CN114919545A - Vehicle energy supplementing method and equipment, cloud platform and automatic driving vehicle - Google Patents

Abstract

Translated fromChinese

本公开提供了一种车辆补能方法、设备、云平台及自动驾驶车辆,涉及计算机技术领域，尤其涉及自动驾驶领域。具体实现方案为:实时监测车辆的剩余续航里程，当剩余续航里程小于等于预设阈值时，根据剩余续航里程为车辆选择目标补能站，向车辆发送目标补能站的位置，以指示车辆自动行驶至目标补能站进行自动补能。采用该方法，可以实现无人驾驶车辆全自动补能。

The present disclosure provides a vehicle energy replenishing method, device, cloud platform and automatic driving vehicle, which relate to the field of computer technology, and in particular, to the field of automatic driving. The specific implementation plan is: monitor the remaining cruising range of the vehicle in real time, when the remaining cruising range is less than or equal to a preset threshold, select a target energy-replenishing station for the vehicle according to the remaining cruising range, and send the location of the target energy-replenishing station to the vehicle to indicate that the vehicle automatically Drive to the target energy replenishment station for automatic energy replenishment. Using this method, the fully automatic energy replenishment of the unmanned vehicle can be realized.

Description

Translated fromChinese

一种车辆补能方法、设备、云平台及自动驾驶车辆A vehicle energy supplement method, equipment, cloud platform and autonomous driving vehicle

技术领域technical field

本公开涉及计算机技术领域，尤其涉及自动驾驶领域。The present disclosure relates to the field of computer technology, and in particular, to the field of automatic driving.

背景技术Background technique

目前，无人驾驶车辆的补能工作需要人工操作，由人工判断车辆是否需要进行补能，以及引导无人驾驶车辆前往补能站进行补能。At present, the energy-replenishing work of unmanned vehicles requires manual operation, and it is manually judged whether the vehicle needs to be replenished, and the driverless vehicle is guided to the energy-replenishing station for energy-replenishing.

发明内容SUMMARY OF THE INVENTION

根据本公开的第一方面，提供了一种车辆补能方法，应用于云平台，包括：According to a first aspect of the present disclosure, there is provided a vehicle energy replenishing method, which is applied to a cloud platform, including:

实时监测车辆的剩余续航里程；Monitor the remaining cruising range of the vehicle in real time;

当所述剩余续航里程小于等于预设阈值时，根据所述剩余续航里程为所述车辆选择目标补能站；When the remaining cruising range is less than or equal to a preset threshold, selecting a target energy-supplying station for the vehicle according to the remaining cruising range;

向所述车辆发送所述目标补能站的位置，以指示所述车辆自动行驶至所述目标补能站进行自动补能。Sending the position of the target energy replenishing station to the vehicle to instruct the vehicle to automatically drive to the target energy replenishing station for automatic energy replenishment.

根据本公开的第二方面，提供了一种车辆补能方法，应用于车辆，包括：According to a second aspect of the present disclosure, there is provided a vehicle energy supplement method, applied to a vehicle, comprising:

接收云平台发送的目标补能站的位置；其中，所述目标补能站为所述云平台实时监测到所述车辆的剩余续航里程小于等于预设阈值时，根据所述剩余续航里程为所述车辆选择的补能站；Receive the location of the target energy replenishing station sent by the cloud platform; wherein, the target energy replenishing station is when the cloud platform monitors in real time that the remaining cruising range of the vehicle is less than or equal to a preset threshold, according to the remaining cruising range of the vehicle. The energy replenishment station selected by the vehicle;

自动行驶至所述目标补能站进行自动补能。Automatically drive to the target energy replenishment station for automatic energy replenishment.

根据本公开的第三方面，提供了一种车辆补能装置，应用于云平台，包括：According to a third aspect of the present disclosure, a vehicle energy supplement device is provided, applied to a cloud platform, including:

监测模块，用于实时监测车辆的剩余续航里程；The monitoring module is used to monitor the remaining cruising range of the vehicle in real time;

选择模块，用于当所述剩余续航里程小于等于预设阈值时，根据所述剩余续航里程为所述车辆选择目标补能站；a selection module, configured to select a target energy supplementing station for the vehicle according to the remaining cruising range when the remaining cruising range is less than or equal to a preset threshold;

第一发送模块，用于向所述车辆发送所述目标补能站的位置，以指示所述车辆自动行驶至所述目标补能站进行自动补能。The first sending module is configured to send the position of the target energy supplementing station to the vehicle, so as to instruct the vehicle to automatically drive to the target energy supplementing station for automatic energy supplementation.

