径上的所有单位距离内行驶所需要消耗的能耗值。例如候选路径包括3个单位距离内的路径，即候选路径为30米，单位距离为10米，则候选路径包括3个单位距离内的路径，则第一能耗信息包括目标车辆行驶在3个单位距离内每个单位距离内所需要消耗的能耗值。或者，目标车辆在候选路径上行驶所需要消耗的第一能耗信息包括目标车辆在每条路段上的所有单位距离内行驶所需要消耗的能耗值。例如候选路径包括3条路段，则第一能耗信息包括目标车辆行驶在3条路段中每条路段上的单位距离内所需要消耗的能耗值。这里，由于路况信息和参考车辆信息不同，可能导致车辆行驶在候选路径上的每个位置所消耗的能量不同，不同类型的车辆在同一路径上行驶相同距离所消耗的能量不同，同一车辆在不同路径上行驶相同距离所消耗的能量不同。因此，可以根据路况信息以及参考车辆信息确定目标车辆在候选路径上的单位距离内行驶所需要消耗的第一能耗信息。可选的，也可以直接获取车辆行驶该候选路径对应的能量变化差值，如表1中Ere与Ers之间的差值，从而确定目标车辆在候选路径上的单位距离内行驶所需要消耗的第一能耗信息。
由于获取目标车辆的当前位置信息以及终点位置信息时，获取了当前的时间信息，并且获取参考车辆的参考车辆信息时，获取了参考车辆在路段上行驶的每个参考时间信息，则可以从参考车辆对应的多个参考时间信息中确定出与当前时间信息匹配的参考时间信息。从而根据参考车辆在该参考时间信息内行驶在候选路段上的单位距离内所消耗的能耗信息，确定目标车辆在候选路径上的单位距离内行驶所需要消耗的第一能耗信息。
这里，与当前时间信息匹配的参考时间信息例如可以为当前时间之前且在预设时间内的同一时刻；或者当前时间之前且与预设时间内的同一时刻之差满足时间阈值的时刻，等等。则参考车辆为在与当前时间信息匹配的参考时间信息内在候选路径上行驶的车辆。
例如，当前时刻为2020年6月18日(星期四)下午18:00，若预设时间为一天，时间阈值为30分钟，则与当前时间信息匹配的参考时间信息例如可以为2020年6月17日(星期三)下午18:00、2020年6月17日(星期三)下午17:30-18:00；若预设时 间为一周，时间阈值为30分钟，则与当前时间信息匹配的参考时间信息例如可以为2020年6月15日(星期一)下午18:00、2020年6月16日(星期二)下午18:00、2020年6月17日(星期三)下午18:00、2020年6月15日(星期一)下午17:30-18:00、2020年6月16日(星期二)下午17:30-18:00、2020年6月17日(星期三)下午17:30-18:00。
本申请实施例中，可以通过以下过程确定目标车辆在候选路径上的单位距离内行驶所需要消耗的第一能耗信息：
一、根据路段的路况信息以及路段中所行驶的参考车辆的第二能耗信息，确定参考车辆在每条路段上的单位距离内的第二能耗值。
这里，路段是指候选路径包括的至少一条路段中的任意一条路段，此处是针对任意一条路段进行的处理，对于该候选路径包括的至少一条路段中的其他路段，可参考该处理方式。可知，由于第二能耗值为参考车辆在该参考时间内行驶在每条路段上的单位距离内的能耗值，如果该参考车辆在多个不同时间段内行驶在该相同路段，则对应的能耗值可能不同。由于在该路段行驶的时间不同，该路段的拥堵率可能不同，从而导致相同的车辆在相同的路段上行驶，消耗的第二能耗值不同。本申请实施例中是获取与目标车辆的当前时间匹配的参考时间，从而确定参考车辆在该参考时间以及该路段上行驶的第二能耗值。避免由于时间段的不同导致确定的目标车辆在候选路径上的单位距离内行驶所需要消耗的第一能耗信息不同。
这里，例如路段类型为平缓路段类型，则参考车辆在该平滑路段行驶的单位距离内的第二能耗值小于该参考车辆在陡坡路段行驶的单位距离内的第二能耗值，参考车辆在沥青道路行驶的单位距离内的第二能耗值小于该参考车辆在泥面道路行驶的单位距离内的第二能耗值，等等。因此，可以根据具体的路况信息和参考车辆的第二能耗信息，确定参考车辆在每条路段上的单位距离内的第二能耗值。
具体实现中，可以根据每条路段的路况信息以及每条路段中所行驶的参考车辆的第二能耗信息，确定参考车辆在该每条路段上的总能耗值；根据总能耗值与每条路段的长度之间的比值，得到参考车辆在每条路段上的单位距离内的第二能耗值。
