CN114281909A

CN114281909A - Determination method and device of cruising area and electronic equipment

Info

Publication number: CN114281909A
Application number: CN202111351558.0A
Authority: CN
Inventors: 蔡浚宇; 肖炜
Original assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Current assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Priority date: 2021-11-15
Filing date: 2021-11-15
Publication date: 2022-04-05

Abstract

The disclosure provides a determination method and device for a cruising area and electronic equipment, and relates to the technical field of artificial intelligence, in particular to the technical fields of automatic driving, intelligent transportation and intelligent search. The specific implementation scheme is as follows: determining an initial cruising area of a vehicle to be processed, and a circular area and a circular ring area which take a current position point as a circle center in the initial cruising area; the initial endurance area is determined according to the current position point of the vehicle and the endurance mileage; determining at least one road node group, wherein the length of a path passing through each road node in the road node group in sequence is less than or equal to the driving mileage by taking the current position point as a starting point; and determining the cruising area of the vehicle according to the second road node in the at least one road node group, so that the second road node which can be used as the boundary point of the cruising area can be determined according to the path taking the current position point as the starting point and the cruising mileage, the cruising area is further determined, and the accuracy of the determined cruising area is improved.

Description

Determination method and device of cruising area and electronic equipment

Technical Field

The present disclosure relates to the field of artificial intelligence technologies, and in particular, to the field of automatic driving, intelligent transportation, and intelligent search technologies, and in particular, to a determination method and apparatus for a cruising area, and an electronic device.

Background

The current cruising area determining method mainly comprises the step of determining a circular area in a map, wherein the circular area takes a current position point of a vehicle as a circle center and an NEDC cruising mileage as a radius, as the cruising area of the vehicle. The boundary of the cruising area is mainly a circular ring, and the accuracy of the cruising area is poor.

Disclosure of Invention

The disclosure provides a determination method and device of a cruising area and electronic equipment.

According to an aspect of the present disclosure, there is provided a determination method of a cruising area, including: determining an initial cruising area of a vehicle to be processed, and a circular area and a circular ring area which take a current position point as a circle center in the initial cruising area; wherein the initial endurance area is determined according to the current location point of the vehicle and an endurance mileage; determining at least one road node group, wherein the road node group comprises: an initial road node in the circular area, which is communicated with the current position point, and a first road node and a second road node in the circular area; taking the current position point as a starting point, and sequentially enabling the length of a path passing through each road node in the road node group to be smaller than or equal to the endurance mileage; determining a range of the vehicle based on the second road node of the at least one road node group.

According to another aspect of the present disclosure, there is provided a cruising area determining apparatus including: the system comprises a first determination module, a second determination module and a third determination module, wherein the first determination module is used for determining an initial cruising area of a vehicle to be processed, and a circular area and a circular ring area which take a current position point as a circle center in the initial cruising area; wherein the initial endurance area is determined according to the current location point of the vehicle and an endurance mileage; a second determination module configured to determine at least one road node group, wherein the road node group comprises: an initial road node in the circular area, which is communicated with the current position point, and a first road node and a second road node in the circular area; taking the current position point as a starting point, and sequentially enabling the length of a path passing through each road node in the road node group to be smaller than or equal to the endurance mileage; a third determination module configured to determine a cruising area of the vehicle according to the second road node in the at least one road node group.

According to still another aspect of the present disclosure, there is provided an electronic device including:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a method of determining a cruising area according to the above aspect of the present disclosure.

According to yet another aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform the method for determining a cruising area according to the above aspect of the present disclosure.

According to yet another aspect of the present disclosure, a computer program product is provided, comprising a computer program which, when executed by a processor, performs the steps of the determination method of cruising area set forth in the above aspect of the present disclosure.

It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present disclosure, nor do they limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.

Drawings

The drawings are included to provide a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:

FIG. 1 is a schematic diagram according to a first embodiment of the present disclosure;

FIG. 2 is a schematic diagram according to a second embodiment of the present disclosure;

FIG. 3 is a schematic diagram according to a third embodiment of the present disclosure;

FIG. 4 is a schematic diagram according to a fourth embodiment of the present disclosure;

fig. 5 is a block diagram of an electronic device for implementing a determination method of a cruising area of an embodiment of the present disclosure.