根据本公开的第四方面，提供了一种车辆补能装置，应用于车辆，包括：According to a fourth aspect of the present disclosure, a vehicle energy supplementing device is provided, applied to a vehicle, comprising:

接收模块，用于接收云平台发送的目标补能站的位置；其中，所述目标补能站为所述云平台实时监测到所述车辆的剩余续航里程小于等于预设阈值时，根据所述剩余续航里程为所述车辆选择的补能站；A receiving module, configured to receive the location of the target energy-supplying station sent by the cloud platform; wherein, the target energy-supplying station is when the cloud platform monitors in real time that the remaining cruising range of the vehicle is less than or equal to a preset threshold, according to the The remaining cruising range is the energy supplement station selected by the vehicle;

自动驾驶模块，用于自动行驶至所述目标补能站进行自动补能。The automatic driving module is used for automatically driving to the target energy replenishing station for automatic energy replenishment.

根据本公开的第五方面，提供了一种电子设备，包括：According to a fifth aspect of the present disclosure, there is provided an electronic device, comprising:

至少一个处理器；以及at least one processor; and

与所述至少一个处理器通信连接的存储器；其中，a memory communicatively coupled to the at least one processor; wherein,

所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以指示所述至少一个处理器能够执行第一方面或第二方面中任一项所述的方法。The memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to indicate that the at least one processor is capable of performing any one of the first aspect or the second aspect the method described.

根据本公开的第六方面，提供了一种存储有计算机指令的非瞬时计算机可读存储介质，其中，所述计算机指令用于使所述计算机执行第一方面或第二方面中任一项所述的方法。According to a sixth aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to cause the computer to perform any one of the first aspect or the second aspect. method described.

根据本公开的第七方面，提供了一种云平台，包括第五方面的电子设备，其中所述电子设备中的处理器能够执行第一方面的方法。According to a seventh aspect of the present disclosure, there is provided a cloud platform including the electronic device of the fifth aspect, wherein a processor in the electronic device is capable of executing the method of the first aspect.

根据本公开的第八方面，提供了一种自动驾驶车辆，包括第五方面的电子设备，其中所述电子设备中的处理器能够执行第二方面所述的方法。According to an eighth aspect of the present disclosure, there is provided an autonomous driving vehicle, comprising the electronic device of the fifth aspect, wherein a processor in the electronic device is capable of executing the method of the second aspect.

应当理解，本部分所描述的内容并非旨在标识本公开的实施例的关键或重要特征，也不用于限制本公开的范围。本公开的其它特征将通过以下的说明书而变得容易理解。It should be understood that what is described in this section is not intended to identify key or critical features of embodiments of the disclosure, nor is it intended to limit the scope of the disclosure. Other features of the present disclosure will become readily understood from the following description.

附图说明Description of drawings

附图用于更好地理解本方案，不构成对本公开的限定。其中：The accompanying drawings are used for better understanding of the present solution, and do not constitute a limitation to the present disclosure. in:

图1是本公开实施例的应用场景示意图；1 is a schematic diagram of an application scenario of an embodiment of the present disclosure;

图2是本公开实施例提供的第一种车辆补能方法的流程图；FIG. 2 is a flowchart of a first vehicle energy supplement method provided by an embodiment of the present disclosure;

图3是本公开实施例提供的第二种车辆补能方法的流程图；3 is a flowchart of a second vehicle energy supplement method provided by an embodiment of the present disclosure;

图4是本公开实施例提供的第三种车辆补能方法的流程图；FIG. 4 is a flowchart of a third vehicle energy supplement method provided by an embodiment of the present disclosure;

图5是本公开实施例提供的一种车辆运营过程的流程图；5 is a flowchart of a vehicle operation process provided by an embodiment of the present disclosure;

图6是本公开实施例提供的第一种车辆补能装置结构框图；6 is a structural block diagram of a first vehicle energy supplement device provided by an embodiment of the present disclosure;

图7是本公开实施例提供的第二种车辆补能装置结构框图；7 is a structural block diagram of a second vehicle energy supplement device provided by an embodiment of the present disclosure;

图8是本公开实施例提供的一种电子设备结构框图。FIG. 8 is a structural block diagram of an electronic device provided by an embodiment of the present disclosure.