在一种可能的实现方式中，参考车辆在路段中所行驶时，参考车辆通过实时发送当前位置信息以及剩余能量值至车载服务器，车载服务器则根据参考车辆的位置信息以及参考车辆的剩余能量值计算出参考车辆在每条路段上的总能耗值。根据总能耗值与每条路段的长度之间的比值，得到参考车辆在每条路段上的单位距离内的第二能耗值。例如，可以使用公式(1-1)计算得到参考车辆在每条路段上的单位距离内的第二能耗值：
Figure PCTCN2021108689-appb-000001
其中，以路段1为例，P为参考车辆在路段1上的单位距离内的第二能耗值，S为路段1的长度，E c为参考车辆在路段1上的总能耗值，T为参考车辆行驶该路段1所耗费的总时间
二、根据参考车辆的类型确定参考车辆的能耗权值。
这里，可以先获取参考车辆与标准型号车辆之间的耗能关系，根据该耗能关系确定参考车辆的能耗权值。例如，标准型号车辆为2座汽车，参考车辆a1为5座汽车、参考车辆a2为7座汽车，得到标准型号车辆与参考车辆a1的耗能关系为1:2，1:3，则对应的参考车辆的能耗权值分别可以为1/2、1/3。
三、采用能耗权值对第二能耗值进行归一化处理，得到该路段对应的第三能耗值。
这里，该路段对应的第三能耗值为参考车辆在该路段上的单位距离内的能耗值。可以使用公式(1-2)计算得到参考车辆在该路段上的单位距离内的第三能耗值：
P nominal＝ nP n   (1-2)
其中，n为路段，P nominal为参考车辆在路段n上的单位距离内的第三能耗值，k n为参考车辆的能耗权值，P n为参考车辆在路段n上的单位距离内的第二能耗值。上述过程是针对每条路段上只有一个参考车辆进行的处理，若每条路段上有多个参考车辆，可以参考对该参考车辆的处理方式对其他参考车辆进行处理，得到每个参考车辆对应的第三能耗值。
四、根据第三能耗值，确定第一能耗值。
这里，第一能耗值是指目标车辆在路段上的单位距离内行驶所需要消耗的能耗值。
在一种可能的实现方式中，若每条路段上只有一个参考车辆，则将该参考车辆对应的第三能耗值确定为第一能耗值。
在另一种可能的实现方式中，若每条路段上有多个参考车辆，则分别计算路段上的多个参考车辆对应的第三能耗值的平均值；将平均值确定为第一能耗值。这里，一个参考车辆对应一个第三能耗值。例如，可以根据公式(1-3)计算得到每条路段上的多个参考车辆对应的第三能耗值的平均值：
Figure PCTCN2021108689-appb-000002
其中，m为路段，tn为参考时间，
Figure PCTCN2021108689-appb-000003
为在参考时间内路段m上的多个参考车辆对应的第三能耗值的平均值。可知，在一个参考时间内一个参考车辆对应一个第三能耗值，则一个参考时间对应一个参考车辆的第三能耗值的平均值，即一个参考时间对应一个目标车 辆在每条路段上的单位距离内行驶所需要消耗的第一能耗值。
可知，例如参考车辆在3个参考时间T1-T3都在该路段上行驶，则参考车辆在3个参考时间T1-T3对应的第三能耗值分别为x1、x2、x3，且与目标车辆的当前时间匹配的参考时间为T2，则将T2对应的第三能耗值分别为x2确定为目标车辆在该路段上的单位距离内行驶所需要消耗的能耗值。
可以理解的是，对于候选路径上的每条路段，都可以使用上述方法计算得到目标车辆在每条路段上的单位距离内行驶所需要消耗的第一能耗值，从而可以计算候选路径对应的多条路段的平均值，得到每条候选路径的平均能耗；或者，计算候选路径对应的多条路段的能耗值之和，得到每条候选路径的总能耗。
S105，根据第一能耗信息向目标车辆推荐候选路径。
这里，第一能耗信息是指目标车辆在候选路径上的单位距离内行驶所需要消耗的能耗信息，可以根据第一能耗信息，确定目标车辆在候选路径上的所有单位距离内行驶所需要消耗的总能耗值，根据目标车辆在候选路径上的所有单位距离内行驶所需要消耗的总能耗值向目标车辆推荐候选路径。或者，可以根据第一能耗信息确定目标车辆在候选路径上的所有单位距离内行驶所需要消耗的平均能耗值，根据该平均能耗值向目标车辆推荐候选路径。或者，可以根据每条候选路径的总能耗信息和路况信息，向目标车辆推荐候选路径；或者，可以根据每条候选路径的能耗信息和车辆在每条候选路径行驶所需的行驶总时长，向目标车辆推荐候选路径。