Detailed Description

Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of the embodiments of the disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

In order to solve the above problem, the present disclosure provides a determination method and apparatus for a cruising area, and an electronic device.

Fig. 1 is a schematic diagram of a first embodiment of the present disclosure, and it should be noted that the determination method of a cruising area according to the embodiment of the present disclosure is applicable to a determination apparatus of a cruising area, and the apparatus may be configured in an electronic device, so that the electronic device may perform a determination function of the cruising area.

The electronic device may be any device with computing capability. The device with computing capability may be, for example, a Personal Computer (PC), a mobile terminal, a server, and the like, and the mobile terminal may be, for example, a hardware device with various operating systems, a touch screen, and/or a display screen, such as an in-vehicle device, a mobile phone, a tablet Computer, a Personal digital assistant, and a wearable device.

As shown in fig. 1, the determination method of the cruising area may include the steps of:

step 101, determining an initial cruising area of a vehicle to be processed, and a circular area and a circular ring area which take a current position point as a circle center in the initial cruising area; the initial endurance area is determined according to the current position point of the vehicle and the endurance mileage.

In the embodiment of the present disclosure, the determining device of the cruising area may perform the process of step 101, for example, to determine a current position point of the vehicle and a cruising range; determining an initial cruising area of the vehicle by taking the current position point as a circle center and the cruising mileage as a radius; sequentially determining a circular area according to the radius in the preset radius sequence until an initial road node exists in the circular area; and determining a circular area according to the circular area.

In the disclosed embodiment, in one example, the range may be a New European Driving Cycle (NEDC) range. In another embodiment, the mileage can be estimated according to the mileage estimation model and the estimation related parameters. The pre-estimated related parameters may include, for example, at least one of the following parameters: vehicle travel information, vehicle-mounted electrical information, travel environment information, driving behavior information, and the like. The driving information includes, for example, speed information, an uphill condition, a downhill condition, an acceleration condition, and a deceleration condition. The in-vehicle electrical information includes, for example, air conditioning information, seat heating information, and audio information. The form environment information is, for example, a roll resistance coefficient, a wind resistance coefficient, and the like.

In the embodiment of the present disclosure, the radius sequence may include a plurality of radius values arranged from small to large. E.g., 2km, 3km, 4km, 5km, etc. Correspondingly, the process of determining the circular area may be, for example, determining an area by taking the current position point as a circle center and 2km as a radius, and determining whether a road node exists in the area; if the current position point exists in the initial cruising area, the area is a circular area which takes the current position point as the center of a circle. If not, determining an area by taking the current position point as the center of a circle and taking 3km as the radius, and determining whether a road node exists in the area; if the current position point exists in the initial cruising area, the area is a circular area which takes the current position point as the center of a circle.

In the embodiment of the present disclosure, after the circular area in the initial cruising area is determined, an area other than the circular area in the initial cruising area may be determined as a circular area in the initial cruising area.

In the embodiment of the disclosure, through the division of the circular area and the circular ring area, the initial road node communicated with the current position point is conveniently determined, the search of the first road node and the second road node is facilitated, and the determination speed of the cruising area is further improved.

Step 102, determining at least one road node group, wherein the road node group comprises: the initial road node is communicated with the current position point in the circular area, and the first road node and the second road node in the circular area are communicated with the current position point; and taking the current position point as a starting point, and enabling the length of the path passing through each road node in the road node group in sequence to be less than or equal to the endurance mileage.

In the embodiment of the present disclosure, the determining device for determining a cruising area may perform the process of step 102, for example, to determine an initial road node in the circular area, which is communicated with the current position point; selecting a first road node from each road node according to the path length from the initial road node to each road node in the circular ring area; for each first road node, selecting a second road node from each non-first road node according to the path length from the first road node to each non-first road node in the circular ring area and the endurance mileage; and generating at least one road node group according to the initial road node, the first road node and the corresponding second road node.

