CN109596137A - Method and device for dynamically searching charging pile path planning and navigation - Google Patents
Method and device for dynamically searching charging pile path planning and navigation Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3469—Fuel consumption; Energy use; Emission aspects
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Abstract
The invention discloses a method and a device for dynamically searching a charging pile path plan and navigating, wherein the method for dynamically searching the charging pile path plan comprises the following steps: calculating the remaining driving range of the vehicle according to the current power state and the destination information of the vehicle; searching a charging pile according to the current first position information of the vehicle when the remaining driving mileage reaches a first preset mileage; when the charging pile is searched, path planning is carried out according to the type of the charging pile, and a path planning result is generated and displayed; and acquiring a first charging pile location selected by the user according to the path planning result, calculating the path planning according to the first charging pile location and the first location information, and navigating. By implementing the method and the device, the available charging pile can be searched in real time, the situation that the vehicle cannot supplement power before the power is exhausted is effectively avoided, the endurance mileage of the vehicle in the driving process is improved in an auxiliary mode, the worry and the worry of a user on insufficient power in the process of driving the electric vehicle are reduced, and the driving experience of the user is improved.
Description
Technical field
The present invention relates to electric car charging field of navigation technology, and in particular to a kind of dynamic searching charging pile path rule
It draws, air navigation aid and device.
Background technique
On Vehicles Collected from Market, for user when buying pure electric automobile, there are two main the problem of worrying, first is that mileage travelled is asked
Topic, the other is charging problems.Even if may search for charging pile by programs such as map APP, but also there can be charging pile not
Can with, charging pile is occupied, charging pile is not present the problems such as, but these problems can not by the programs such as present map APP into
Row in time, is accurately fed back, and is one of the main reason for causing user's " mileage anxiety ".This problem can also further result in
Find the problem that can use charging pile hardly possible.These are all the urgent problems to be solved in electric car use process.
Summary of the invention
In view of this, the embodiment of the invention provides a kind of dynamic find charging pile path planning, air navigation aid and
Device, with solve the problems, such as in the prior art information of charging pile update not in time, be difficult to look for available charging pile.
According in a first aspect, the embodiment of the invention provides a kind of methods that dynamic finds charging pile path planning, comprising:
Vehicle residual running mileage is calculated according to the current power state of vehicle and destination information；When the residual running mileage
When reaching the first default mileage number, charging pile is searched for according to the current first location information of the vehicle；When searching charging pile
When, path planning is carried out according to charging pile type, is generated and the program results that show paths；User is obtained according to the path planning
As a result the first charging pile place selected calculates path rule according to first charging pile place and the first location information
It draws, and navigates.
With reference to first aspect, in first aspect first embodiment, when not searching charging pile, judge the vehicle
Residual running mileage whether reach the second default mileage number；When the residual running mileage reach described second it is default in
When number of passes, charging pile is searched for according to the current second location information of the vehicle；When searching charging pile, execute according to charging
The step of stake type carries out path planning.
With reference to first aspect, in first aspect second embodiment, after being navigated, which finds charging pile road
The method of diameter planning further include: the last state in first charging pile place is obtained according to predetermined period；According to described newest
State judges whether the state in first charging pile place changes；When the state in first charging pile place becomes
When change, prompt information is sent to user, and return and vehicle residue is calculated according to the current power state of vehicle and destination information
The step of mileage.
Second embodiment with reference to first aspect is sentenced in first aspect third embodiment according to the last state
Whether whether the state in first charging pile place of breaking changes, comprising: judge in first charging pile place without can
Use charging pile；If charging pile can not be used in first charging pile place, the state hair in first charging pile place is determined
Changing.
Third embodiment with reference to first aspect, in the 4th embodiment of first aspect, if first charging pile
There is available charging pile in place, determines that the state in first charging pile place does not change, return is obtained according to predetermined period
The step of taking the last state in first charging pile place.