具体实施方式Detailed ways

以下结合附图对本公开的示范性实施例做出说明，其中包括本公开实施例的各种细节以助于理解，应当将它们认为仅仅是示范性的。因此，本领域普通技术人员应当认识到，可以对这里描述的实施例做出各种改变和修改，而不会背离本公开的范围和精神。同样，为了清楚和简明，以下的描述中省略了对公知功能和结构的描述。Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, which include various details of the embodiments of the present disclosure to facilitate understanding and should be considered as exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted from the following description for clarity and conciseness.

现有的传统汽油车或者纯电动运营车辆，运营平台可以进行全局调度运营，运营平台可以实现乘客和运营车辆的需求订单与车辆运力之间的匹配。运营平台具体可以基于预先设置的算法和限制条件，完成订单与车的匹配配对，然后将配对成功的双方信息同步到双方的应用程序(application，APP)(司机端APP和乘客端APP)。For existing traditional gasoline vehicles or pure electric vehicles, the operation platform can perform global dispatch operations, and the operation platform can realize the matching between the demand orders of passengers and operating vehicles and the vehicle capacity. Specifically, the operation platform can complete the matching and pairing of orders and vehicles based on preset algorithms and constraints, and then synchronize the information of both parties with successful pairing to the applications (applications, APPs) of both parties (driver-side APP and passenger-side APP).

而车辆是否有足够的行驶里程，比如油箱是否有足够的油料或者电池是否有足够的电量，都是由驾驶员人工根据车辆仪表的显示进行判断。车辆应该去哪里补充燃料或者电量，也是由人工自行寻找地点并决策，从而人工驾驶到达目的地。最后，也是通过人工完成油料或者电量的补充。Whether the vehicle has enough mileage, such as whether the fuel tank has enough fuel or whether the battery has enough power, is manually judged by the driver based on the display of the vehicle's instrumentation. Where the vehicle should go to replenish fuel or electricity, it is also manually searched for the location and made decisions, so that the manual driving can reach the destination. Finally, the replenishment of oil or electricity is also done manually.

但是，全自动的无人自动驾驶车辆中没有驾驶员，可能车辆中有安全员，但不参与驾驶行为。当无人驾驶车辆需要进行补能时，需要有人工干预，比如需要人工查询补能站位置，并由人工干预无人驾驶车辆行驶至补能站进行补能。However, there is no driver in a fully autonomous self-driving vehicle, and there may be a safety officer in the vehicle, but not involved in the act of driving. When the driverless vehicle needs to supplement energy, manual intervention is required, for example, the location of the energy supplement station needs to be manually inquired, and the driverless vehicle needs to be driven to the energy supplement station by manual intervention for energy supplementation.

采用上述方法对车辆进行补能，都需要人工对补能过程进行干预，因此，无人驾驶车辆无法实现全循环7*24小时持续自动运营，运营效率较低，用人成本较高。Using the above methods to replenish energy for vehicles requires manual intervention in the energy replenishment process. Therefore, unmanned vehicles cannot achieve continuous automatic operation in a full cycle of 7*24 hours, resulting in low operating efficiency and high labor costs.

首先，对本公开实施例的应用场景进行介绍。First, the application scenarios of the embodiments of the present disclosure are introduced.

如图1所示，本公开实施例可以应用于自动驾驶场景中，云平台可以与多台自动驾驶车辆进行通信，且云平台中存储有多个补能站的位置信息。可选地，云平台还可以与补能站进行通信，实时获取每个补能站的状态信息，比如状态信息可以包括电池数量，每个电池的剩余电量、排队车辆数量。As shown in FIG. 1 , the embodiment of the present disclosure can be applied to an automatic driving scenario, the cloud platform can communicate with multiple automatic driving vehicles, and the cloud platform stores the location information of multiple energy supplementation stations. Optionally, the cloud platform can also communicate with the energy replenishment station, and obtain the status information of each energy replenishment station in real time. For example, the status information may include the number of batteries, the remaining power of each battery, and the number of queued vehicles.

此外，本公开实施例中的自动驾驶车辆可以为运营车辆，云平台还可以对自动驾驶车辆进行调度运营，为自动驾驶车辆派发订单。比如可以为打车订单，或者物流订单等，本公开实施例对此不作限制。In addition, the self-driving vehicle in the embodiment of the present disclosure may be an operating vehicle, and the cloud platform may also schedule and operate the self-driving vehicle, and distribute orders for the self-driving vehicle. For example, it may be a taxi order, or a logistics order, etc., which is not limited in this embodiment of the present disclosure.