例如，可以将目标车辆在候选路径上行驶所需要消耗的总能耗值最小的候选路径确定为目标候选路径，向目标车辆推荐该目标候选路径；或者，根据车辆在每条候选路径的行驶总时长、每条候选路径中每个路段的路段类型、每条候选路径的拥堵率、每条候选路径中的交通指示装置的数量等参数中的至少一种，以及结合候选路径的能耗信息，向目标车辆推荐候选路径。如向目标车辆推荐能耗值最小且行驶总时长最短的候选路径，或者能耗值最小且路段类型最好(即平滑路段多、陡坡路段弯道路段等较少)的候选路径，或者能耗值最小且拥堵率最小的候选路径，或者能耗值最小且交通指示装置的数量最少的候选路径，等等。
在一种可能的实现方式中，路段对应的多个时刻的能耗地图例如可以为如下矩阵(1-4)，其中，tn为时刻，Lm为路段，P(tn,Lm)为参考车辆在tn时刻在路段Lm上的单位距离内行驶所需要消耗的第三能耗值。
Figure PCTCN2021108689-appb-000004
在一种可实现的方式中，可以首先获取目标车辆对应的行驶地图；接着，将候选路径以及第一能耗信息标注在行驶地图上，得到能耗地图；最后，根据能耗地图向目标车辆推荐候选路径。
这里，行驶地图包括目标车辆的当前位置信息以及终点位置信息，以及多条候选路径。具体实现中，可以获取每条候选路径中的每个路段对应的第一能耗值，并将每个路段的第一能耗值标注在行驶地图上，得到每条候选路径的第一能耗信息。
可选的，可以对多个第一能耗值按照能耗值范围进行划分，得到多个能耗等级，例如包括极高能耗A+(大于500wh/km)，极高能耗A(500wh/km-450wh/km)，极高能耗B(450wh/km-400wh/km)，高能耗A(400wh/km-350wh/km)，高能耗B(350wh/km-300wh/km)，正常能耗(300wh/km-150wh/km)，低能耗(小于150wh/km)，可以使用不同颜色在行驶地图中进行标注，显示候选路径中每个路段对应的能耗等级。例如，车辆行驶在陡坡路段较多、泥土道路、以及拥堵率较大的路段上，对应的能耗等级可以为极高能耗A+；车辆行驶在平滑路段(如高速路)以及拥堵率较小的路段上，对应的能耗等级可以为低能耗，等等。
示例性的，能耗地图可以如图4所示，图4是本申请实施例提供的一种能耗地图的示意图，图4中，包括目标车辆的当前位置信息以及终点位置信息、多条候选路径、以及每条候选路径中每个路段对应的能耗等级。
可选的，还可以将每条候选路径的平均能耗标注在行驶地图上；或者，将每条候选路径的总能耗标注在行驶地图上。可以理解的是，由于计算得到候选路径中每个路段对应的单位距离能耗值，可以将参考时间和路段的单位距离能耗值对应存储，便于后续使用，由于参考车辆的信息是实时更新的，因此会根据参考车辆的参考车辆信息对路段的单位距离能耗值进行更新。
可选的，目标车辆根据该候选路径行驶，会实时上传目标车辆的车辆信息，当目标车辆行驶完该候选路径后，可将该目标车辆作为参考车辆，以及将该目标车辆的车辆信息作为参考车辆的参考车辆信息，从而根据前述方法对路段的单位距离能耗值进行更新，以实现为后续车辆推荐候选路径。
这里，若候选路径的数量为一条，则可根据该候选路径以及目标车辆在候选路径上 行驶所需要消耗的总能耗值或者目标车辆在候选路径上的单位距离内行驶所需要消耗的第一能耗值的平均值向目标车辆推荐候选路径。
若候选路径的数量为多条，则可以先根据第一能耗信息确定目标车辆在多条候选路径中的每条候选路径上行驶所需要消耗的第一能耗总值，得到多个第一能耗总值；将多个第一能耗总值中的最小值对应的候选路径确定为目标候选路径，向目标车辆推荐目标候选路径。这里，一条候选路径对应一个第一能耗总值，该第一能耗总值可以为候选路径上的所有单位距离内行驶所需要消耗的第一能耗值之和。或者，可以根据第一能耗信息确定目标车辆在多条候选路径中的每条候选路径上行驶所需要消耗的第一能耗平均值，得到多个第一能耗平均值；将多个第一能耗平均值中的最小值对应的候选路径确定为目标候选路径，向目标车辆推荐目标候选路径。其中，第一能耗值平均值即平均单位公里能耗。如图5所示，图5是本申请实施例提供的一种候选路径的示意图，图5中包括目标车辆的当前位置信息以及终点位置信息、候选路径1与候选路径2，每条候选路径中的每条路段对应的第一能耗值，还可以包括每条候选路径对应的平均单位公里能耗，例如候选路径1对应的平均单位公里能耗为319Wh/km，候选路径2对应的平均单位公里能耗为335Wh/km，则将候选路径1确定为目标候选路径，并向目标车辆推荐候选路径1。