4th embodiment with reference to first aspect, in the 5th embodiment of first aspect, which finds charging pile road
The method of diameter planning further include: judge to reach in the vehicle in pre-determined distance and/or default before first charging pile place
In time, whether the state in first charging pile place does not change；If the vehicle reaches first charging
Before stake place in pre-determined distance and/or in preset time, the state in first charging pile place does not change, prompts institute
User is stated to charge.
5th embodiment with reference to first aspect, in first aspect sixth embodiment, which finds charging pile road
Diameter planning method further include: detect the vehicle whether charging complete；When charging is complete, according to current power state and
The destination information judges whether the vehicle can arrive at the destination；When determining that the vehicle can arrive at the destination,
Start path planning, navigates.
Sixth embodiment with reference to first aspect, in the 7th embodiment of first aspect, when the judgement vehicle can not
When arriving at the destination, returns and execute according to the current power state of vehicle and destination information calculating vehicle residual running mileage
The step of.
According to second aspect, the embodiment of the invention provides a kind of automobile navigation methods, comprising: obtains the mesh of user's input
Ground information and the current power state of vehicle；Judged whether that purpose can be reached according to the destination information and power state
Ground；When determining can not arrive at the destination, execute in above-mentioned first aspect or first aspect described in any one embodiment
The method that dynamic finds charging pile path planning.
According to the third aspect, the embodiment of the invention provides the devices that a kind of dynamic finds charging pile path planning, comprising:
Residual running mileage computing module, it is feasible for calculating vehicle residue according to the current power state of vehicle and destination information
Sail mileage；Charging pile search module, for when the residual running mileage reaches the first default mileage number, according to the vehicle
Current first location information searches for charging pile；Path planning module, for when searching charging pile, according to charging pile class
Type carries out path planning, generates and the program results that show paths；Navigation module, for obtaining user according to the path planning knot
First charging pile place of fruit selection calculates path planning according to first charging pile place and the first location information,
And it navigates.
According to fourth aspect, the embodiment of the invention provides a kind of vehicle navigation apparatus, comprising: information of vehicles obtains mould
Block, for obtaining the destination information and the current power state of vehicle of user's input；Mileage travelled judgment module is used for basis
The destination information and power state judge whether to arrive at the destination；Dynamic finds the device of charging pile path planning,
For executing in above-mentioned first aspect or first aspect described in any one embodiment when determining can not arrive at the destination
The method that dynamic finds charging pile path planning.
According to the 5th aspect, the embodiment of the invention provides a kind of electronic equipment/mobile terminal/servers, comprising: storage
Device and processor communicate with each other connection, are stored with computer in the memory and refer between the memory and the processor
It enables, the processor is by executing the computer instruction, thereby executing any one of first aspect or first aspect reality
The method that dynamic described in mode finds charging pile path planning is applied, alternatively, executing automobile navigation side described in second aspect
Method.
It is described computer-readable the embodiment of the invention provides a kind of computer readable storage medium according to the 6th aspect
Storage medium stores computer instruction, and the computer instruction is for making the computer execute first aspect or first aspect
Any one embodiment described in dynamic find charging pile path planning method, alternatively, execute second aspect described in
Automobile navigation method.
The beneficial effect of the embodiment of the present invention is that it is possible to the power state current according to vehicle, and dynamic finds charging pile
And path planning is carried out, to judge whether vehicle charges according to the driving range of vehicle in real time, also, it is based on
The driving range search of vehicle can use charging pile, to effectively avoid vehicle that from can not carrying out power supplement before power exhausts
Situation occurs, effectively the course continuation mileage of auxiliary raising vehicle in the process of moving, right during reduction user's electric vehicle drive
The worry and misgivings being short of power, promote the driving experience of user.
Also, can also the real-time query charging pile state, according to the state of charging pile to navigation or charging scheme into
Professional etiquette is drawn.Electric vehicle the case where continuing a journey inadequate, charging not in time possible in the process of moving can further be improved,
Further promote the driving experience of user.
