CN116518996A

CN116518996A - Path planning method, path planning device, vehicle and storage medium

Info

Publication number: CN116518996A
Application number: CN202310487612.7A
Authority: CN
Inventors: 韩三楚; 张英鹏; 孔靖; 周爱民
Original assignee: Chongqing Changan Automobile Co Ltd
Current assignee: Chongqing Changan Automobile Co Ltd
Priority date: 2023-04-28
Filing date: 2023-04-28
Publication date: 2023-08-01

Abstract

The present application relates to the field of vehicle technologies, and in particular, to a path planning method, a device, a vehicle, and a storage medium, where the method includes: acquiring a starting point and an ending point of path planning; generating one or more candidate routes according to the starting point and the ending point, acquiring the direct direction and the altitude angle of the current sun, calculating the probability of direct sunlight on a windshield of each candidate route according to the direct direction, and calculating the shadow rate of solar irradiation covering roads on each candidate route according to the altitude angle; and determining a recommended value of each candidate route according to the probability of the direct solar radiation windshield and the shadow rate of the solar radiation covered road, and taking the candidate route with the optimal recommended value as the optimal route. Therefore, the problems that the influence of sunlight on a driver is not considered in the path planning process in the related technology, the experience of a user is poor and the like are solved.

Description

Path planning method, path planning device, vehicle and storage medium

Technical Field

The present disclosure relates to the field of vehicle technologies, and in particular, to a path planning method, a path planning device, a vehicle, and a storage medium.

Background

In the process of driving a vehicle, people usually use vehicle-mounted driving software to navigate, and when planning a path, the basic function of calculating the path of a map is used to calculate the path required by the user according to the current coordinate starting point and coordinate key point, but only the data of the map is used to calculate the path, so that some paths are avoided, the accuracy of calculating the path is improved, or common filtering conditions such as shortest path, no congestion, less charge and the like are only performed.

However, the related art does not consider the influence of sunlight on the driver, for example, if the sun is dazzling in hot summer during outdoor forms, the sun shines on the vehicle, which makes the eyes feel very uncomfortable during driving, and it is difficult to avoid the sun shining the arms and the face even if the sunglasses are worn. The automobile runs on the shadow road section, so that a user can feel cooler and the automobile can save more energy. In cold weather in winter, the occasional warm sun can make people more comfortable in the driving process. Although there is an image detection algorithm for detecting the sun in the related art, analysis of multiple scenes and multiple environments cannot be realized.

Disclosure of Invention

The application provides a path planning method, a path planning device, a vehicle and a storage medium, and aims to solve the problems that influence of sunlight on a driver is not considered in path planning in the related technology, experience of a user is poor and the like.

An embodiment of a first aspect of the present application provides a path planning method, including the following steps: acquiring a starting point and an ending point of path planning; generating one or more candidate routes according to the starting point and the ending point, acquiring the direct direction and the altitude angle of the current sun, calculating the probability of direct sunlight on the windshield of each candidate route according to the direct direction, and calculating the shadow rate of solar irradiation covering roads on each candidate route according to the altitude angle; and determining a recommended value of each candidate route according to the probability of the direct solar radiation windshield and the shadow rate of the solar radiation covered road, and taking the candidate route with the optimal recommended value as the optimal route.

According to the technical means, the method and the device can generate a plurality of candidate routes according to the starting point and the ending point of the route planning, calculate the probability of the direct sunlight windshield on the candidate routes and the shadow rate of the sunlight irradiation covering the roads by utilizing the direct sunlight direction and the altitude angle of the sun, determine the route with the optimal recommended value, and realize automatic planning of the driving route according to the sunlight condition, thereby meeting the requirements of users on sunlight in different seasons, being more friendly to the users and reducing the influence of the direct sunlight on vehicles and the users.

Optionally, the determining the recommended value of each candidate route according to the probability of the direct sun windshield and the shadow rate of the solar irradiation coverage road includes: acquiring respective weights of the probability of direct solar radiation of the windshield and the shadow rate of the road covered by the solar radiation; and calculating the recommended value of each candidate route according to the probability of the direct solar windshield and the shadow rate of the solar irradiation covered road and the respective weight.

According to the technical means, the recommended value of the candidate route can be determined according to the weights occupied by the probability of the direct solar windshield and the shadow rate of the solar irradiation covered road, and the requirements of different users on sunlight can be met.

Optionally, the obtaining the respective weights of the probability of direct solar radiation windshield and the shadow rate of solar irradiation coverage road comprises: identifying a vehicle type, a current season, a current weather, user preference settings and a current driving mode; respective weights of a probability of direct solar windshield and a shadow rate of solar exposure coverage road are determined according to one or more of the vehicle type, the current season, the current weather, the user preference setting, and the current driving mode.

According to the technical means, the probability of the direct solar windshield and the respective weight of the shadow rate of the solar irradiation covered road can be determined according to various conditions, various factors are considered, the requirements of vehicles and users on sunlight are considered, and the comfort of the users is improved.

Optionally, after determining the recommended value of each candidate route according to the probability of direct solar radiation windshield and the shadow rate of solar irradiation coverage road, the method further comprises: acquiring a first coordinate of a current position and a second coordinate of an end position; calculating a route gradient according to the first coordinate and the second coordinate, and calculating an actual direct angle according to the route gradient and the altitude angle; and correcting the recommended value of each candidate route by using the actual direct angle.

According to the technical means, when the recommended values of the candidate routes are similar, the actual direct angle can be calculated according to the route gradient and the altitude angle, the recommended value of each candidate route is corrected by using the actual direct angle, the influence of the direct angle on eyes is reduced, and the safety accidents caused by direct sunlight and eyes are reduced.

Optionally, before calculating the probability of direct solar windshield and the shadow rate of solar irradiation covering the road on each candidate route according to the direct solar direction and the altitude angle, the method further comprises: identifying a first route of all candidate routes that is the shortest distance or the shortest time consuming; calculating a distance difference value or a time consumption difference value between each candidate route and the first route, and identifying a second route of which the distance difference value is larger than a preset distance or the time consumption difference value is larger than a preset time length; and correcting the second route so that the distance difference between each candidate route and the first route is smaller than or equal to the preset distance, or the time consumption difference is smaller than or equal to the preset duration.