In the embodiment of the present disclosure, when the first road node is selected, the road node with a smaller path length may be selected as the first road node according to the path length from the initial road node to each road node in the circular ring region; when the second road node is selected, the non-first road node corresponding to the larger path length from the first road node to each non-first road node in the circular ring area can be selected as the second road node according to the path length from the first road node to each non-first road node in the circular ring area and the endurance mileage. Therefore, the selected first road node can be close to the circular area as much as possible, and the selected second road node can be far away from the circular area as much as possible, so that the accuracy of the determined cruising area is further improved.

In the embodiment of the present disclosure, in one example, the initial road node, the first road node, and the second road node may be entrance and exit nodes communicating between roads in the initial cruising area. Wherein each road is generally composed of one or more links in the map. The link represents a road segment, and two ends of the link are nodes. In each node in the map, the nodes that communicate the entrances and exits of different roads are road nodes in the present disclosure.

In addition to the road nodes in the present disclosure, each node in the map also includes a large number of nodes between different road segments in the same road. The road nodes in the disclosure occupy a small number, so that the calculation amount in determining the road node group can be greatly reduced, the speed in determining the road node group is increased, and the determination speed of the cruising area is increased.

In another example, the initial road node, the first road node, and the second road node may be entrance and exit nodes communicating between a road of a designated level in the initial cruising area and other roads. And the other roads are non-specified level roads or specified level roads in the map. Therefore, the entrance and exit nodes communicated among roads in non-specified levels are not considered, the calculated amount when the road node group is determined is further reduced, the speed when the road node group is determined is increased, and the determination speed of the cruising area is further increased.

In the disclosed embodiment, the assigned grade can be determined according to the mileage. If the endurance mileage is large, the number of the specified grades is large; and if the endurance mileage is small, the number of the specified grades is small. When the number of the specified grades is small, a higher road grade can be specified as the specified grade; when the number of designated ranks is large, a higher road rank and a lower road rank may be designated as the designated ranks. Among them, roads of higher road grade, for example, high speed, city high speed, aisle, provincial road, county road, etc. Roads of lower road classes, e.g. rural roads, village roads, etc. The number of roads of the lower road class is much larger than the number of roads of the higher road class.

Step 103, determining a cruising area of the vehicle according to a second road node in the at least one road node group.

In the embodiment of the present disclosure, the cruising area determining means may sequentially connect second road nodes in at least one road node group in the map, and an area defined by the obtained boundary line may be used as the cruising area of the vehicle.

In the embodiment of the present disclosure, after step 103, the method may further include the following steps: receiving a navigation request, wherein the navigation request comprises: a target road node; determining a candidate navigation path according to the current position point and the target road node; when the length of the candidate navigation path is less than or equal to the endurance mileage, determining the candidate navigation path as the navigation path; and when the length of the candidate navigation path is greater than the endurance mileage, determining the navigation path of the path charging pile position point by combining the charging pile position point, the current position point and the target road node.

The process of determining the candidate navigation path by the determination device of the cruising area may be, for example, when the cruising range of the vehicle is less than or equal to a preset threshold, determining the candidate navigation path by combining road nodes of roads of all levels in the cruising area, thereby shortening the length of the determined candidate navigation path and ensuring that a path which can reach the target road node within the cruising range is found as much as possible. When the cruising range of the vehicle is larger than the preset threshold value, the candidate navigation path can be determined by combining road nodes of the graded roads in the cruising area, so that the calculated amount when the candidate navigation path is determined is reduced, and the determination speed of the candidate navigation path is accelerated.

The determination method of the cruising area of the embodiment of the disclosure determines the initial cruising area of the vehicle to be processed, and the circular area and the circular ring area which take the current position point as the center of a circle in the initial cruising area; the initial endurance area is determined according to the current position point of the vehicle and the endurance mileage; determining at least one road node group, wherein the road node group comprises: the initial road node is communicated with the current position point in the circular area, and the first road node and the second road node in the circular area are communicated with the current position point; taking the current position point as a starting point, and sequentially enabling the length of the path passing through each road node in the road node group to be smaller than or equal to the endurance mileage; and determining the cruising area of the vehicle according to the second road node in the at least one road node group, so that the second road node which can be used as the boundary point of the cruising area can be determined according to the path taking the current position point as the starting point and the cruising mileage, the cruising area is further determined, and the accuracy of the determined cruising area is improved.