图1中示出的用户端设备可以为发出订单请求的设备，比如可以为手机、平板电脑、可穿戴终端等安装有打车软件的设备。The client device shown in FIG. 1 may be a device that sends an order request, such as a mobile phone, a tablet computer, a wearable terminal, and other devices installed with taxi software.

需要说明的是，图1仅为示例，在实际实现中，车辆和补能站的数量不限于此。It should be noted that FIG. 1 is only an example, and in actual implementation, the number of vehicles and energy supplementation stations is not limited to this.

结合图1所示的场景，本公开实施例提供一种车辆补能方法，应用于云平台，如图2所示，该方法包括：With reference to the scene shown in FIG. 1 , an embodiment of the present disclosure provides a vehicle energy supplementation method, which is applied to a cloud platform. As shown in FIG. 2 , the method includes:

S201、实时监测车辆的剩余续航里程。S201. Monitor the remaining cruising range of the vehicle in real time.

可选的，云平台可以实时获取车辆的剩余续航里程，或者，车辆可以实时将仪表上显示的剩余续航里程上报至云平台。Optionally, the cloud platform can obtain the remaining cruising range of the vehicle in real time, or the vehicle can report the remaining cruising range displayed on the meter to the cloud platform in real time.

如果车辆为电动车辆，则剩余续航里程等效于车辆中电池的剩余电量，剩余续航里程为剩余电量能够支持车辆行驶的里程数。If the vehicle is an electric vehicle, the remaining cruising range is equivalent to the remaining power of the battery in the vehicle, and the remaining cruising range is the mileage that the remaining power can support the vehicle.

本公开实施例中，剩余续航里程的单位可以为千米(Km)。In the embodiment of the present disclosure, the unit of the remaining cruising range may be kilometers (Km).

S202、当剩余续航里程小于等于预设阈值时，根据剩余续航里程为车辆选择目标补能站。S202. When the remaining cruising range is less than or equal to a preset threshold, select a target energy supplementation station for the vehicle according to the remaining cruising range.

如果车辆的剩余续航里程小于等于预设阈值，则说明车辆的能源不足，需要进行补能。If the remaining cruising range of the vehicle is less than or equal to the preset threshold, it means that the energy of the vehicle is insufficient and needs to be replenished.

其中，预设阈值可以基于实际情况设置，比如在补能站的位置较为密集的情况下，预设阈值可以较小，反之，在补能站的位置较为稀疏的情况下，预设阈值可设置为较大的值，以使得车辆的剩余能源可以支持车辆行驶至补能站。Wherein, the preset threshold can be set based on the actual situation. For example, in the case where the positions of the energy supplementation stations are relatively dense, the preset threshold value can be smaller. is a larger value, so that the remaining energy of the vehicle can support the vehicle to travel to the power station.

可以理解的是，目标补能站为车辆利用剩余能源能够到达的补能站，为车辆选择目标补能站的方法将在后续实施例中进行详细介绍。It can be understood that the target energy replenishing station is an energy replenishing station that the vehicle can reach by using the remaining energy, and the method for selecting the target energy replenishing station for the vehicle will be described in detail in subsequent embodiments.

可选地，云平台可以引导车辆进入优先补能模式，优先补能模式是指车辆将其余行驶任务的优先级降低，优先对车辆进行补能。Optionally, the cloud platform can guide the vehicle to enter a priority energy replenishment mode. The priority energy replenishment mode means that the vehicle lowers the priority of the remaining driving tasks and prioritizes the energy replenishment of the vehicle.

S203、向车辆发送目标补能站的位置，以指示车辆自动行驶至目标补能站进行自动补能。S203 , sending the position of the target energy supplementing station to the vehicle to instruct the vehicle to automatically drive to the target energy supplementing station for automatic energy supplementation.

其中，车辆获取目标补能站的位置后，可基于车辆自身的自动驾驶功能，自动行驶至目标补能站。Among them, after the vehicle obtains the location of the target energy supplementation station, it can automatically drive to the target energy supplementation station based on the vehicle's own automatic driving function.

本公开实施例中的补能站可以为全无人补能站，车辆自动行驶至无人补能站后，可以自动利用自动补能站的补能装置进行补能操作。The energy replenishing station in the embodiment of the present disclosure may be a fully unmanned energy replenishing station. After the vehicle automatically travels to the unmanned energy replenishing station, the energy replenishing device of the automatic energy replenishing station can be used for energy replenishing operation automatically.