According to the technical means, the embodiment of the application can set a time consumption threshold value of direct sunlight prevention and sun protection, and the time consumption threshold value is used for comparing differences under the condition of planning the duration of a route algorithm, so that a more proper route is recommended for a user.

Optionally, after taking the candidate route with the optimal recommended value as the optimal route, the method further includes: re-acquiring the direct direction and the altitude angle of the current sun at intervals of a preset period; and updating the recommended value of each candidate route according to the re-acquired direct direction and altitude angle of the current sun, so as to re-determine a new optimal route according to the updated recommended value.

According to the technical means, the recommended value of the candidate route can be updated in real time in the driving process, so that the optimal route is determined, and the experience of a user is improved.

Optionally, the calculating the probability of the direct sun to the windshield on each candidate route according to the direct sun direction comprises: acquiring all intersection nodes and the road direction of each intersection node in the candidate route; and identifying the statistical quantity of intersection nodes with the road direction opposite to the direct direction, and calculating the probability of direct solar radiation windshields on the candidate routes according to the total quantity of all the intersection nodes and the statistical quantity.

According to the technical means, the probability of direct solar radiation of the windshield can be calculated according to the total number and the statistical quantity of the intersection nodes by the road directions of the intersection nodes and the road nodes in the candidate line, and the statistical quantity of the intersection nodes with the road directions opposite to the direct direction, so that the optimal line can be recommended later.

Optionally, the calculating the shadow rate of the solar irradiation coverage road on each candidate route according to the altitude angle includes: acquiring surface object data on a candidate route; identifying a height, a width of a surface object and a distance of the surface object from a road in the surface object data; and calculating the shadow area of the solar irradiation covered road on the candidate route according to the altitude angle, the altitude, the width and the distance, calculating the effective shadow according to the altitude angle, the altitude, the distance and the shadow area, and calculating the shadow rate of the solar irradiation covered road by using the number of the effective shadows and the number of the ground objects.

According to the technical means, the embodiment of the application can realize the calculation of the shadow rate of the solar irradiation coverage road by identifying the surface object data and collecting the surface object data.

Optionally, the acquiring the direct direction and the altitude of the current sun includes: collecting images around a vehicle; identifying the image to obtain the relative direction and the relative direct angle of the current sun and the vehicle; and determining the direct direction of the current sun according to the current direction of the vehicle and the relative direction, and calculating the altitude angle of the current sun according to the relative direct angle and the body angle of the vehicle.

According to the technical means, the embodiment of the application can acquire the relative direction and the relative direct angle of the sun and the vehicle through the image around the vehicle, and further determine the direct direction and the altitude angle of the sun, so as to be used for calculating the probability of direct sun windshield and the shadow rate of the sun covering the road.

Optionally, the acquiring the direct direction and the altitude of the current sun includes: calculating the direct direction of the current sun according to the current time zone and time of the vehicle; calculating the height angle of the current sun according to the horizontal height angle of the current sun of the current area of the vehicle and the body angle of the vehicle; or determining the altitude angle of the current sun according to the current longitude and latitude and time of the vehicle.

According to the technical means, the embodiment of the application can calculate the irradiation direction of the sun by using the current time and the time zone, calculate the altitude angle of the sun according to the current coordinates, and reduce the cost without adding additional equipment for measurement.

An embodiment of a second aspect of the present application provides a path planning apparatus, including: the acquisition module is used for acquiring a starting point and an end point of the path planning; the calculation module is used for generating one or more candidate routes according to the starting point and the ending point, acquiring the direct direction and the altitude angle of the current sun, calculating the probability of direct sunlight on the windshield of each candidate route according to the direct direction, and calculating the shadow rate of the solar irradiation coverage road on each candidate route according to the altitude angle; and the determining module is used for determining the recommended value of each candidate route according to the probability of the direct solar windshield and the shadow rate of the sunlit covered road, and taking the candidate route with the optimal recommended value as the optimal route.

An embodiment of a third aspect of the present application provides a vehicle, including: the system comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the program to realize the path planning method according to the embodiment.

An embodiment of a fourth aspect of the present application provides a computer-readable storage medium having stored thereon a computer program for execution by a processor for implementing the path planning method as described in the above embodiment.

Therefore, the application has at least the following beneficial effects:

(1) According to the method and the device, multiple candidate routes can be generated according to the starting point and the ending point of path planning, the probability of direct sunlight windshield glass and the shadow rate of the sunlight irradiation covering the road on the candidate routes are calculated respectively by utilizing the direct sunlight direction and the altitude angle of the sun, the route with the optimal recommended value is determined, and the automatic planning of the driving path according to the sunlight condition is realized, so that the requirements of users on sunlight in different seasons are met, the method and the device are more friendly to the users, and the influence of direct sunlight on vehicles and users is reduced;

(2) According to the embodiment of the application, the recommended value of the candidate route can be determined according to the weight occupied by the probability of the direct solar radiation windshield and the shadow rate of the solar irradiation coverage road, so that the requirements of different users on sunlight can be met;

(3) According to the embodiment of the application, the respective weights of the probability of the direct solar radiation windshield and the shadow rate of the solar irradiation covered road can be determined according to various conditions, various factors are considered, the requirements of vehicles and users on sunlight are considered, and the comfort of the users is improved;

(4) According to the embodiment of the application, when the recommended values of the candidate routes are similar, the actual direct angle is calculated according to the route gradient and the altitude angle, the recommended value of each candidate route is corrected by using the actual direct angle, the influence of the direct angle on eyes is reduced, and safety accidents caused by direct sunlight and eyes are reduced;

(5) According to the method and the device, a time consumption threshold value for preventing direct sunlight and sun protection can be set, and the time consumption threshold value is used for comparing differences under the condition of planning the duration of a route algorithm, so that a more proper route is recommended for a user;

(6) According to the method and the device for determining the optimal route, the recommended value of the candidate route can be updated in real time in the driving process, so that the optimal route is determined, and the experience of a user is improved;

(7) According to the method and the device, the probability of direct solar radiation of the windshield can be calculated according to the total number and the statistical quantity of the intersection nodes in the candidate line and the statistical quantity of the intersection nodes with the opposite road direction, so that the optimal line can be recommended later;

(8) According to the embodiment of the application, the calculation of the shadow rate of the solar irradiation coverage road can be realized by identifying the surface object data and collecting the surface object data;

(9) According to the embodiment of the application, the relative direction and the relative direct angle of the sun and the vehicle can be obtained through the images around the vehicle, and the direct direction and the altitude angle of the sun can be further determined so as to be used for subsequently calculating the probability of direct sun to the windshield and the shadow rate of the sun irradiation covering the road;

(10) According to the embodiment of the application, the irradiation direction of the sun can be calculated by using the current time and the time zone, the altitude angle of the sun is calculated according to the current coordinates, additional equipment is not required to be added for measurement, and the cost is reduced.