In order to further improve the accuracy of determining the obtained cruising area and reduce the calculation amount, as shown in fig. 2, fig. 2 is a schematic diagram according to a second embodiment of the present disclosure, in which a plurality of candidate road nodes may be selected from at least one second road node according to the degree of approaching the boundary of the initial cruising area, so as to determine the cruising area. The embodiment shown in fig. 2 may include the following steps:

step 201, determining an initial cruising area of a vehicle to be processed, and a circular area and a circular ring area which take a current position point as a circle center in the initial cruising area; the initial endurance area is determined according to the current position point of the vehicle and the endurance mileage.

Step 202, determining at least one road node group, wherein the road node group comprises: the initial road node is communicated with the current position point in the circular area, and the first road node and the second road node in the circular area are communicated with the current position point; and taking the current position point as a starting point, and enabling the length of the path passing through each road node in the road node group in sequence to be less than or equal to the endurance mileage.

And step 203, selecting a plurality of candidate road nodes from at least one second road node according to the degree of approaching the boundary of the initial cruising area.

In the embodiment of the present disclosure, in one example, the determination device of the cruising area performing the process of step 203 may be, for example, to determine, for each road node group, a length of a path from an initial road node to a second road node in the road node group, and a straight-line distance from the initial road node to the second road node in the map; determining the difference between the length and the linear distance; according to the difference, sorting second road nodes in at least one road node group in an ascending order to obtain a second sorting result; and determining the second road nodes with the preset number in the second sorting result as candidate road nodes. The number of candidate road nodes may be determined according to the type of vehicle or actual needs, etc.

And aiming at each road node group, the length of a path from the initial road node to the second road node in the road node group is greater than the straight-line distance from the initial road node to the second road node in the map. The greater the difference between the length and the straight-line distance, the longer the length of the route, and the further the distance from the current position point to the position point at which the vehicle reaches the cruising range from the current position point. Therefore, the candidate road node selected according to the method is closer to the boundary of the initial cruising area, and the accuracy of the cruising area generated based on the candidate road node is higher.

In another example, the determination device for determining a cruising area may perform the process of step 203, for example, by determining, for each road node group, a length of a path from an initial road node to a first road node in the road node group, and a straight-line distance from the initial road node to a second road node; determining a cost value of a second road node according to the direction of the path, the length of the path, the linear distance and the direction from the initial road node to the second road node; according to the cost value and the difference absolute value of the endurance mileage, performing ascending sorting on the second road nodes to obtain a third sorting result; and determining the second road nodes with the preset number ranked in the front from the third ranking result as candidate road nodes.

For each road node group, according to the direction of the path, the length of the path, the linear distance, and the direction from the initial road node to the second road node, the process of determining the cost value of the second road node may be, for example, determining an included angle between the direction of the path and the direction from the initial road node to the second road node; when the included angle is smaller than or equal to a preset included angle threshold value, determining the sum of the length of the path and the linear distance as a cost numerical value of the second road node; and when the included angle is larger than a preset included angle threshold value, determining the absolute value of the difference value between the length of the path and the linear distance as the cost numerical value of the second road node. And then selecting a second road node with a smaller absolute difference value according to the cost value and the absolute difference value of the endurance mileage, selecting the obtained candidate road node, and enabling the candidate road node to be closer to the boundary of the initial endurance area, wherein the accuracy of the endurance area generated based on the candidate road node is higher.

And step 204, determining a cruising area of the vehicle according to the candidate road nodes.

In the embodiment of the present disclosure, the process of executing step 204 by the determining device of the cruising area may be, for example, to determine, for each candidate road node, included angle information between a connection line from the candidate road node to the current position point in the map and the positive direction of the X axis in the map; sequencing the candidate road nodes according to the included angle information to obtain a first sequencing result; sequentially connecting a plurality of candidate road nodes in a map according to a first sequencing result to obtain a boundary line; and determining the area defined by the boundary line as the cruising area of the vehicle.