可选的，若目标车辆与参考车辆的类型相同，则可以直接获取参考车辆在候选路径对应的第三能耗值，并根据该候选路径以及候选路径对应的第三能耗值向目标车辆推荐候选路径。
本申请实施例中，获取目标车辆的当前位置信息以及终点位置信息；根据当前位置信息以及终点位置信息确定目标车辆的候选路径；获取候选路径的路况信息参考车辆信息；根据路况信息以及参考车辆信息确定目标车辆在候选路径上的单位距离内行驶所需要消耗的第一能耗信息；根据第一能耗信息向目标车辆推荐候选路径。这里，参考车辆信息是根据至少一个参考车辆在历史时间段内(即为目标车辆推荐候选路径之前的时间段内)在候选路径上的单位距离内行驶所需消耗的能耗信息确定得到的，由于该能耗信息是根据参考车辆实际行驶得到的，因此该能耗信息能准确反映车辆在该候选路径行驶所需的能耗值。通过确定出每条候选路径对应的能耗值，便于用户进行合理选择，可避免出现车辆在行驶过程能耗不足的问题，从而实现优化为车辆推荐行驶路径，进而提高车辆行驶效率。
可选的，请参见图6，图6是本申请实施例提供的一种路径确定方法的流程示意图，如图6所示，该方法包括：
S201，获取目标车辆的当前位置信息以及终点位置信息。
S202，根据当前位置信息以及终点位置信息确定目标车辆的候选路径。
S203，获取候选路径的路况信息以及参考车辆信息。
S204，根据路况信息以及参考车辆信息确定目标车辆在候选路径上的单位距离内行驶所需要消耗的第一能耗信息。
这里，步骤S201～S204的具体实现方式可参考图2对应的实施例中步骤S101～S104的描述，此处不再赘述。
S205，获取目标车辆的剩余能量值。
这里，目标车辆可以发送当前时间以及当前时间对应的剩余能量值至车载服务器。
S206，根据第一能耗信息确定目标车辆在候选路径上行驶所需要消耗的第一能耗总值。
这里，目标车辆在候选路径上的单位距离内行驶所需要消耗的第一能耗信息包括目标车辆在候选路径中每条路段上的所有单位距离内行驶所需要消耗的第一能耗总值，即目标车辆在候选路径中每条路段上的所有单位距离内行驶所需要消耗的第一能耗值之和。
例如，候选路径包括2个路段分别为路段1和路段2，路段1对应的3个单位距离内的能耗分别为y1,y2,y3，路段2对应2个单位距离内的能耗分别为z1,z2，目标车辆在候选路径上行驶所需要消耗的第一能耗总值可以为候选路径中每条路段上的所有单位距离内行驶所需要消耗的第一能耗值之和y1+y2+y3+z1+z2。
S207，判断第一能耗总值是否小于目标车辆的剩余能量值。
若是，则执行步骤S208，若否，则执行步骤S209。这里，可以将目标车辆在候选路径上行驶所需要消耗的第一能耗总值与目标车辆的剩余能量值进行比对，从而判断目标车辆在候选路径上行驶所需要消耗的第一能耗总值是否小于目标车辆的剩余能量值。
S208，向目标车辆推荐候选路径。
这里，若目标车辆在候选路径上行驶所需要消耗的第一能耗总值小于目标车辆的剩余能量值，表示目标车辆基于当前的剩余能量值可以根据该候选路径从目标车辆的当前位置行驶至终点位置，即目标车辆的当前剩余能量值足以使目标车辆行驶到终点位置。若目标车辆在候选路径上行驶所需要消耗的第一能耗总值大于或等于目标车辆的剩余 能量值，表示目标车辆基于当前的剩余能量值不能根据该候选路径从目标车辆的当前位置行驶至终点位置，即目标车辆的当前剩余能量值不足以使目标车辆行驶到终点位置。
S209，检测候选路径中是否包括用于为目标车辆补充能量的能量补给站。
若是，则执行步骤S210，若否，则执行步骤S212。这里，能量补给站例如可以为充电桩，或者充电站、加油站、加气站，等等。具体实现中可以根据目标车辆所需的能量类型确定能量补给站的类型，例如，目标车辆为电动汽车，则能量补给站可以为充电站、充电桩，等等。若目标车辆的当前剩余能量值不足以使目标车辆行驶到终点位置，则表示目标车辆在该候选路径行驶的过程中，需要进行能量补充，才能实现行驶到终点位置。
S210，根据第一能耗信息确定目标车辆到达能量补给站所需消耗的第四能耗值。
S211，判断第四能耗值是否小于目标车辆的剩余能量值。
若是，执行步骤S208，若否，执行步骤S212。可以将第四能耗值与目标车辆的剩余能量值进行比对，从而判断第四能耗值是否小于目标车辆的剩余能量值。