Therefore, the technical problems that the influence of sunlight on a driver is not considered in path planning in the related technology, the experience of a user is poor and the like are solved.

Additional aspects and advantages of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the application.

Drawings

The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:

Fig. 1 is a flowchart of a path planning method according to an embodiment of the present application;

fig. 2 is a schematic diagram of a vehicle according to an embodiment of the present application for determining a direct sunlight direction by using a camera;

FIG. 3 is a calculated path graph of a route with a lowest probability of direct solar windshield provided in accordance with an embodiment of the present application;

fig. 4 is a schematic view of a scene of a vehicle running sun shining a surface object according to an embodiment of the present application;

FIG. 5 is a schematic diagram of an autopilot domain for detecting coordinates and size of a surface object on both sides of a road according to an embodiment of the present application;

FIG. 6 is a calculation of shadow areas in shadow coverage of a solar illuminated surface according to an embodiment of the present application;

FIG. 7 is a graph showing a shadow coverage calculation of a solar illuminated surface according to an embodiment of the present application;

FIG. 8 is a schematic diagram of time duration differences consumed by a thresholding planning algorithm provided according to an embodiment of the present application;

fig. 9 is a schematic diagram of solar energy charging vehicle according to an embodiment of the present application using solar irradiation for charging;

FIG. 10 is a schematic diagram of a season identification mode provided according to an embodiment of the present application;

FIG. 11 is a schematic illustration of planning a camera friendly route in autopilot provided in accordance with an embodiment of the present application;

FIG. 12 is a schematic illustration of planning a camera friendly route in autopilot provided in accordance with one embodiment of the present application;

FIG. 13 is a schematic illustration of two-point slope calculation provided according to an embodiment of the present application;

fig. 14 is a flowchart of a path planning method provided according to an embodiment of the present application;

fig. 15 is an example diagram of a path planning apparatus provided according to an embodiment of the present application;

fig. 16 is a schematic structural view of a vehicle according to an embodiment of the present application.

Detailed Description

Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and intended for the purpose of explaining the present application and are not to be construed as limiting the present application.

The related art realizes the planning of the route by the following method:

(1) The method for determining the map route comprises the following steps: acquiring a starting point coordinate of a map route and an ending point coordinate of the map route, and acquiring a road information list; determining the route length of the map route according to the starting point coordinates of the map route and the ending point coordinates of the map route; determining a first road set in a road information list according to the starting point coordinates of the map route and the ending point coordinates and the length of the map route; and determining whether the map line spans a road according to the starting point coordinates of the map line, the ending point coordinates of the map line and the first road set. The method and the device effectively judge whether the map route can cross any road in the first road set or not, so that the map route is planned to effectively avoid crossing roads, the reliability and the intelligent degree of determining the map route are improved, and further user experience is improved.

However, this method is only a basic function of calculating a route using a map, and calculates a required route according to the current coordinate starting point and coordinate emphasis; only the data of the map is used for calculating the road, so that some roads are avoided, the certainty of the road calculation is improved, but the problem of direct sunlight prevention cannot be solved; only the determination of the route length of the road of the map is performed, but the running comfort problem of the vehicle is not considered. The situation and the route that the sun needs to be avoided from directly irradiating the windshield during the running process of the automobile in the hot summer are not considered.

The related art realizes the image detection of the sun azimuth by the following method:

(1) The monitoring system for the solar azimuth detection device comprises a solar azimuth image acquisition instrument, a video acquisition card, a processor, an east-west motion control card and a north-south motion control card, wherein the solar azimuth image acquisition instrument is used for acquiring solar azimuth image signals, the video acquisition card is connected with the solar azimuth image acquisition instrument and is used for acquiring solar azimuth image signals output by the solar azimuth image acquisition instrument, the processor is used for analyzing and processing signals output by the video acquisition card, the east-west motion control card is connected with the processor and is used for controlling an east-west rotating motor for driving the solar azimuth detection device to move, and the north-south motion control card is used for controlling a south-north rotating motor for driving the solar azimuth detection device to rotate. The intelligent control system is simple in structure, reasonable in design, convenient to realize, high in control precision, high in speed, high in intelligent degree, high in practicality, good in using effect and convenient to popularize and use.

However, the image detection algorithm for detecting the sun cannot analyze multiple scenes and environments and cannot meet the use conditions of the vehicle; the scene used on the vehicle cannot be satisfied; the hardware in the vehicle cannot be used effectively for detection.

In the related art, the automatic acquisition of the building height is realized by the following method:

an automatic acquisition method of urban area building height based on a digital surface model comprises the following steps: s1. determining non-ground points by a method of spatial hierarchy decomposition and information statistics; s2, after non-ground points are removed, fitting by using surrounding elevations to obtain a digital terrain model; s3. subtracting the digital terrain model elevation from the digital surface model elevation to obtain the height of the building in the urban area; s4. removing noise in the building height of the urban area by a morphological transformation method; dividing the height of a building in an urban area into areas with a certain size through super pixel division; counting a height histogram in each partitioned area; taking the average value of the heights corresponding to the peak value and the maximum value in the height histogram as the height of the building in the partitioned area. The technology not only solves the technical problem of separating the elevation information of the building from the data containing the information of the ground elevation; and the technical problem of how to accurately acquire the height of the top of the building is also solved.