The candidate road nodes are sequentially connected in the map according to the first sequencing result, a boundary line which is connected end to end can be obtained, the area limited by the boundary line is determined according to the candidate road nodes, and the accuracy of the determined cruising area is higher.

In the embodiment of the present disclosure, the detailed description of steps 201 to 202 may refer to the detailed description of steps 101 to 102 in the implementation shown in fig. 1, and will not be described in detail here.

The determination method of the cruising area of the embodiment of the disclosure determines the initial cruising area of the vehicle to be processed, and the circular area and the circular ring area which take the current position point as the center of a circle in the initial cruising area; the initial endurance area is determined according to the current position point of the vehicle and the endurance mileage; determining at least one road node group, wherein the road node group comprises: the initial road node is communicated with the current position point in the circular area, and the first road node and the second road node in the circular area are communicated with the current position point; taking the current position point as a starting point, and sequentially enabling the length of the path passing through each road node in the road node group to be smaller than or equal to the endurance mileage; selecting a plurality of candidate road nodes from the at least one second road node according to the degree of approaching the boundary of the initial cruising area; and determining the cruising area of the vehicle according to the candidate road nodes, so that a second road node which can be used as a boundary point of the cruising area can be determined according to the path taking the current position point as the starting point and the cruising mileage, the cruising area is further determined, and the accuracy of the determined cruising area is improved.

In order to implement the above embodiments, the present disclosure also provides a cruising area determining apparatus.

As shown in fig. 3, fig. 3 is a schematic diagram according to a third embodiment of the present disclosure. The cruising area determination device 300 includes: a first determination module 310, a second determination module 320, and a third determination module 330;

the first determining module 310 is configured to determine an initial cruising area of a vehicle to be processed, and a circular area and a circular ring area in the initial cruising area, where a current position point is used as a center of a circle; wherein the initial endurance area is determined according to the current location point of the vehicle and an endurance mileage;

a second determining module 320, configured to determine at least one road node group, wherein the road node group includes: an initial road node in the circular area, which is communicated with the current position point, and a first road node and a second road node in the circular area; taking the current position point as a starting point, and sequentially enabling the length of a path passing through each road node in the road node group to be smaller than or equal to the endurance mileage;

a third determining module 330, configured to determine a cruising area of the vehicle according to the second road node in the at least one road node group.

As a possible implementation manner of the embodiment of the present disclosure, the second determining module 320 is specifically configured to determine an initial road node in the circular area, where the initial road node is communicated with the current location point; selecting a first road node from each road node according to the path length from the initial road node to each road node in the circular ring area; for each first road node, selecting a second road node from each non-first road node according to the path length from the first road node to each non-first road node in the circular ring area and the endurance mileage; and generating the at least one road node group according to the initial road node, the first road node and the corresponding second road node.

As a possible implementation manner of the embodiment of the present disclosure, the first determining module 310 is specifically configured to determine a current position point and a driving range of the vehicle; determining the initial cruising area of the vehicle by taking the current position point as a circle center and the cruising mileage as a radius; sequentially determining the circular area according to the radius in the preset radius sequence until the initial road node exists in the circular area; and determining the circular ring area according to the circular area.

As a possible implementation manner of the embodiment of the present disclosure, the initial road node, the first road node, and the second road node are entrance and exit nodes at which a road of a designated level in the initial cruising area is communicated with other roads; wherein the specified grade is determined according to the endurance mileage.

As a possible implementation manner of the embodiment of the present disclosure, the apparatus further includes: a receiving module and a fourth determining module; the receiving module is configured to receive a navigation request, where the navigation request includes: a target road node; the fourth determining module is configured to determine a candidate navigation path according to the current location point and the target road node; determining the candidate navigation path as a navigation path when the length of the candidate navigation path is less than or equal to the endurance mileage; and when the length of the candidate navigation path is greater than the endurance mileage, determining the navigation path of the path charging pile position point by combining the charging pile position point, the current position point and the target road node.