或者，也可以为无人自动机器手臂或者机器人充电站，车辆自动行驶至补能站后，无人自动机器手臂或者机器人可以为车辆进行补能操作。Alternatively, it can also be an unmanned automatic robot arm or a robot charging station. After the vehicle automatically travels to the energy replenishment station, the unmanned automatic robot arm or robot can perform energy replenishment operations for the vehicle.

或者，本公开实施例也可以为采用其他任意类型的自动补能站，本公开实施例对此不作限制。Alternatively, the embodiment of the present disclosure may also adopt any other type of automatic energy replenishing station, which is not limited in the embodiment of the present disclosure.

采用该方法，云平台可以实时监测车辆的剩余续航里程，当剩余续航里程小于等于预设阈值时，根据剩余续航里程为车辆选择目标补能站，并向车辆发送目标补能站的位置，使得车辆可以自动行驶至目标补能站进行自动补能。可见，上述过程中，无需人工基于经验为车辆选择补能站，云平台通过实时监测，可以自动在车辆的剩余续航里程不足的情况下，调度车辆进行补能，全程无需人工参与，可以降低人工成本，提高车辆的运营效率。Using this method, the cloud platform can monitor the remaining cruising range of the vehicle in real time. When the remaining cruising range is less than or equal to the preset threshold, it selects the target energy-replenishing station for the vehicle according to the remaining cruising range, and sends the location of the target energy-replenishing station to the vehicle, so that the The vehicle can automatically drive to the target energy replenishment station for automatic energy replenishment. It can be seen that in the above process, there is no need to manually select an energy-replenishing station for the vehicle based on experience. Through real-time monitoring, the cloud platform can automatically dispatch the vehicle to replenish energy when the remaining cruising range of the vehicle is insufficient. No manual participation is required in the whole process, which can reduce labor costs. cost and improve the operating efficiency of the vehicle.

以下对云平台为车辆选择目标补能站的方法进行介绍。The following introduces the method for the cloud platform to select the target energy-supplying station for the vehicle.

上述S202中，根据剩余续航里程为车辆选择目标补能站，具体可以实现为：In the above S202, the target energy-supplying station is selected for the vehicle according to the remaining cruising range, which can be specifically implemented as follows:

计算车辆到各补能站所需续航里程，选择所需续航里程小于剩余续航里程的一个补能站作为目标补能站。Calculate the cruising mileage required by the vehicle to each energy replenishment station, and select an energy replenishing station with a required cruising mileage less than the remaining cruising mileage as the target energy replenishing station.

本公开实施例中，云平台可以针对每个补能站，获取车辆从当前位置行驶至补能站的路线距离，计算路线距离与能耗加权系数的乘积，得到车辆到补能站的续航里程。In the embodiment of the present disclosure, the cloud platform can obtain the route distance of the vehicle from the current position to the energy-replenishing station for each energy-replenishing station, calculate the product of the route distance and the energy consumption weighting coefficient, and obtain the cruising range of the vehicle to the energy-replenishing station .

其中，能耗加权系数为车辆的每公里实际能耗值与基准能耗值之间的比值。Wherein, the energy consumption weighting coefficient is the ratio between the actual energy consumption value per kilometer of the vehicle and the reference energy consumption value.

云平台中预先存储有每个补能站的位置，可以基于车辆的当前位置，确定车辆从当前位置行驶至各补能站的路线，并确定路线距离，路线距离具体为路线的长度。The location of each energy-supplying station is pre-stored in the cloud platform. Based on the current position of the vehicle, the route from the current position of the vehicle to each energy-supplying station can be determined, and the route distance is determined. The route distance is specifically the length of the route.

基准能耗值为车辆在一定的限制条件下进行行驶时，测量得到的车辆行驶每公里的平均能耗值，限制条件可以为路面情况，车速等影响车辆能耗的参数。同一品牌或者同一型号的车辆的基准能耗值可以相同。The reference energy consumption value is the average energy consumption value per kilometer measured when the vehicle travels under certain restricted conditions, and the restriction conditions can be parameters that affect vehicle energy consumption, such as road conditions and vehicle speed. The baseline energy consumption values of vehicles of the same brand or model may be the same.

由于车辆实际行驶时，行驶速度和路面情况均可能发生变化，所以车辆每公里的实际能耗值与基准能耗值可能不同，所以云平台可以在车辆行驶过程中，实时获取车辆每公里实际能耗值。Since the driving speed and road conditions may change when the vehicle is actually driving, the actual energy consumption value per kilometer of the vehicle may be different from the reference energy consumption value. Therefore, the cloud platform can obtain the actual energy consumption per kilometer of the vehicle in real time during the driving process of the vehicle. consumption value.