However, this method does not involve a method of calculating an optimal driving route in such a manner that the surface object height of the digital surface model is used to obtain the coverage of the sun shadow; the method for detecting the sunlight irradiation shadow coverage rate of the road on the map by adopting the automatic driving and detecting the surface object coordinates and the size data is not adopted, and the optimal driving route is calculated.

The following describes a path planning method, a path planning device, a vehicle and a storage medium according to the embodiments of the present application with reference to the accompanying drawings. In view of the problem that the route planning in the map of the current vehicle mentioned in the background art does not take into consideration the influence of direct sunlight on the user, the present application provides a route planning method in which an optimal route for the vehicle to travel is determined according to the probability of direct sunlight windshield and the shadow rate of the sun illumination covered road and the weights of the two by calculating the probability of direct sunlight windshield and the shadow rate of the sun illumination covered road. Therefore, the problems that the influence of sunlight on a driver is not considered in the path planning process in the related technology, the experience of a user is poor and the like are solved.

Specifically, fig. 1 is a flow chart of a path planning method according to an embodiment of the present application.

As shown in fig. 1, the path planning method includes the steps of:

in step S101, the start point and the end point of the path plan are acquired.

It will be appreciated that the start and end points of the path plan are the departure and destination points of the route the user desires to travel.

In step S102, one or more candidate routes are generated according to the start point and the end point, the direct direction and the altitude angle of the current sun are obtained, the probability of direct sunlight on each candidate route to the windshield is calculated according to the direct direction, and the shadow ratio of the solar irradiation coverage road on each candidate route is calculated according to the altitude angle.

It can be understood that, in the embodiment of the present application, one or more candidate routes may be generated according to the start point and the end point, the direct direction and the altitude of the current sun may be obtained, the probability that the sun is directly projected onto the windshield on the candidate route may be calculated by using the direct direction of the sun, and the shadow rate of the solar irradiation covering the road on the candidate route may be calculated by using the altitude. The calculation method of the probability of the direct solar radiation windshield and the shadow rate of the solar radiation covered road is specifically described in the following examples.

In an embodiment of the present application, obtaining a direct direction and an altitude angle of a current sun includes: collecting images around a vehicle; identifying an image to obtain the relative direction and the relative direct angle of the current sun and the vehicle; the direct direction of the current sun is determined according to the current direction and the relative direction of the vehicle, and the altitude angle of the current sun is calculated according to the relative direct angle and the body angle of the vehicle.

Wherein, the image around the vehicle can be obtained by an external camera of the vehicle; the GPS (Global Positioning System ) information of the vehicle can be acquired by using the SDK (Software Development Kit ) of the common map maker to acquire the current direction of the vehicle; the GPS information native to the Android system can be used for acquiring the relative direction of the vehicle; the angle of the vehicle body can be judged by using the gyroscope of the vehicle, and if the vehicle is in the running process, the angle of the vehicle body can be judged by using the longitude and latitude between two points on the map.

It is appreciated that the present application may further determine the direct direction of the current sun by identifying the relative direction and relative direct angle of the current sun to the vehicle by identifying images around the vehicle, and calculate the altitude angle of the sun based on the relative direct angle and the body angle of the vehicle.

Specifically, according to the embodiment of the application, the external camera of the vehicle can be used for collecting adaptation, the direct irradiation direction of sunlight is judged according to the direction of the vehicle, as shown in fig. 2, the video collected by the camera can be used for obtaining the direct irradiation angle of the sun relative to the current vehicle through the vehicle-to-vehicle self-belt identification program, the current running vehicle angle can be obtained through the gyroscope of the vehicle, the camera needs to be horizontally calibrated when being used for the first time, so that the direct irradiation angle of the sun is calculated, and the angle can be complemented. The elevation angle can be calculated by a simple sine function.

x＝sin*y

In an embodiment of the present application, obtaining a direct direction and an altitude angle of a current sun includes: calculating the direct direction of the current sun according to the current time zone and time of the vehicle; calculating the height angle of the current sun according to the horizontal height angle of the current sun in the current area of the vehicle and the body angle of the vehicle; or determining the altitude angle of the current sun according to the current longitude and latitude and time of the vehicle.

It can be understood that the embodiment of the application can calculate the direct direction of the current sun through the current time zone and time of the vehicle, and determine the current solar altitude according to the current solar altitude of the current area of the vehicle and the current solar altitude of the body angle meter of the vehicle, or can determine the current solar altitude through the current longitude, latitude and time of the vehicle.

Specifically, if the vehicle is in the networking condition, the solar altitude in the current region can be directly obtained through the network interface of the weather forecast, so that the solar altitude can be directly obtained to be horizontal, then the solar altitude is calculated with the angle of the vehicle, and the current solar altitude can be obtained. If the vehicle does not have a network, the vehicle can acquire the current longitude and latitude through the GPS, so that the solar altitude angle values with different dimensions can be obtained, and then the calculation of the solar altitude is carried out by combining the current time, wherein the calculation formula is as follows:

sinh＝sinΦsinδ+cosΦcosδcost，

Wherein h is the solar altitude angle, delta is solar declination, phi is the geographical latitude of the observation place, and t is the local time angle. It should be noted that the azimuth of the sun may be obtained by time, and the azimuth may be obtained by statistics in combination with different seasons.

In an embodiment of the present application, calculating a probability of direct solar radiation to a windshield on each candidate route according to a direct solar radiation direction includes: acquiring all intersection nodes and the road direction of each intersection node in the candidate route; and identifying the statistical quantity of intersection nodes with the road direction opposite to the direct direction, and calculating the probability of the direct solar windshield on the candidate road according to the total quantity and the statistical quantity of all the intersection nodes.

Specifically, according to the embodiment of the application, the information of each intersection node in the candidate route can be obtained according to the candidate route generated by the starting point and the ending point, the road directions of all nodes are calculated in a circulating mode, the statistical quantity of intersection nodes with the road directions opposite to the direct direction is identified, judgment is carried out according to the total number and the statistical quantity of all intersection nodes, and the probability of the direct solar windshield is calculated.