Detailed description of the invention
The features and advantages of the present invention will be more clearly understood by referring to the accompanying drawings, and attached drawing is schematically without that should manage
Solution is carries out any restrictions to the present invention, in the accompanying drawings:
The dynamic that Fig. 1 shows the embodiment of the present invention finds the flow chart of the method for charging pile path planning；
Fig. 2 shows the flow charts that the dynamic of another embodiment of the present invention finds the method for charging pile path planning；
The dynamic that Fig. 3 shows the embodiment of the present invention finds the structural schematic diagram of the device of charging pile path planning；
Fig. 4 shows the flow chart of the automobile navigation method of the embodiment of the present invention；
Fig. 5 shows the structural schematic diagram of the vehicle navigation apparatus of the embodiment of the present invention；
Fig. 6 shows the structural schematic diagram of the navigation equipment of the embodiment of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those skilled in the art are not having
Every other embodiment obtained under the premise of creative work is made, shall fall within the protection scope of the present invention.
The embodiment of the invention provides a kind of method that dynamic finds charging pile path planning, this method can be applied to electricity
There are when charge requirement in electrical automobile driving process, to find available charging pile etc., it specifically may be used on automobile
In navigation system, but the present invention is not limited thereto.As shown in Figure 1, the method that the dynamic finds charging pile path planning is main
Include:
Step S1: vehicle residual running mileage is calculated according to the current power state of vehicle and destination information.According to
The power state of vehicle and the total kilometrage of destination information confirmation calculate the residual running mileage of current vehicle.For example, vehicle
Mileage is 1000 kilometers when full power state.When the power state of vehicle is 60%, mileage becomes
It is 600 kilometers.
Step S2: when residual running mileage reaches the first default mileage number, believed according to the current first position of vehicle
Breath search charging pile；After getting vehicle residual running mileage by step S1, it need to judge that the residual running mileage is
It is no to reach a preset standard mileage number.In vehicle travel process, navigation system defaults the preset standard of residual running mileage
Mileage number be the Full Power State total kilometrage that vehicle remaining mileage subtracts vehicle 20% (such as: vehicle total kilometrage is 600 public
In, residual running mileage is 400 kilometers, then the first default mileage number is 400- (600*20%)=280 kilometer).This
In, reserving the 20% of vehicle total kilometrage is safe remaining mileage, is in order to avoid vehicle is due to the unexpected peace that can not be charged
Full remaining mileage).In practical application, 20% range of total kilometrage can be adjusted as needed.
When the residual running mileage for detecting vehicle reaches the first default mileage number, then automatically begin to charge
Stake search, searches for the position for the charging pile that can be retrieved within the scope of the residual running mileage.
Step S3: when searching charging pile, path planning is carried out according to charging pile type, is generated and the planning that shows paths
As a result；When searching charging pile within the scope of residual running mileage, path planning is carried out according to the position of charging pile respectively,
And route programming result is generated, user is showed, is selected for user.
Step S4: the first charging pile place that user selects according to route programming result is obtained, according to the first charging pile
Point and first location information calculate path planning, and navigate.When user selects according to the route programming result of displaying
Afterwards, it is navigated according to the current position in the place of the charging pile of user's selection and vehicle.
S1 to step S4 through the above steps, the method that the dynamic of the embodiment of the present invention finds charging pile path planning, energy
Enough power states current according to vehicle, dynamic finds charging pile and carries out path planning, thus in real time according to the feasible of vehicle
It sails whether Distance Judgment vehicle charges, also, charging pile can be used based on the search of the driving range of vehicle, to have
The case where effect avoids vehicle that from can not carrying out power supplement before power exhausts appearance, effectively auxiliary improve vehicle in the process of moving
Course continuation mileage, reduce user's electric vehicle drive during to the worry and misgivings being short of power, promote the driving body of user
It tests.
Optionally, in some embodiment of the invention, the dynamic of the embodiment of the present invention finds the side of charging pile path planning
Method further include: judge whether the residual running mileage of vehicle reaches the second default mileage number；When residual running mileage reaches
When the second default mileage number, charging pile is searched for according to the current second location information of vehicle；When searching charging pile, step is executed
Rapid S3 carries out path planning according to charging pile type.