The determining device of the cruising area of the embodiment of the disclosure determines the initial cruising area of the vehicle to be processed, and the circular area and the circular ring area which take the current position point as the center of a circle in the initial cruising area; the initial endurance area is determined according to the current position point of the vehicle and the endurance mileage; determining at least one road node group, wherein the road node group comprises: the initial road node is communicated with the current position point in the circular area, and the first road node and the second road node in the circular area are communicated with the current position point; taking the current position point as a starting point, and sequentially enabling the length of the path passing through each road node in the road node group to be smaller than or equal to the endurance mileage; and determining the cruising area of the vehicle according to the second road node in the at least one road node group, so that the second road node which can be used as the boundary point of the cruising area can be determined according to the path taking the current position point as the starting point and the cruising mileage, the cruising area is further determined, and the accuracy of the determined cruising area is improved.

Fig. 4 is a schematic diagram according to a fourth embodiment of the present disclosure. The cruising area determination apparatus 400 includes: a first determination module 410, a second determination module 420, and a third determination module 430. Wherein the third determining module 430 includes: a first determination unit 4301 and a second determination unit 4302;

the first determining module 410 is configured to determine an initial cruising area of a vehicle to be processed, and a circular area and a circular ring area in the initial cruising area, where a current position point is used as a center of a circle; wherein the initial endurance area is determined according to the current location point of the vehicle and an endurance mileage;

a second determining module 420, configured to determine at least one road node group, where the road node group includes: an initial road node in the circular area, which is communicated with the current position point, and a first road node and a second road node in the circular area; taking the current position point as a starting point, and sequentially enabling the length of a path passing through each road node in the road node group to be smaller than or equal to the endurance mileage;

the first determining unit 4301 is configured to select a plurality of candidate road nodes from at least one of the second road nodes according to a degree of approaching an initial cruising area boundary;

the second determining unit 4302 is configured to determine a cruising area of the vehicle according to the plurality of candidate road nodes.

As a possible implementation manner of the embodiment of the present disclosure, the second determining unit 4302 is specifically configured to determine, for each candidate road node, included angle information between a connection line from the candidate road node to the current position point in the map and a forward direction of an X axis in the map; sorting the candidate road nodes according to the included angle information to obtain a first sorting result; sequentially connecting the candidate road nodes in the map according to the first sequencing result to obtain a boundary line; and determining the area defined by the boundary line as the cruising area of the vehicle.

As a possible implementation manner of the embodiment of the present disclosure, the first determining unit 4301 is specifically configured to, for each road node group, determine a length of a path from the initial road node to the second road node in the road node group and a linear distance from the initial road node to the second road node in the map; determining a difference between the length and the linear distance; sorting second road nodes in the at least one road node group in an ascending order according to the difference value to obtain a second sorting result; and determining the second road nodes with the preset number ranked in the second ranking result as the candidate road nodes.

As a possible implementation manner of the embodiment of the present disclosure, the first determining unit 4301 is specifically configured to, for each road node group, determine a length of a path from the initial road node to the first road node in the road node group and a linear distance from the initial road node to the second road node; determining a cost value of the second road node according to the direction of the path, the length of the path, the linear distance and the direction from the initial road node to the second road node; according to the cost value and the difference absolute value of the endurance mileage, performing ascending sorting on the second road nodes to obtain a third sorting result; and determining the second road nodes with the preset number ranked in the top from the third ranking result as the candidate road nodes.

In the technical scheme of the disclosure, the collection, storage, use, processing, transmission, provision, disclosure and other processing of the personal information of the related user are all carried out on the premise of obtaining the consent of the user, and all accord with the regulation of related laws and regulations without violating the good custom of the public order.

The present disclosure also provides an electronic device, a readable storage medium, and a computer program product according to embodiments of the present disclosure.

FIG. 5 illustrates a schematic block diagram of an example electronic device 500 that can be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the disclosure described and/or claimed herein.