As shown in fig. 3, the process of calculating the route with the lowest probability of direct solar windshield is as follows:

1. And starting pre-operation of road calculation operation, acquiring coordinates of the current vehicle, and acquiring a horizontal angle of the vehicle through a gyroscope.

2. When the operation of 1 is performed, the current angle and azimuth of direct sunlight can be obtained in various ways.

3. After the data of the direct angle and the azimuth of the sunlight are obtained, the calculation of the road is performed.

4. After the route is obtained, the running directions of the nodes of all the routes and the angles from the starting point to the end point are calculated.

5. Through the calculation, the optimal direct sunlight prevention route for the vehicle to run can be obtained.

In the embodiment of the present application, calculating the shadow rate of the solar irradiation coverage road on each candidate route according to the altitude angle includes: acquiring surface object data on a candidate route; identifying the height, width and distance of the surface object from the road in the surface object data; and calculating the shadow area of the solar irradiation covered road on the candidate route according to the altitude angle, the altitude, the width and the distance, calculating the effective shadow according to the altitude angle, the altitude, the distance and the shadow area, and calculating the shadow rate of the solar irradiation covered road by utilizing the number of the effective shadows and the number of the ground objects.

The surface data may be obtained through a data source, for example, a third-party digital surface model or an autopilot domain, which is not particularly limited.

Specifically, in the embodiment of the present application, the data of the surface object may be obtained through a data source, and the longitude and latitude coordinates of the sun irradiation side of all the road segments may be obtained through multiple candidate routes obtained through a map, for example, the coordinates of the surface object in the digital surface model may be queried according to the coordinates for calculation, as shown in fig. 4, the surface object represents the surface object in the digital surface model, and the coordinates C are the coordinates of the surface object and include the height H of the surface object; or the data of the ground objects at the two sides of the road can be detected and collected in real time in the running process of the vehicle in the automatic driving area, and the cloud end can be adopted to upload the ground object data or locally store the ground object data, so that the data of the ground object can be obtained, as shown in fig. 5.

As shown in fig. 6, the height of the ground object and the distance of the ground object from the coordinate point of the road can be obtained according to the coordinates of the ground object, and the sun corresponds to the height angle α of the ground object.

Therefore, the shadow area of the sun-irradiated surface object of the road section of the route can be obtained, the area proportion of the shadow area of the route to the road of the route can be calculated, and the subsequent use for the arrangement of the route is facilitated.

As shown in fig. 7, the coordinates of the ground object may obtain the height of the ground object and the distance of the ground object from the coordinate point of the road, the height angle α, β of the sun-irradiated ground object is the road shadow coverage width, and the height of the corresponding ground object may be calculated according to a certain distance, so that the calculation result is discrete, and the shadow coverage ratio of the sun-irradiated ground object of the corresponding road section may be obtained, which is subsequently used for the ranking of the route.

And calculating the effective shadow of the corresponding solar irradiation surface object according to N nodes in equal proportion on one road section, and then calculating the total shadow coverage rate.

In this embodiment of the present application, before calculating the probability of direct solar windshield on each candidate route and the shadow rate of the solar irradiation covered road according to the direct solar direction and the altitude angle, the method further includes: identifying a first route of all candidate routes that is the shortest distance or the shortest time consuming; calculating a distance difference value or a time-consuming difference value between each candidate route and the first route, and identifying a second route with the distance difference value larger than a preset distance or the time-consuming difference value larger than a preset duration; and correcting the second route so that the difference value of the distance between each candidate route and the first route is smaller than or equal to a preset distance, or the difference value of time consumption is smaller than or equal to a preset duration.

The preset distance and the preset duration can be set according to specific situations, and are not particularly limited.

It should be noted that, as shown in fig. 8, the user will generally consider avoiding direct radiation in summer, and also consider the duration of possible detouring. In general, more direct sunlight and sunlight irradiation rate are avoided, and the length of the route is increased, so that a time consumption threshold for preventing direct sunlight and sun is required to be set to be compared with the difference of the time consumption of the current planned route, so that a more suitable route can be recommended for a user.

It can be appreciated that in the embodiments of the present application, a first route with the shortest distance or the shortest time consumption needs to be identified in all candidate routes, a second route with a distance difference or a time consumption difference between the first route and other candidate routes greater than a preset distance or a preset time period is identified, and the second route is corrected so that the distance difference is smaller than the preset distance or the time consumption difference is smaller than the preset time period, so that a more suitable route can be recommended for a user.

In step S103, a recommended value for each candidate route is determined according to the probability of direct solar radiation of the windshield and the shadow rate of the sunlit covered road, and the candidate route with the optimal recommended value is used as the optimal route.

It can be understood that, in the embodiment of the present application, each candidate route may be ranked according to the probability of direct solar radiation of the windshield and the shadow rate of the road covered by solar radiation, a recommended value is generated, and the candidate route with the optimal recommended value is used as the optimal route.

In an embodiment of the present application, determining a recommended value for each candidate route according to a probability of direct solar radiation of a windshield and a shadow rate of solar radiation covering a road includes: acquiring respective weights of the probability of direct solar radiation of the windshield and the shadow rate of the road covered by the solar radiation; and calculating the recommended value of each candidate route according to the probability of the direct solar windshield and the shadow rate of the solar irradiation covered road and the respective weight.

The weight ratio of the shade rate of the direct solar windshield to the shade rate of the solar irradiation coverage road can be set according to specific situations.

It can be appreciated that the embodiment of the application can calculate the recommended value of the candidate route according to the weights of the sun-directing windshield and the shadow rate of the sun-irradiating covered road, and provide the recommended value for the user to select, thereby selecting the route which is most comfortable and satisfactory for the user.

In an embodiment of the present application, obtaining respective weights of a probability of direct solar radiation of a windshield and a shadow rate of solar radiation covering a road includes: identifying a vehicle type, a current season, a current weather, user preference settings and a current driving mode; respective weights of the probability of direct solar windshield and the shadow rate of solar exposure covered roads are determined according to one or more of the vehicle type, the current season, the current weather, the user preference setting, and the current driving mode.