During searching for charging pile in step S2, fail to search charging in current residual running mileage
Stake, then further judge whether the residual running mileage of vehicle reaches another default mileage for example, being superimposed 10% mileage every time
It scans for.For example, vehicle total kilometrage is 600 kilometers, residual running mileage is 400 kilometers, then in first is default
Number of passes is 400- (600*20%)=280 kilometer, if search is less than charging pile at 280 kilometers, then being overlapped 10%
Mileage obtains the second default mileage number and scans for, i.e., are as follows: 400- (600*30%)=220 kilometer is searched at 220 kilometers
Rope.If still search for less than, then be superimposed 10% and scan for).
By the above process, it is ensured that whether vehicle real-time query periphery in residual running mileage, which has, can be used to fill
The charging pile of electricity can prompt in time user that charging pile place is gone to charge, Neng Gouyou when that can search charging pile
The sustainable supply of support vehicles power is imitated, auxiliary extends the driving course continuation mileage of vehicle.
In practical applications, overcome electric car find can be more difficult with charging pile problem after, still there may be
Other problems: the charging pile searched is possible and unavailable, such as charging pile is occupied, charging pile is not present etc., this feelings
Under condition, the place that can be charged has been searched in time, but in the case where can not knowing the last state of charging pile, it is also possible to make
Charging place is reached at vehicle, the case where but can not still charging, mileage travelled had not only been wasted but also could not have been charged, and can equally give
Vehicle driving causes difficulty.Therefore, to solve the above-mentioned problems, in the embodiment of the present invention, according to the charging pile that searches into
It further include the process for obtaining charging pile last state, as shown in Fig. 2, specifically including that during row navigation
Step S5: the last state in the first charging pile place is obtained according to predetermined period；Specifically, setting one can be passed through
A timer, is inquired according to the fixed cycle, e.g. progress one query in every 5 minutes, inquires above-mentioned steps S1- step S4
In determined by charging pile in the first charging pile place last state.Specifically, the process for inquiring charging pile state is main
It is that navigation system obtains the interface of charging pile state, and then passes through man-machine interface (Human Machine Interface, HMI)
Mode show.Same scheme has application to when inquiring certain places by Amap, inquires and shows place
During the information for whether thering are the real-time status such as parking stall, fuel price to update.
Step S6: judge whether the state in the first charging pile place changes according to last state；According to charging pile
Whether state changes.When it is implemented, can be the use state for obtaining each charging pile in the first charging pile place
Or operating status, when the state for inquiring the charging pile in the first charging pile place is all occupied, all damages, portion
When dividing occupied part to be damaged, i.e., when currently having no workable charging pile, then determine the first charging pile place
Charging pile change, and to be unavailable.When inquired an at least charging pile it is available when, then the state in charging pile place is simultaneously
It does not change, or the variation occurred has no effect on the use of charging pile.
Step S7: when the state in the first charging pile place changes, prompt information, and return step are sent to user
S1.When the state for determining the first charging pile place changes, then it represents that the current first charging pile place is unavailable, then to
User sends prompt information, and re-execute the steps S1, searches for new charging pile place.When the first charging pile place of judgement
When state does not change, then it represents that the current first charging pile place is available, without sending prompt information to user, and returns
Step S5 continues the last state that the first charging pile place is obtained according to predetermined period.
Through the above steps, the method that the dynamic of the embodiment of the present invention finds charging pile path planning, can not only be real-time
The charging pile that enquiring vehicle can reach, and be capable of the state of the real-time query charging pile, according to the state of charging pile to leading
Boat or charging scheme are planned.Electric vehicle can further be improved, and possible continuation of the journey is inadequate in the process of moving, fills
Electricity not in time the case where, further promoted user driving experience.
Optionally, in some embodiments of the invention, before vehicle driving to the first charging pile of distance place preset away from
When from interior and/or preset time, for example, when in the first 1 kilometer of charging pile place A point that vehicle driving is arrived to range search
When, or drive to that there are also charging piles when 5-10 minutes ranges of driving, judged in first charging pile place A point apart from the A point
Whether state is always that not changed state if it is not changed state then defaults the first charging pile place A point
Should be it is available, at this point, prompt user can charge.