如果需要计算车辆到补能站所需的里程，则可基于最新获取到的车辆的每公里实际能耗值计算能耗加权系数。If it is necessary to calculate the mileage required by the vehicle to reach the energy supplementation station, the energy consumption weighting coefficient can be calculated based on the newly obtained actual energy consumption value per kilometer of the vehicle.

能耗加权系数X_car＝车辆每公里实际能耗值EC_Dy÷基准能耗值EC_car。The energy consumption weighting coefficient X_car = the actual energy consumption value EC_Dy per kilometer of the vehicle ÷ the reference energy consumption value EC_car .

进而，可以计算得到车辆到补能站的续航里程：BER_chg＝X_car*S_chg，其中，S_chg为车辆到补能站的路线距离。Furthermore, the cruising range from the vehicle to the energy-replenishing station can be calculated: BER_chg =X_car *S_chg , where S_chg is the route distance from the vehicle to the energy-replenishing station.

由于车辆的剩余续航里程通常是基于基准能耗值计算的，而车辆实际行驶过程中每公里实际的能耗值与基准能耗值不同，即车辆实际的剩余续航里程与车辆计算的剩余续航里程的理论值可能不同。通过将车辆到补能站的路线距离与基准能耗值相乘，可以得到车辆在按照基准能耗值行驶的情况下，行驶至补能站所需的续航里程。Because the remaining cruising range of the vehicle is usually calculated based on the reference energy consumption value, and the actual energy consumption value per kilometer during the actual driving of the vehicle is different from the reference energy consumption value, that is, the actual remaining cruising range of the vehicle is different from the remaining cruising range calculated by the vehicle. The theoretical value of may vary. By multiplying the route distance from the vehicle to the energy-replenishing station by the reference energy consumption value, the cruising mileage required for the vehicle to travel to the energy-replenishing station under the condition that the vehicle travels according to the reference energy consumption value can be obtained.

通过这种方法计算出的所需续航里程与云平台获取到的车辆的剩余续航里程的计算标准相同，进而云平台选择所需续航里程小于车辆的剩余续航里程的补能站，可以使得选择出的目标补能站符合车辆的实际情况，避免因车辆每公里能耗值与基础能耗值差异较大的情况下，云平台错误选择车辆的剩余里程无法到达的补能站。The required cruising range calculated by this method is the same as the calculation standard of the remaining cruising range of the vehicle obtained by the cloud platform, and then the cloud platform selects the energy-replenishing station whose required cruising range is less than the remaining cruising range of the vehicle. The target energy replenishment station is in line with the actual situation of the vehicle, so as to avoid the cloud platform erroneously selecting an energy replenishment station that cannot be reached by the remaining mileage of the vehicle due to the large difference between the energy consumption value per kilometer of the vehicle and the basic energy consumption value.

可选地，如果所需续航里程小于剩余续航里程的补能站存在多个，则可以随机选择一个补能站；Optionally, if there are multiple energy-supplying stations with the required cruising mileage less than the remaining cruising mileage, one can be randomly selected;

或者，从中选一个所需续航里程最少的补能站；Or, choose a refueling station with the least mileage required;

或者，根据车辆到每个补能站的路况，选择一个路况较好的补能站；Or, according to the road conditions of the vehicle to each energy supplement station, select an energy supplement station with better road conditions;

或者，根据每个补能站的剩余电量和/或排队车辆数量选择一个补能站。Alternatively, select an energy replenishing station based on the remaining power and/or the number of queued vehicles at each energy replenishing station.

也可以综合考虑上述因素，或者采用其他原则选择补能站，本公开实施例对此不作限制。The above factors may also be considered comprehensively, or other principles may be adopted to select the energy supplementing station, which is not limited in this embodiment of the present disclosure.

采用该方法，云平台可以根据车辆的剩余续航里程，选择一个行驶至补能站所需续航里程小于剩余续航里程的补能站，使得车辆可以成功补能，避免车辆因能源不足而需人工调度，可以实现无人驾驶车辆的全循环7*24小时持续自动运营，提高运营效率，降低用人成本。Using this method, the cloud platform can select an energy-replenishing station whose cruising mileage is less than the remaining cruising mileage to reach the energy-replenishing station according to the remaining cruising range of the vehicle, so that the vehicle can be successfully recharged and avoid the need for manual scheduling of the vehicle due to insufficient energy. , which can realize the continuous automatic operation of unmanned vehicles in a full cycle of 7*24 hours, improve operational efficiency and reduce labor costs.