The vehicle types can be divided into vehicles containing solar energy charging and vehicles not containing solar energy charging; the driving mode may be classified into an automatic driving mode and a non-automatic driving mode.

It can be appreciated that the embodiment of the application can determine the duty ratio weight of the probability of directly irradiating the windshield and the shadow rate of the road covered by solar irradiation according to one or more of the type of the vehicle, the current season, the current weather, the user like setting and the current driving mode, so that the experience of the user can be more focused.

For example, if the vehicle is an automobile containing solar energy charging, the weight of the shadow rate of the solar irradiation covering the road can be increased, so that the vehicle receives the irradiation of sunlight with a higher probability, and the solar energy charging for the vehicle running is performed by using the solar irradiation rate to the maximum extent, as shown in fig. 9; if the current season is summer, the weight of the probability of the direct sun windshield can be reduced, so that the user can receive less illumination; the duty ratio weight of the two can be set according to the liking of the user, so that the requirement of the user is met.

Specifically, as shown in fig. 10, the embodiment of the application may enter a season identification mode according to the current geographic position and time of the vehicle and the local climate, and set fewer sunlight irradiation routes in summer and more sunlight irradiation routes in non-summer according to the preference of the user.

It should be noted that if the vehicle is in the autopilot mode, the influence of direct sunlight on the camera needs to be considered, and therefore, a route friendly to the autopilot camera needs to be planned, in which case, the forward looking and forward looking avoidance direct is set to a high priority. For example: under the condition that pedestrians pass through roads, the camera recognition is possibly interfered by direct sunlight, so that the recognition result is wrong, and traffic accidents occur. Thus, it is necessary to adjust the respective weights of the probability of direct solar windshield and the shadow rate of solar illumination covering the road, so as to plan a more autopilot-friendly route at the planning site, as shown in fig. 11 and 12.

In the embodiment of the present application, after determining the recommended value of each candidate route according to the probability of direct solar radiation windshield and the shadow rate of the solar irradiation coverage road, the method further includes: acquiring a first coordinate of a current position and a second coordinate of an end position; calculating a route gradient according to the first coordinate and the second coordinate, and calculating an actual direct angle according to the route gradient and the altitude angle; and correcting the recommended value of each candidate route by using the actual direct angle.

The first coordinate is the coordinate of the current position, namely the coordinate of the starting point, and the second coordinate is the coordinate of the end point.

It can be understood that, since the recommended value of each candidate route may be similar after the recommended value of each candidate route is determined according to the probability of direct solar radiation on the windshield and the shadow rate of solar radiation coverage, in this case, the embodiment of the present application obtains the coordinate system from the start point to the end point, calculates the route gradient according to the first coordinate and the second coordinate, calculates the actual direct solar radiation angle according to the route gradient and the altitude angle, corrects the recommended value of the candidate route by using the actual direct radiation angle, and selects the route with the high direct radiation altitude as much as possible, thereby avoiding the safety accident caused by direct sunlight and both eyes.

The specific calculation formula for calculating the route gradient is as follows:

as shown in fig. 13, the gradient between two coordinate points can be calculated, and the calculation is performed by the x, y longitude and latitude values of the start point and the x, y longitude and latitude values of the end point.

It should be noted that, in the embodiment of the present application, the route gradient may also be directly calculated by a map providing method, and this value is used to dynamically calculate the probability that sunlight is directly incident on the windshield of the vehicle during the following driving process of the vehicle.

In the embodiment of the present application, after taking the candidate route with the optimal recommended value as the optimal route, the method further includes: re-acquiring the direct direction and the altitude angle of the current sun at intervals of a preset period; and updating the recommended value of each candidate route according to the re-acquired direct direction and altitude angle of the current sun so as to re-determine a new optimal route according to the updated recommended value.

The preset period may be set according to specific situations, for example, may be 10min or 15min, which is not limited.

It should be noted that, as the direct angle and the azimuth of the sun change over time, the embodiment of the application can reacquire the direct direction and the altitude angle of the current sun after a preset period at intervals, update the recommended value of the candidate route in real time, and redetermine the optimal route to modify the route.

It should be noted that, when the vehicle travels along the planned route after calculation, the updated route can be adjusted according to the angle and the azimuth of the direct sunlight windshield calculated in real time, and the background data can also be according to the common travel route of the user and the green land coverage passing through in the travel route, so that the recommended temperature is more comfortable, and the road is more easily shielded by the forest. The change between coordinates a and B after the route change during the running of the vehicle is also depicted in fig. 4, and the direct sunlight azimuth is calculated in real time.

In summary, the specific flow in the path planning method in the embodiment of the present application is as follows, as shown in fig. 14, where the specific flow includes a calculation flow for calculating a probability of direct solar radiation windshield and a shadow rate of solar irradiation covering a road, after calculating the probability of direct solar radiation windshield and the shadow rate of solar irradiation covering a road, ranking the routes according to a formulated condition (such as weights of the two), and providing the ranked routes to a user for selecting an optimal route. The vehicle can calculate a route according to the current solar altitude change in the running process, and the recommended route is changed.

1. Identifying a direct solar radiation vehicle and judging the sun azimuth, and calculating the angle between the current vehicle body direction and the vehicle body;

2. obtaining the probability of direct sunlight of all sections of a navigation route to the front windshield, and calculating the probability ranking of direct sunlight of all routes to the front windshield;

3. the method comprises the steps of obtaining the surface object height of the solar irradiation side of all road sections of a calculated route, and calculating the ranking of the solar irradiation coverage rate of all routes;

4. over time, the probability of the direct sun windshield of the currently recommended route and the shadow rate of the sunlit covered road are recalculated, and the navigation driving route is optimized.