After user's driving vehicle, which reaches the first charging pile place, to charge, the dynamic searching of the embodiment of the present invention is filled
The method of electric stake path planning can also further detect vehicle whether charging complete, when charging is complete, according to current electric power
Whether vehicle can arrive at the destination at this time for state and destination information judgement；When determining that vehicle can arrive at the destination, open
Dynamic path planning, navigates.When determining that vehicle can not arrive at the destination, since vehicle is in full power state at this time, then
Step S1 can be continued to execute during user drives vehicle driving, carry out new dynamic and find charging pile path planning.
The embodiment of the present invention also provides a kind of device of dynamic searching charging pile path planning, as shown in figure 3, this is dynamically sought
The device for looking for charging pile path planning includes: residual running mileage computing module 1, charging pile search module 2, path planning mould
Block 3, navigation module 4 etc..
Wherein, residual running mileage computing module 1 is based on the power state and destination information current according to vehicle
Calculate vehicle residual running mileage；Detailed content can be found in the associated description of the step S1 of above method embodiment.
Charging pile search module 2 is used for when residual running mileage reaches the first default mileage number, current according to vehicle
First location information search for charging pile；Detailed content can be found in the associated description of the step S2 of above method embodiment.
Path planning module 3 is used for when searching charging pile, is carried out path planning according to charging pile type, is generated and show
Show route programming result；Detailed content can be found in the associated description of the step S3 of above method embodiment.
Navigation module 4 is filled for obtaining the first charging pile place that user selects according to route programming result according to first
Electric stake place and first location information calculate path planning, and navigate.Detailed content can be found in above method embodiment
The associated description of step S4.
The dynamic of the embodiment of the present invention finds the device of charging pile path planning, electric power shape that can be current according to vehicle
State, dynamic find charging pile simultaneously carry out path planning, thus in real time according to the driving range of vehicle judge vehicle whether needs
It charges, also, the search of the driving range based on vehicle can use charging pile, to effectively avoid vehicle before power exhausts
The case where can not carrying out power supplement appearance, effectively auxiliary improve the course continuation mileage of vehicle in the process of moving, reduce user and drive
Electric car is sailed in the process to the worry and misgivings being short of power, promotes the driving experience of user.
The embodiment of the present invention also provides a kind of automobile navigation method, as shown in figure 4, the automobile navigation method specifically includes that
Step S41: the destination information of user's input and the power state that vehicle is current are obtained；
Step S42: judge whether to arrive at the destination according to destination information and power state；
Step S43: it when determining can not arrive at the destination, executes the searching of dynamic described in any one of the above embodiment and fills
The method of electric stake path planning.
It in embodiments of the present invention, is the method actual fused that the dynamic of above-described embodiment is found to charging pile path planning
It is applied in the navigation procedure of vehicle, first the destination information of acquisition user input, and obtains the current power state of vehicle,
The mileage of vehicle is judged according to the destination information and power state, and judges that vehicle is under current power state
It is no to arrive at the destination.If it is determined that vehicle can not arrive at the destination, then need by being moved described in above method embodiment
State finds the method for charging pile path planning to search for charging pile, and carries out path planning.
By the above process, it is ensured that user is unable to satisfy traveling demand in electric vehicle drive, without worrying electric power
The problem of, the greatly possible pain spot for solving user's " mileage anxiety ", " finding can be difficult with charging pile ".
The embodiment of the present invention also provides a kind of vehicle navigation apparatus, as shown in figure 5, the vehicle navigation apparatus includes: vehicle
Data obtaining module 41, for obtaining the destination information and the current power state of vehicle of user's input；Mileage travelled judgement
Module 42, for judging whether to arrive at the destination according to destination information and power state；Dynamic finds charging pile path
The device 43 of planning, for when determining can not arrive at the destination, executing the searching of dynamic described in above-mentioned any means embodiment
The method of charging pile path planning.