这里，第四能耗值为目标车辆在候选路径上从当前位置行驶至能量补给站所需要消耗的单位公里能耗总值，第四能耗值小于目标车辆的剩余能量值，表示目标车辆的剩余能量值可以使得目标车辆行驶至能量补给站，当目标车辆行驶至能量补给站后，可以进行能量补充，从而实现行驶至终点位置。第四能耗值大于或等于目标车辆的剩余能量值，表示目标车辆的剩余能量值不足以使得目标车辆行驶至能量补给站。因此目标车辆在该候选路径中行驶容易出现能量不足，无法继续行驶的问题，导致车辆行驶效率低下，因此，为了避免该种情况，可以提示目标车辆更改终点位置信息。
S212，获取目标车辆的当前位置信息以及终点位置信息之间的至少一个能量补给站的位置信息，并输出提示信息。
这里，提示信息用于提示目标车辆至少一个能量补给站的位置信息，以使目标车辆根据至少一个能量补给站的位置信息重新选择终点位置信息。即执行步骤S201，根据目标车辆的当前位置信息和重新选择的终点位置信息，确定对应的候选路径，以及确定目标车辆在该候选路径上的单位距离内行驶所需要消耗的能耗信息，根据该能耗信息向目标车辆推荐候选路径。提示信息的输出方式可以包括通过文字输出或者语音输出，提示信息可以包括“您当前的剩余能量不足以支撑您行驶到终点位置，请您根据提示的能量补给站的位置，更改终点位置信息”。
例如，当目标车辆在候选路径上行驶所需要消耗的能耗值大于或等于目标车辆的剩 余能量值，表示目标车辆基于当前的剩余能量值不能根据该候选路径从目标车辆的当前位置行驶至终点位置时，检测候选路径中是否包含能量补给站，若检测到候选路径中包含能量补给站，则在能耗地图中标注出候选路径中能量补给站的位置，从而供用户选择。如图7所示，图7是本申请实施例提供的一种候选路径的示意图，图7中包括目标车辆的当前位置信息以及终点位置信息、多条候选路径、每条候选路径中每条路段的单位公里能耗值，以及能量补给站的位置信息，图7中标注的“最优充电站”的位置即能量补给站的位置。
本申请实施例中，通过对获取到的用户选择的候选路径对应的能耗值与目标车辆的当前能量值进行对比，从而确定车辆的剩余能量值是否能行驶完该候选路径，若是，则为目标车辆推荐该候选路径；若否，则检测该候选路径中是否存在能量补给站，若是，则判断目标车辆的当前剩余能量值是否能行驶到能量补给站，若是，则向目标车辆推荐该候选路径，若否，则输出提示信息，提示用户根据能量补给站的位置信息更改终点位置，避免由于车辆的剩余能量不足而导致无法行驶完候选路径，或者无法行驶至能量补给站，从而影响车辆行驶效率，可以便于用户进行合理选择，从而实现优化车辆行驶路径，进而提高车辆行驶效率。
上面介绍了本申请实施例的方法，下面介绍本申请实施例的装置。
参见图8，图8是本申请实施例提供的一种路径确定装置的组成结构示意图，上述一种路径确定装置可以是运行于计算机设备中的一个计算机程序(包括程序代码)，例如该一种路径确定装置为一个应用软件；该装置可以用于执行本申请实施例提供的方法中的相应步骤。该装置80包括：
车辆位置获取模块801，用于获取目标车辆的当前位置信息以及终点位置信息；
候选路径确定模块802，用于根据该当前位置信息以及该终点位置信息确定该目标车辆的候选路径；
路况信息获取模块803，用于获取该候选路径的路况信息以及参考车辆信息；
单位能耗确定模块804，用于根据该路况信息以及该参考车辆信息确定该目标车辆在该候选路径上的单位距离内行驶所需要消耗的第一能耗信息；
路径推荐模块805，用于根据该第一能耗信息向该目标车辆推荐该候选路径。
可选的，该候选路径包括至少一条路段，路段的路况信息包括路段的路段类型、路段的拥堵率、路段的长度、路段中的交通指示装置的数量中的至少一种，该参考车辆信 息包括该路段中所行驶的参考车辆的第二能耗信息以及该参考车辆的类型，该第一能耗信息包括该目标车辆在该每条路段上的单位距离内行驶所需要消耗的第一能耗值。
可选的，该单位能耗确定模块804，具体用于：
根据该路段的路况信息以及该路段中所行驶的参考车辆的第二能耗信息，确定该参考车辆在该路段上的单位距离内的第二能耗值；
根据该参考车辆的类型确定该参考车辆的能耗权值；
采用该能耗权值对该第二能耗值进行归一化处理，得到该参考车辆在该每条路段上的单位距离内的第三能耗值；
根据该每条路段对应的第三能耗值，确定该第一能耗值。
可选的，该单位能耗确定模块804，具体用于：