According to the path planning method provided by the embodiment of the application, a plurality of candidate routes can be generated according to the starting point and the end point of path planning, the probability of direct sunlight on the candidate routes and the shadow rate of the sunlight irradiating the covered road are calculated by utilizing the direct sunlight direction and the altitude angle of the sun, and the route with the optimal recommended value is determined, so that the automatic planning of the driving path according to the sunlight condition is realized, the requirements of users on sunlight in different seasons are met, the user is more friendly, and the influence of direct sunlight on vehicles and users is reduced; the recommended value of the candidate route can be determined according to the weight occupied by the probability of the direct solar radiation windshield and the shadow rate of the solar radiation covered road, so that the requirements of different users on sunlight can be met; the probability of the direct solar windshield and the respective weight of the shadow rate of the solar irradiation covering the road can be determined according to various conditions, various factors are considered, the requirements of vehicles and users on sunlight are considered, and the comfort of the users is improved; when the recommended values of the candidate routes are similar, calculating actual direct angles according to the route gradient and the altitude angle, correcting the recommended value of each candidate route by using the actual direct angles, reducing the influence of the direct angles on eyes, and reducing safety accidents caused by direct sunlight and eyes; a time consumption threshold value for preventing direct sunlight and sun protection can be set for comparing difference values under the condition of planning the duration of a route algorithm, so that a more proper route is recommended for a user; the recommended value of the candidate route can be updated in real time in the driving process to determine the optimal route, so that the experience of the user is improved; the probability of the direct solar windshield glass can be calculated according to the total number and the statistical quantity of the intersection nodes by the intersection nodes in the candidate lines and the statistical quantity of the intersection nodes with the opposite road directions, so that the optimal route can be recommended later; the calculation of the shadow rate of the solar irradiation coverage road can be realized by identifying the surface object data and collecting the surface object data; the relative direction and the relative direct angle of the sun and the vehicle can be obtained through images around the vehicle, and the direct direction and the altitude angle of the sun can be further determined so as to be used for calculating the probability of direct sun windshield and the shadow rate of the sun irradiation covering the road subsequently; the irradiation direction of the sun can be calculated by using the current time and the time zone, the altitude angle of the sun can be calculated according to the current coordinates, no additional equipment is needed for measurement, and the cost is reduced.

The path planning apparatus according to the embodiment of the present application will be described next with reference to the accompanying drawings.

Fig. 15 is a block schematic diagram of a path planning apparatus according to an embodiment of the present application.

As shown in fig. 15, the path planning apparatus 10 includes: an acquisition module 100, a calculation module 200 and a determination module 300.

The acquiring module 100 is configured to acquire a start point and an end point of a path planning; the calculation module 200 is configured to generate one or more candidate routes according to the start point and the end point, obtain a direct direction and a altitude angle of the current sun, calculate a probability of direct sunlight on each candidate route to the windshield according to the direct direction, and calculate a shadow rate of solar irradiation covering the road on each candidate route according to the altitude angle; the determining module 300 is configured to determine a recommended value of each candidate route according to the probability of direct solar radiation of the windshield and the shadow rate of the sunlit covered road, and take the candidate route with the optimal recommended value as the optimal route.

It should be noted that the foregoing explanation of the path planning method embodiment is also applicable to the path planning apparatus of this embodiment, and will not be repeated herein.

According to the path planning device provided by the embodiment of the application, a plurality of candidate routes can be generated according to the starting point and the end point of path planning, the probability of direct sunlight on the candidate routes and the shadow rate of the sunlight irradiating the covered road are calculated by utilizing the direct sunlight direction and the altitude angle of the sun, and the route with the optimal recommended value is determined, so that the automatic planning of the driving path according to the sunlight condition is realized, the requirements of users on sunlight in different seasons are met, the user is more friendly, and the influence of direct sunlight on vehicles and users is reduced; the recommended value of the candidate route can be determined according to the weight occupied by the probability of the direct solar radiation windshield and the shadow rate of the solar radiation covered road, so that the requirements of different users on sunlight can be met; the probability of the direct solar windshield and the respective weight of the shadow rate of the solar irradiation covering the road can be determined according to various conditions, various factors are considered, the requirements of vehicles and users on sunlight are considered, and the comfort of the users is improved; when the recommended values of the candidate routes are similar, calculating actual direct angles according to the route gradient and the altitude angle, correcting the recommended value of each candidate route by using the actual direct angles, reducing the influence of the direct angles on eyes, and reducing safety accidents caused by direct sunlight and eyes; a time consumption threshold value for preventing direct sunlight and sun protection can be set for comparing difference values under the condition of planning the duration of a route algorithm, so that a more proper route is recommended for a user; the recommended value of the candidate route can be updated in real time in the driving process to determine the optimal route, so that the experience of the user is improved; the probability of the direct solar windshield glass can be calculated according to the total number and the statistical quantity of the intersection nodes by the intersection nodes in the candidate lines and the statistical quantity of the intersection nodes with the opposite road directions, so that the optimal route can be recommended later; the calculation of the shadow rate of the solar irradiation coverage road can be realized by identifying the surface object data and collecting the surface object data; the relative direction and the relative direct angle of the sun and the vehicle can be obtained through images around the vehicle, and the direct direction and the altitude angle of the sun can be further determined so as to be used for calculating the probability of direct sun windshield and the shadow rate of the sun irradiation covering the road subsequently; the irradiation direction of the sun can be calculated by using the current time and the time zone, the altitude angle of the sun can be calculated according to the current coordinates, no additional equipment is needed for measurement, and the cost is reduced.

Fig. 16 is a schematic structural diagram of a vehicle according to an embodiment of the present application. The vehicle may include:

memory 1601, processor 1602, and computer programs stored on the memory 1601 and executable on the processor 1602.

The processor 1602 implements the path planning method provided in the above-described embodiment when executing a program.

Further, the vehicle further includes:

a communication interface 1603 for communication between the memory 1601 and the processor 1602.

A memory 1601 for storing a computer program executable on the processor 1602.

The memory 1601 may include high-speed RAM (Random Access Memory ) memory, and may also include non-volatile memory, such as at least one disk memory.

If the memory 1601, the processor 1602, and the communication interface 1603 are implemented independently, the communication interface 1603, the memory 1601, and the processor 1602 may be connected to each other and perform communication with each other via a bus. The bus may be an ISA (Industry Standard Architecture ) bus, a PCI (Peripheral Component, external device interconnect) bus, or EISA (Extended Industry Standard Architecture ) bus, among others. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, only one thick line is shown in fig. 16, but not only one bus or one type of bus.