Vehicle navigation apparatus through the embodiment of the present invention, it is ensured that user is in electric vehicle drive, without worrying electricity
Power is unable to satisfy the problem of traveling demand, greatly possible to solve user's " mileage anxiety ", " find with charging pile difficult "
Pain spot.
The embodiment of the invention also provides a kind of navigation equipments, as shown in fig. 6, the navigation equipment may include processor 61
With memory 62, wherein processor 61 can be connected with memory 62 by bus or other modes, to pass through bus in Fig. 6
For connection.
Processor 61 can be central processing unit (Central Processing Unit, CPU).Processor 61 can be with
For other general processors, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), field programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
The combination of the chips such as discrete hardware components or above-mentioned all kinds of chips.
Memory 62 is used as a kind of non-transient computer readable storage medium, can be used for storing non-transient software program, non-
Transient computer executable program and module, as in the embodiment of the present invention dynamic find charging pile path planning method or
Corresponding program instruction/the module of automobile navigation method is (for example, residual running mileage computing module 1 shown in Fig. 3, charging pile
Search module 2, path planning module 3 and navigation module 4 or information of vehicles shown in fig. 5 obtain module 41, mileage travelled judgement
Module 42 and dynamic find the device 43 of charging pile path planning).Processor 61 is stored in non-in memory 62 by operation
Transient state software program, instruction and module are realized above-mentioned thereby executing the various function application and data processing of processor
The method that dynamic in embodiment of the method finds charging pile path planning, or, realizing the automobile navigation in above method embodiment
Method.
Memory 62 may include storing program area and storage data area, wherein storing program area can storage program area,
Application program required at least one function；It storage data area can the data etc. that are created of storage processor 61.In addition, storage
Device 62 may include high-speed random access memory, can also include non-transient memory, for example, at least a magnetic disk storage
Part, flush memory device or other non-transient solid-state memories.In some embodiments, it includes relative to place that memory 62 is optional
The remotely located memory of device 61 is managed, these remote memories can pass through network connection to processor 61.The reality of above-mentioned network
Example includes but is not limited to internet, intranet, local area network, mobile radio communication and combinations thereof.
One or more of modules are stored in the memory 62, when being executed by the processor 61, are executed
The method that dynamic in embodiment as Figure 1-Figure 2 finds charging pile path planning is led or, executing vehicle as shown in Figure 4
Boat method.
Above-mentioned navigation equipment detail can correspond to corresponding associated description in embodiment referring to FIG. 1 to 5
Understood with effect, details are not described herein again.
It is that can lead to it will be understood by those skilled in the art that realizing all or part of the process in above-described embodiment method
Computer program is crossed to instruct relevant hardware and complete, the program can be stored in a computer-readable storage medium
In, the program is when being executed, it may include such as the process of the embodiment of above-mentioned each method.Wherein, the storage medium can for magnetic disk,
CD, read-only memory (Read-Only Memory, ROM), random access memory (Random Access
Memory, RAM), flash memory (Flash Memory), hard disk (Hard Disk Drive, abbreviation: HDD) or solid state hard disk
(Solid-State Drive, SSD) etc.；The storage medium can also include the combination of the memory of mentioned kind.
Although being described in conjunction with the accompanying the embodiment of the present invention, those skilled in the art can not depart from the present invention
Spirit and scope in the case where various modifications and variations can be made, such modifications and variations are each fallen within by appended claims institute
Within the scope of restriction.
Claims (13)
1. a kind of method that dynamic finds charging pile path planning characterized by comprising
Vehicle residual running mileage is calculated according to the current power state of vehicle and destination information；
When the residual running mileage reaches the first default mileage number, according to the vehicle, current first location information is searched
Rope charging pile；
When searching charging pile, path planning is carried out according to charging pile type, is generated and the program results that show paths；
Obtain the first charging pile place for selecting according to the route programming result of user, according to first charging pile place and
The first location information calculates path planning, and navigates.