在本公开的一种实现方式中，在S202、根据剩余续航里程为车辆选择目标补能站之后，云平台可以确定从车辆的当前位置至目标补能站的规划路线，向车辆发送规划路线，以指示车辆按照规划路线自动行驶至目标补能站进行补能。In an implementation manner of the present disclosure, in S202 , after selecting a target energy supplement station for the vehicle according to the remaining cruising range, the cloud platform may determine a planned route from the current position of the vehicle to the target energy supplement station, and send the planned route to the vehicle, In order to instruct the vehicle to automatically drive to the target energy replenishment station according to the planned route for energy replenishment.

可以理解的是，云平台为车辆规划路线后，车辆可以直接按照规划路线自动行驶至目标补能站的位置，并进行自动补能。如此，车辆可以及时进行补能，且车辆无需计算路线，降低车辆的能耗，避免车辆因能源不足而停止运营。It is understandable that after the cloud platform plans a route for the vehicle, the vehicle can automatically drive to the target energy replenishment station directly according to the planned route, and automatically replenish energy. In this way, the vehicle can replenish energy in time, and the vehicle does not need to calculate the route, which reduces the energy consumption of the vehicle and prevents the vehicle from stopping operation due to insufficient energy.

可选地，本公开实施例中，车辆也可以基于目标补能站的位置，计算到达目标补能站的路线，如此可以降低云平台的计算压力。Optionally, in the embodiment of the present disclosure, the vehicle may also calculate a route to the target energy supplement station based on the location of the target energy supplement station, so that the computing pressure of the cloud platform can be reduced.

在本公开的另一实施例中，考虑到车辆行驶至补能站过程中也可以处理顺路订单，所以云平台确定从车辆的当前位置至目标补能站的规划路线之后，可以判断车辆到目标补能站的区间内，是否存在顺路订单。In another embodiment of the present disclosure, considering that a drop-in order can also be processed when the vehicle travels to the energy-replenishing station, after the cloud platform determines the planned route from the current position of the vehicle to the target energy-replenishing station, it can determine that the vehicle reaches the target Whether there is a drop-in order within the interval of the energy-supplying station.

其中，云平台可以基于计算出的规划路线，以及各订单的起点位置和终点位置，判断是否存在顺路订单。云平台可以按照已有的任意一种对运营车辆的调度方法匹配顺路订单，本公开实施例对此不作具体限定。Among them, the cloud platform can determine whether there is a drop-in order based on the calculated planned route and the starting and ending positions of each order. The cloud platform can match drop-in orders according to any existing scheduling method for operating vehicles, which is not specifically limited in this embodiment of the present disclosure.

若确定当前存在与规划路线匹配的顺路订单，则计算车辆处理顺路订单所需续航里程，与车辆从顺路订单的终点行驶至目标补能站所需里程之和，是否小于剩余续航里程。若是，则为车辆派发顺路订单。If it is determined that there is a drop-in order matching the planned route, calculate whether the cruising mileage required by the vehicle to process the drop-in order and the mileage required for the vehicle to travel from the end point of the drop-in order to the target energy replenishment station is less than the remaining cruising range. If so, dispatch a drop-in order for the vehicle.

也就是说，如果车辆处理顺路订单，需要保证车辆的剩余续航里程足够车辆完成顺路订单，并行驶至目标补能站。在剩余续航里程足够车辆完成顺路订单的情况下，车辆处理顺路订单，可以在保证车辆不因能源不足而停止运营的情况下，处理更多的订单，提高对运营车辆的利用率，且提高运营效率、That is to say, if the vehicle processes a drop-in order, it is necessary to ensure that the remaining cruising range of the vehicle is sufficient for the vehicle to complete the drop-in order and drive to the target energy replenishment station. In the case that the remaining cruising range is enough for the vehicle to complete the drop-in order, the vehicle can process the drop-in order, which can process more orders under the condition that the vehicle does not stop operation due to insufficient energy, improve the utilization rate of the operating vehicle, and improve the operation. efficiency,

车辆处理顺路订单的过程中，云平台可以实时对车辆进行监测，若监测到车辆完成顺路订单，则向车辆发送距离车辆当前位置最近的一个补能站的位置，以指示车辆自动行驶至最近的一个补能站进行自动补能。During the process of the vehicle processing the drop-in order, the cloud platform can monitor the vehicle in real time. If it is detected that the vehicle has completed the drop-in order, it will send the vehicle the location of the nearest energy-filling station to the current position of the vehicle to instruct the vehicle to automatically drive to the nearest location. An energy replenishment station for automatic energy replenishment.