Alternatively, in a specific implementation, if the memory 1601, the processor 1602 and the communication interface 1603 are integrated on a chip, the memory 1601, the processor 1602 and the communication interface 1603 may be configured to communicate with each other through internal interfaces.

The processor 1602 may be a CPU (Central Processing Unit ), or ASIC (Application Specific Integrated Circuit, application specific integrated circuit), or one or more integrated circuits configured to implement embodiments of the present application.

The embodiments of the present application also provide a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a path planning method as above.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "N" is at least two, such as two, three, etc., unless explicitly defined otherwise.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing specific logical functions or steps of the process, and further implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.

It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. As with the other embodiments, if implemented in hardware, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable gate arrays, field programmable gate arrays, and the like.

Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.

Claims

1. A method of path planning comprising the steps of:

acquiring a starting point and an ending point of path planning;

generating one or more candidate routes according to the starting point and the ending point, acquiring the direct direction and the altitude angle of the current sun, calculating the probability of direct sunlight on the windshield of each candidate route according to the direct direction, and calculating the shadow rate of solar irradiation covering roads on each candidate route according to the altitude angle;

and determining a recommended value of each candidate route according to the probability of the direct solar radiation windshield and the shadow rate of the solar radiation covered road, and taking the candidate route with the optimal recommended value as the optimal route.

2. The path planning method according to claim 1, wherein the determining the recommended value of each candidate route according to the probability of direct solar radiation windshield and the shadow rate of the solar irradiation coverage road comprises:

Acquiring respective weights of the probability of direct solar radiation of the windshield and the shadow rate of the road covered by the solar radiation;

and calculating the recommended value of each candidate route according to the probability of the direct solar windshield and the shadow rate of the solar irradiation covered road and the respective weight.

3. The path planning method according to claim 2, wherein the obtaining the respective weights of the probability of direct solar windshield and the shadow rate of the solar irradiation covered road comprises:

identifying a vehicle type, a current season, a current weather, user preference settings and a current driving mode;

respective weights of a probability of direct solar windshield and a shadow rate of solar exposure coverage road are determined according to one or more of the vehicle type, the current season, the current weather, the user preference setting, and the current driving mode.

4. The path planning method according to claim 1, further comprising, after determining the recommended value of each candidate route according to the probability of direct solar windshield and the shadow rate of the solar irradiation covered road:

acquiring a first coordinate of a current position and a second coordinate of an end position;

Calculating a route gradient according to the first coordinate and the second coordinate, and calculating an actual direct angle according to the route gradient and the altitude angle;

and correcting the recommended value of each candidate route by using the actual direct angle.

5. The path planning method according to claim 1, further comprising, before calculating the probability of direct sun windshield and the shadow rate of solar irradiation covered road on each candidate route according to the direct direction and altitude angle of the current sun:

identifying a first route of all candidate routes that is the shortest distance or the shortest time consuming;

calculating a distance difference value or a time consumption difference value between each candidate route and the first route, and identifying a second route of which the distance difference value is larger than a preset distance or the time consumption difference value is larger than a preset time length;

and correcting the second route so that the distance difference between each candidate route and the first route is smaller than or equal to the preset distance, or the time consumption difference is smaller than or equal to the preset duration.

6. The path planning method according to claim 1, characterized by further comprising, after taking the candidate route whose recommended value is optimal as an optimal route:

Re-acquiring the direct direction and the altitude angle of the current sun at intervals of a preset period;

and updating the recommended value of each candidate route according to the re-acquired direct direction and altitude angle of the current sun, so as to re-determine a new optimal route according to the updated recommended value.

7. The path planning method according to claim 1, wherein the calculating the probability of direct sun windshield on each candidate route according to the direct direction of the current sun comprises:

acquiring all intersection nodes and the road direction of each intersection node in the candidate route;

and identifying the statistical quantity of intersection nodes with the road direction opposite to the direct direction, and calculating the probability of direct solar radiation windshields on the candidate routes according to the total quantity of all the intersection nodes and the statistical quantity.

8. The path planning method according to claim 1, wherein the calculating the shadow rate of the solar irradiation coverage road on each candidate route according to the altitude angle includes:

acquiring surface object data on a candidate route;

identifying a height, a width of a surface object and a distance of the surface object from a road in the surface object data;

and calculating the shadow area of the solar irradiation covered road on the candidate route according to the altitude angle, the altitude, the width and the distance, calculating the effective shadow according to the altitude angle, the altitude, the distance and the shadow area, and calculating the shadow rate of the solar irradiation covered road by using the number of the effective shadows and the number of the ground objects.

9. The path planning method according to claim 1, wherein the acquiring the direct direction and the altitude of the current sun comprises:

collecting images around a vehicle;

identifying the image to obtain the relative direction and the relative direct angle of the current sun and the vehicle;

and determining the direct direction of the current sun according to the current direction of the vehicle and the relative direction, and calculating the altitude angle of the current sun according to the relative direct angle and the body angle of the vehicle.

10. The path planning method according to claim 1, wherein the acquiring the direct direction and the altitude of the current sun comprises:

calculating the direct direction of the current sun according to the current time zone and time of the vehicle;

calculating the height angle of the current sun according to the horizontal height angle of the current sun of the current area of the vehicle and the body angle of the vehicle; or determining the altitude angle of the current sun according to the current longitude and latitude and time of the vehicle.

11. A path planning apparatus, comprising:

the acquisition module is used for acquiring a starting point and an end point of the path planning;

The calculation module is used for generating one or more candidate routes according to the starting point and the ending point, acquiring the direct direction and the altitude angle of the current sun, calculating the probability of direct sunlight on the windshield of each candidate route according to the direct direction, and calculating the shadow rate of the solar irradiation coverage road on each candidate route according to the altitude angle;

and the determining module is used for determining the recommended value of each candidate route according to the probability of the direct solar windshield and the shadow rate of the sunlit covered road, and taking the candidate route with the optimal recommended value as the optimal route.

12. A vehicle, characterized by comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the path planning method of any of claims 1-10.

13. A computer readable storage medium having stored thereon a computer program, characterized in that the program is executed by a processor for implementing a path planning method according to any of claims 1-10.