根据该路段的路况信息以及该第二能耗信息，确定该参考车辆在该路段上的总能耗值；
根据该总能耗值与该每条路段的长度之间的比值，得到该参考车辆在该路段上的单位距离内的第二能耗值。
可选的，该路段包括的该参考车辆的数量为多个，一个该参考车辆对应一个该第二能耗值；该单位能耗确定模块804，具体用于：
分别计算该路段上的多个参考车辆对应的该第三能耗值的平均值；
将该平均值确定为该第一能耗值。
可选的，该路径推荐模块805，具体用于：
获取该目标车辆对应的行驶地图；
将该候选路径以及该第一能耗信息标注在该行驶地图上，得到能耗地图；
根据该能耗地图向该目标车辆推荐该候选路径。
可选的，该路径推荐模块805，具体用于：
获取该目标车辆的剩余能量值；
根据该第一能耗信息确定该目标车辆在该候选路径上行驶所需要消耗的第一能耗总值；
将该第一能耗总值与该目标车辆的剩余能量值进行比对；
若该第一能耗总值小于该目标车辆的剩余能量值，则向该目标车辆推荐该候选路径。
可选的，该装置80还包括：能量补充模块806，用于：
若该第一能耗总值大于或等于该目标车辆的剩余能量值，则检测该候选路径中是否 包括用于为该目标车辆补充能量的能量补给站；
若检测到该候选路径中包括能量补给站，根据该第一能耗信息确定该目标车辆到达该能量补给站所需消耗的第四能耗值；
若该第四能耗值小于该目标车辆的剩余能量值，则向该目标车辆推荐该候选路径。
可选的，该候选路径的数量为多条；该路径推荐模块805，具体用于：
根据该第一能耗信息确定该目标车辆在多条候选路径中的每条候选路径上行驶所需要消耗的第一能耗总值，得到多个第一能耗总值，一条候选路径对应一个第一能耗总值；
将该多个第一能耗总值中的最小值对应的候选路径确定为目标候选路径，向该目标车辆推荐该目标候选路径。
需要说明的是，图8对应的实施例中未提及的内容可参见方法实施例的描述，这里不再赘述。
根据本申请的一个实施例，图2和图6所示的一种路径确定方法所涉及的步骤可由图8所示的一种路径确定装置中的各个模块来执行。例如，图2中所示的步骤S101可由图8中的车辆位置获取模块801来执行，图2中所示的步骤S102可由图8中的候选路径确定模块802来执行；图2中所示的步骤S103可由图8中的路况信息获取模块803来执行；图2中所示的步骤S104可由图8中的单位能耗确定模块804来执行；图2中所示的步骤S105可由图8中的路径推荐模块805来执行。根据本申请的一个实施例，图8所示的一种路径确定装置中的各个模块可以分别或全部合并为一个或若干个单元来构成，或者其中的某个(些)单元还可以再拆分为功能上更小的多个子单元，可以实现同样的操作，而不影响本申请的实施例的技术效果的实现。上述模块是基于逻辑功能划分的，在实际应用中，一个模块的功能也可以由多个单元来实现，或者多个模块的功能由一个单元实现。在本申请的其它实施例中，一种路径确定装置也可以包括其它单元，在实际应用中，这些功能也可以由其它单元协助实现，并且可以由多个单元协作实现。
根据本申请的另一个实施例，可以通过在包括中央处理单元(CPU)、随机存取存储介质(RAM)、只读存储介质(ROM)等处理元件和存储元件的例如计算机的通用计算机设备上运行能够执行如图2和图6中所示的相应方法所涉及的各步骤的计算机程序(包括程序代码)，来构造如图8中所示的一种路径确定装置，以及来实现本申请实施例的一种路径确定方法。上述计算机程序可以记载于例如计算机可读记录介质上，并通过计算机可读记录介质装载于上述计算设备中，并在其中运行。
本申请实施例中，获取目标车辆的当前位置信息以及终点位置信息；根据当前位置信息以及终点位置信息确定目标车辆的候选路径；获取候选路径的路况信息以及参考车辆信息；根据路况信息以及参考车辆信息确定目标车辆在候选路径上的单位距离内行驶所需要消耗的第一能耗信息；根据第一能耗信息向目标车辆推荐候选路径。这里，参考车辆信息是根据至少一个参考车辆在历史时间段内(即为目标车辆推荐候选路径之前的时间段内)在候选路径上的单位距离内行驶所需消耗的能耗信息确定得到的，由于该能耗信息是根据参考车辆实际行驶得到的，因此该能耗信息能准确反映车辆在该候选路径行驶所需的能耗值。通过确定出每条候选路径对应的能耗值，便于用户进行合理选择，可避免车辆在行驶过程能耗不足的问题，从而实现优化为车辆推荐行驶路径，进而提高车辆行驶效率。