As shown in fig. 5, the electronic device 500 includes a computing unit 501, which can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM)502 or a computer program loaded from a storage unit 508 into a Random Access Memory (RAM) 503. In the RAM 503, various programs and data required for the operation of the electronic apparatus 500 can also be stored. The calculation unit 501, the ROM 502, and the RAM 503 are connected to each other by a bus 504. An input/output (I/O) interface 505 is also connected to bus 504.

A number of components in the electronic device 500 are connected to the I/O interface 505, including: an input unit 506 such as a keyboard, a mouse, or the like; an output unit 507 such as various types of displays, speakers, and the like; a storage unit 508, such as a magnetic disk, optical disk, or the like; and a communication unit 509 such as a network card, modem, wireless communication transceiver, etc. The communication unit 509 allows the electronic device 500 to exchange information/data with other devices through a computer network such as the internet and/or various telecommunication networks.

The computing unit 501 may be a variety of general-purpose and/or special-purpose processing components having processing and computing capabilities. Some examples of the computing unit 501 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and so forth. The calculation unit 501 executes the respective methods and processes described above, such as the determination method of the cruising area. For example, in some embodiments, the determination of the cruising region may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as storage unit 508. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 500 via the ROM 502 and/or the communication unit 509. When the computer program is loaded into the RAM 503 and executed by the computing unit 501, one or more steps of the determination method of cruising area described above may be performed. Alternatively, in other embodiments, the computing unit 501 may be configured to perform the determination method of the cruising area by any other suitable means (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.

The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server with a combined blockchain.

It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present disclosure may be executed in parallel, sequentially, or in different orders, as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved, and the present disclosure is not limited herein.

The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A method of determining a cruising area, comprising:

determining an initial cruising area of a vehicle to be processed, and a circular area and a circular ring area which take a current position point as a circle center in the initial cruising area; wherein the initial endurance area is determined according to the current location point of the vehicle and an endurance mileage;

determining at least one road node group, wherein the road node group comprises: an initial road node in the circular area, which is communicated with the current position point, and a first road node and a second road node in the circular area; taking the current position point as a starting point, and sequentially enabling the length of a path passing through each road node in the road node group to be smaller than or equal to the endurance mileage;

determining a range of the vehicle based on the second road node of the at least one road node group.

2. The method of claim 1, wherein the determining at least one road node group comprises:

determining an initial road node in the circular area, which is communicated with the current position point;

selecting a first road node from each road node according to the path length from the initial road node to each road node in the circular ring area;

for each first road node, selecting a second road node from each non-first road node according to the path length from the first road node to each non-first road node in the circular ring area and the endurance mileage;

and generating the at least one road node group according to the initial road node, the first road node and the corresponding second road node.

3. The method of claim 1, wherein said determining a range area of the vehicle from the second road node of the at least one road node group comprises:

selecting a plurality of candidate road nodes from at least one second road node according to the degree of approaching the boundary of the initial cruising area;

and determining a cruising area of the vehicle according to the candidate road nodes.

4. The method of claim 3, wherein said determining a range of said vehicle from said plurality of candidate road nodes comprises:

determining included angle information between a connecting line from the candidate road node to the current position point in the map and the positive direction of an X axis in the map aiming at each candidate road node;

sorting the candidate road nodes according to the included angle information to obtain a first sorting result;

sequentially connecting the candidate road nodes in the map according to the first sequencing result to obtain a boundary line;

and determining the area defined by the boundary line as the cruising area of the vehicle.

5. The method of claim 3, wherein selecting a plurality of candidate road nodes from at least one of the second road nodes to the extent of proximity to an initial cruising area boundary comprises:

for each road node group, determining the length of a path from the initial road node to the second road node in the road node group and the straight-line distance from the initial road node to the second road node in the map;

determining a difference between the length and the linear distance;

sorting second road nodes in the at least one road node group in an ascending order according to the difference value to obtain a second sorting result;

and determining the second road nodes with the preset number ranked in the second ranking result as the candidate road nodes.