2. the method that dynamic according to claim 1 finds charging pile path planning, which is characterized in that filled when not searching
When electric stake, judge whether the residual running mileage of the vehicle reaches the second default mileage number；
When the residual running mileage reaches the second default mileage number, according to the current second confidence of the vehicle
Breath search charging pile；
When searching charging pile, the step of path planning is carried out according to charging pile type is executed.
3. the method that dynamic according to claim 1 finds charging pile path planning, which is characterized in that navigating
Afterwards, the method further include:
The last state in first charging pile place is obtained according to predetermined period；
Judge whether the state in first charging pile place changes according to the last state；
When the state in first charging pile place changes, prompt information is sent to user, and return and work as according to vehicle
The step of preceding power state and destination information calculate vehicle residual running mileage.
4. the method that dynamic according to claim 3 finds charging pile path planning, which is characterized in that according to described newest
State judges whether the state in first charging pile place changes, comprising:
Whether judge in first charging pile place without charging pile can be used；
If charging pile can not be used in first charging pile place, determine that the state in first charging pile place becomes
Change.
5. the method that dynamic according to claim 4 finds charging pile path planning, which is characterized in that if described first
There is available charging pile in charging pile place, determines that the state in first charging pile place does not change, return according to default
Period obtains the step of last state in first charging pile place.
6. the method that dynamic according to claim 5 finds charging pile path planning, which is characterized in that further include:
Judge to reach before first charging pile place in pre-determined distance and/or in preset time in the vehicle, described first
Whether the state in charging pile place does not change；
If described first fills before the vehicle arrival first charging pile place in pre-determined distance and/or in preset time
The state in electric stake place does not change, and the user is prompted to charge.
7. the method that dynamic according to claim 6 finds charging pile path planning, which is characterized in that further include:
Detect the vehicle whether charging complete；
When charging is complete, judge whether the vehicle can reach mesh according to current power state and the destination information
Ground；
When determining that the vehicle can arrive at the destination, starts path planning, navigate.
8. the method that dynamic according to claim 7 finds charging pile path planning, which is characterized in that when the judgement vehicle
When can not arrive at the destination, returns and execute that calculate vehicle residue according to the current power state of vehicle and destination information feasible
The step of sailing mileage.
9. a kind of automobile navigation method characterized by comprising
Obtain the destination information of user's input and the power state that vehicle is current；
Judge whether to arrive at the destination according to the destination information and power state；
When determining can not arrive at the destination, executes dynamic of any of claims 1-8 such as and find charging pile path
The method of planning.
10. the device that a kind of dynamic finds charging pile path planning characterized by comprising
Residual running mileage computing module, it is remaining for calculating vehicle according to the current power state of vehicle and destination information
Mileage；
Charging pile search module, for when the residual running mileage reaches the first default mileage number, according to the vehicle
Current first location information searches for charging pile；
Path planning module, for carrying out path planning according to charging pile type, generating and show road when searching charging pile
Diameter program results；
Navigation module, the first charging pile place selected for obtaining user according to the route programming result, according to described
One charging pile place and the first location information calculate path planning, and navigate.
11. a kind of vehicle navigation apparatus characterized by comprising
Information of vehicles obtains module, the current power state of the destination information and vehicle for obtaining user's input；
Mileage travelled judgment module, for judging whether to arrive at the destination according to the destination information and power state；
Dynamic finds the device of charging pile path planning, for executing such as claim 1-8 when determining can not arrive at the destination
Any one of described in dynamic find charging pile path planning method.
12. a kind of navigation equipment characterized by comprising
Memory and processor communicate with each other connection, are stored in the memory between the memory and the processor
Computer instruction, the processor is by executing the computer instruction, thereby executing as described in any one of claim 1-8
The dynamic method of finding charging pile path planning, or execute automobile navigation method as claimed in claim 9.
13. a kind of computer readable storage medium, which is characterized in that the computer-readable recording medium storage has computer to refer to
It enables, the computer instruction finds charging for making the computer execute dynamic of any of claims 1-8 such as
The method of stake path planning, or execute automobile navigation method as claimed in claim 9.
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