参见图9，图9是本申请实施例提供的一种计算机设备的组成结构示意图。如图9所示，上述计算机设备90可以包括：处理器901，网络接口904和存储器905，此外，上述计算机设备90还可以包括：用户接口903，和至少一个通信总线902。其中，通信总线902用于实现这些组件之间的连接通信。其中，用户接口903可以包括显示屏(Display)、键盘(Keyboard)，可选用户接口903还可以包括标准的有线接口、无线接口。网络接口904可选的可以包括标准的有线接口、无线接口(如WI-FI接口)。存储器905可以是高速RAM存储器，也可以是非易失性的存储器(non-volatile memory)，例如至少一个磁盘存储器。存储器905可选的还可以是至少一个位于远离前述处理器901的存储装置。如图9所示，作为一种计算机可读存储介质的存储器905中可以包括操作系统、网络通信模块、用户接口模块以及设备控制应用程序。
在图9所示的计算机设备90中，网络接口904可提供网络通讯功能；而用户接口903主要用于为用户提供输入的接口；而处理器901可以用于调用存储器905中存储的设备控制应用程序，以实现：
获取目标车辆的当前位置信息以及终点位置信息；
根据该当前位置信息以及该终点位置信息确定该目标车辆的候选路径；
获取该候选路径的路况信息以及参考车辆信息；
根据该路况信息以及该参考车辆信息确定该目标车辆在该候选路径上的单位距离内行驶所需要消耗的第一能耗信息；
根据该第一能耗信息向该目标车辆推荐该候选路径。
应当理解，本申请实施例中所描述的计算机设备90可执行前文图2以及图4所对应实施例中对上述一种路径确定方法的描述，也可执行前文图8所对应实施例中对上述一种路径确定装置的描述，在此不再赘述。另外，对采用相同方法的有益效果描述，也不再进行赘述。
本申请实施例中，获取目标车辆的当前位置信息以及终点位置信息；根据当前位置信息以及终点位置信息确定目标车辆的候选路径；获取候选路径的路况信息以及参考车辆信息；根据路况信息以及参考车辆信息确定目标车辆在候选路径上的单位距离内行驶所需要消耗的第一能耗信息；根据第一能耗信息向目标车辆推荐候选路径。这里，参考车辆信息是根据至少一个参考车辆在历史时间段内(即为目标车辆推荐候选路径之前的时间段内)在候选路径上的单位距离内行驶所需消耗的能耗信息确定得到的，由于该能耗信息是根据参考车辆实际行驶得到的，因此该能耗信息能准确反映车辆在该候选路径行驶所需的能耗值。通过确定出每条候选路径对应的能耗值，便于用户进行合理选择，可避免车辆在行驶过程能耗不足的问题，从而实现优化为车辆推荐行驶路径，进而提高车辆行驶效率。
本申请实施例还提供一种计算机可读存储介质，该计算机可读存储介质存储有计算机程序，该计算机程序包括程序指令，该程序指令当被计算机执行时使该计算机执行如前述实施例该的方法，该计算机可以为上述提到的计算机设备的一部分。例如为上述的处理器901。作为示例，程序指令可被部署在一个计算机设备上执行，或者被部署位于一个地点的多个计算机设备上执行，又或者，在分布在多个地点且通过通信网络互连的多个计算机设备上执行，分布在多个地点且通过通信网络互连的多个计算机设备可以组成区块链网络。
本申请的说明书和权利要求书及上述附图中的术语“第一”、“第二”、“第三”和“第四”等是用于区别不同对象，而不是用于描述特定顺序。此外，术语“包括”和“具有”以及它们任何变形，意图在于覆盖不排他的包含。例如包含了一系列步骤或单元的过程、方法、系统、产品或设备没有限定于已列出的步骤或单元，而是可选的还包括没有列出的步骤或单元，或可选的还包括对于这些过程、方法、产品或设备固有的其它步骤或单元。
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，该的程序可存储于计算机可读取存储介质中，该程序在执行时，可包括如上述各方法的实施例的流程。其中，该的存储介质可为磁碟、光盘、只读存储记忆体(Read-Only Memory，ROM)或随机存储记忆体(Random Access  Memory，RAM)等。
以上所揭露的仅为本申请较佳实施例而已，当然不能以此来限定本申请之权利范围，因此依本申请权利要求所作的等同变化，仍属本申请所涵盖的范围。

Claims (10)

  1. 一种路径确定方法，其特征在于，包括：