6. The method of claim 3, wherein selecting a plurality of candidate road nodes from at least one of the second road nodes to the extent of proximity to an initial cruising area boundary comprises:

for each road node group, determining the length of a path from the initial road node to the first road node in the road node group and the straight-line distance from the initial road node to the second road node;

determining a cost value of the second road node according to the direction of the path, the length of the path, the linear distance and the direction from the initial road node to the second road node;

according to the cost value and the difference absolute value of the endurance mileage, performing ascending sorting on the second road nodes to obtain a third sorting result;

and determining the second road nodes with the preset number ranked in the top from the third ranking result as the candidate road nodes.

7. The method of claim 1, wherein the determining an initial cruising area of the vehicle to be processed, and a circular area and a circular ring area in the initial cruising area centered on the current position point comprises:

determining a current position point and a driving range of the vehicle;

determining the initial cruising area of the vehicle by taking the current position point as a circle center and the cruising mileage as a radius;

sequentially determining the circular area according to the radius in the preset radius sequence until the initial road node exists in the circular area;

and determining the circular ring area according to the circular area.

8. The method according to any one of claims 1 to 7, wherein the initial road node, the first road node and the second road node are entrance and exit nodes at which roads of a specified level in the initial cruising area communicate with other roads;

wherein the specified grade is determined according to the endurance mileage.

9. The method of claim 1, wherein the method further comprises:

receiving a navigation request, wherein the navigation request comprises: a target road node;

determining a candidate navigation path according to the current position point and the target road node;

determining the candidate navigation path as a navigation path when the length of the candidate navigation path is less than or equal to the endurance mileage;

and when the length of the candidate navigation path is greater than the endurance mileage, determining the navigation path of the path charging pile position point by combining the charging pile position point, the current position point and the target road node.

10. A cruising area determining apparatus comprising:

the system comprises a first determination module, a second determination module and a third determination module, wherein the first determination module is used for determining an initial cruising area of a vehicle to be processed, and a circular area and a circular ring area which take a current position point as a circle center in the initial cruising area; wherein the initial endurance area is determined according to the current location point of the vehicle and an endurance mileage;

a second determination module configured to determine at least one road node group, wherein the road node group comprises: an initial road node in the circular area, which is communicated with the current position point, and a first road node and a second road node in the circular area; taking the current position point as a starting point, and sequentially enabling the length of a path passing through each road node in the road node group to be smaller than or equal to the endurance mileage;

a third determination module configured to determine a cruising area of the vehicle according to the second road node in the at least one road node group.

11. The apparatus of claim 10, wherein the second determining means is specifically configured to,

12. The apparatus of claim 10, wherein the third determining means comprises: a first determination unit and a second determination unit;

the first determining unit is used for selecting a plurality of candidate road nodes from at least one second road node according to the degree of approaching to the boundary of the initial cruising area;

the second determination unit is configured to determine a cruising area of the vehicle according to the plurality of candidate road nodes.

13. The apparatus of claim 12, wherein the second determination unit is specifically configured to,

14. The apparatus of claim 12, wherein the first determination unit is specifically configured to,

determining a difference between the length and the linear distance;

15. The apparatus of claim 12, wherein the first determination unit is specifically configured to,

16. The apparatus of claim 10, wherein the first determining means is specifically configured to,

determining a current position point and a driving range of the vehicle;

and determining the circular ring area according to the circular area.

17. The apparatus according to any one of claims 10 to 16, wherein the initial road node, the first road node, and the second road node are entrance and exit nodes at which roads of a specified rank in the initial cruising area communicate with other roads;

wherein the specified grade is determined according to the endurance mileage.

18. The apparatus of claim 10, wherein the apparatus further comprises: a receiving module and a fourth determining module;

the receiving module is configured to receive a navigation request, where the navigation request includes: a target road node;

the fourth determining module is configured to determine a candidate navigation path according to the current location point and the target road node; determining the candidate navigation path as a navigation path when the length of the candidate navigation path is less than or equal to the endurance mileage; and when the length of the candidate navigation path is greater than the endurance mileage, determining the navigation path of the path charging pile position point by combining the charging pile position point, the current position point and the target road node.

19. An electronic device, comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-9.

20. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-9.

21. A computer program product comprising a computer program which, when being executed by a processor, carries out the steps of the method according to any one of claims 1-9.