    获取目标车辆的当前位置信息以及终点位置信息；
    根据所述当前位置信息以及所述终点位置信息确定所述目标车辆的候选路径；
    获取所述候选路径的路况信息以及参考车辆信息；
    根据所述路况信息以及所述参考车辆信息确定所述目标车辆在所述候选路径上的单位距离内行驶所需要消耗的第一能耗信息；
    根据所述第一能耗信息向所述目标车辆推荐所述候选路径。
  2. 根据权利要求1所述的方法，其特征在于，所述候选路径包括至少一条路段，所述路段的路况信息包括所述路段的路段类型、所述路段的拥堵率、所述路段的长度、所述路段中的交通指示装置的数量中的至少一种，所述参考车辆信息包括所述路段中所行驶的参考车辆的第二能耗信息以及所述参考车辆的类型，所述第一能耗信息包括所述目标车辆在所述路段上的单位距离内行驶所需要消耗的第一能耗值。
  3. 根据权利要求2所述的方法，其特征在于，所述根据所述路况信息以及所述参考车辆信息确定所述目标车辆在所述候选路径上的单位距离内行驶所需要消耗的第一能耗信息，包括：
    根据所述路段的路况信息以及所述第二能耗信息，确定所述参考车辆在所述路段上的单位距离内的第二能耗值；
    根据所述参考车辆的类型确定所述参考车辆的能耗权值；
    采用所述能耗权值对所述第二能耗值进行归一化处理，得到所述路段对应的第三能耗值；
    根据所述第三能耗值，确定所述第一能耗值。
  4. 根据权利要求3所述的方法，其特征在于，所述路段包括的所述参考车辆的数量为多个，一个所述参考车辆对应一个所述第三能耗值；所述根据所述第三能耗值，确定所述第一能耗值，包括：
    分别计算所述路段上的多个参考车辆对应的所述第三能耗值的平均值；
    将所述平均值确定为所述第一能耗值。
  5. 根据权利要求1所述的方法，其特征在于，所述根据所述第一能耗信息向所述目标车辆推荐所述候选路径，包括：
    获取所述目标车辆对应的行驶地图；
    将所述候选路径以及所述第一能耗信息标注在所述行驶地图上，得到能耗地图；
    根据所述能耗地图向所述目标车辆推荐所述候选路径。
  6. 根据权利要求1-5中任一项所述的方法，其特征在于，所述根据所述第一能耗信息向所述目标车辆推荐所述候选路段，包括：
    获取所述目标车辆的剩余能量值；
    根据所述第一能耗信息确定所述目标车辆在所述候选路径上行驶所需要消耗的第一能耗总值；
    将所述第一能耗总值与所述目标车辆的剩余能量值进行比对；
    若所述第一能耗总值小于所述目标车辆的剩余能量值，则向所述目标车辆推荐所述候选路径。
  7. 根据权利要求6所述的方法，其特征在于，所述方法还包括：
    若所述第一能耗总值大于或等于所述目标车辆的剩余能量值，则检测所述候选路径中是否包括用于为所述目标车辆补充能量的能量补给站；
    若检测到所述候选路径中包括所述能量补给站，根据所述第一能耗信息确定所述目标车辆到达所述能量补给站所需消耗的第四能耗值；
    若所述第四能耗值小于所述目标车辆的剩余能量值，则向所述目标车辆推荐所述候选路径。
  8. 根据权利要求1-5中任一项所述的方法，其特征在于，所述候选路径的数量为多条；所述根据所述第一能耗信息向所述目标车辆推荐所述候选路径，包括：
    根据所述第一能耗信息确定所述目标车辆在多条候选路径中每条候选路径上行驶所需要消耗的第一能耗总值，得到多个第一能耗总值，一条候选路径对应一个第一能耗总值；
    将所述多个第一能耗总值中的最小值对应的候选路径确定为目标候选路径，向所述目标车辆推荐所述目标候选路径。
  9. 一种计算机设备，其特征在于，包括：处理器、存储器以及网络接口；
    所述处理器与所述存储器、所述网络接口相连，其中，所述网络接口用于提供数据通信功能，所述存储器用于存储程序代码，所述程序代码适于由所述处理器调用以执行如权利要求1至8任一项所述的方法。
  10. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质存储有计算机程序，所述计算机程序包括程序指令，所述程序指令适于由处理器调用以执行如权利要求1至8任一项所述的方法。
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