因顺路订单的路线与云平台为车辆行驶至目标补能站的规划路线可能不会完全重合，所以车辆在完成顺路订单后，目标补能站可能不是距离车辆最近的补能站，云平台可以重新为车辆选择距离车辆当前位置最近的补能站，并向车辆发送该补能站的位置，或者发送车辆到该补能站的规划路线，以指示车辆自动行驶至该补能站进行自动补能。如此，可以使得车辆及时完成补能，降低车辆因能源不足而停止运营的风险。Because the route of the drop-in order and the route planned by the cloud platform for the vehicle to travel to the target energy replenishment station may not completely coincide, so after the vehicle completes the drop-in order, the target energy replenishment station may not be the closest to the vehicle. Re-select the energy replenishment station closest to the current position of the vehicle for the vehicle, and send the location of the energy replenishment station to the vehicle, or send the vehicle to the planned route of the energy replenishment station to instruct the vehicle to automatically drive to the energy replenishment station for automatic replenishment. can. In this way, the vehicle can be replenished in time to reduce the risk of the vehicle stopping operation due to insufficient energy.

基于相同发明构思，本公开实施例还提供一种车辆补能方法，应用于车辆，如图3所示，该方法包括：Based on the same inventive concept, an embodiment of the present disclosure also provides a vehicle energy replenishing method, which is applied to a vehicle. As shown in FIG. 3 , the method includes:

S301、接收云平台发送的目标补能站的位置；其中，目标补能站为云平台确定实时监测到车辆的剩余续航里程小于等于预设阈值时，根据剩余续航里程为车辆选择的补能站。S301. Receive the location of the target energy replenishing station sent by the cloud platform; wherein, the target energy replenishing station is the energy replenishing station selected for the vehicle according to the remaining cruising range when the cloud platform determines that the remaining cruising range of the vehicle monitored in real time is less than or equal to a preset threshold .

云平台为车辆选择目标补能站的方法可参考上述实施例中的相关描述，此处不再赘述。For the method for the cloud platform to select the target energy supplementing station for the vehicle, reference may be made to the relevant descriptions in the above embodiments, and details are not repeated here.

S302、自动行驶至目标补能站进行自动补能。S302 , automatically drive to the target energy replenishment station for automatic energy replenishment.

采用该方法，车辆可以接收云平台发送的目标补能站的位置，并自动行驶至目标补能站进行自动补能，目标补能站是云平台确定实时监测到车辆的剩余续航里程小于等于预设阈值时，根据剩余续航里程为车辆选择目标补能站。可见，上述过程中，无需人工基于经验为车辆选择补能站，云平台可以自动在车辆的剩余续航里程不足的情况下，调度车辆进行补能，全程无需人工参与，可以降低人工成本，提高车辆的运营效率。Using this method, the vehicle can receive the location of the target energy replenishment station sent by the cloud platform, and automatically drive to the target energy replenishment station for automatic energy replenishment. When the threshold is set, the target power station is selected for the vehicle according to the remaining cruising range. It can be seen that in the above process, there is no need to manually select an energy replenishing station for the vehicle based on experience. The cloud platform can automatically dispatch the vehicle for energy replenishment when the remaining cruising range of the vehicle is insufficient. No manual participation is required in the whole process, which can reduce labor costs and improve the vehicle. operational efficiency.

本公开实施例中，上述S302、自动行驶至目标补能站进行自动补能，可以有以下两种实现方式：In the embodiment of the present disclosure, the above-mentioned S302, automatically driving to the target energy replenishing station for automatic energy replenishment, can be implemented in the following two ways:

一种实现方式中，车辆计算从当前位置到目标补能站位置之间的行驶路线，按照行驶路线行驶至目标补能站进行自动补能。In an implementation manner, the vehicle calculates the driving route from the current position to the position of the target energy supplementing station, and travels to the target energy supplementing station according to the driving route for automatic energy supplementation.

云平台计算资源不足的情况下，车辆如果自动计算与目标补能站之间的行驶路线，可以更及时地进行自动补能，降低车辆因能源不足而停止运营的风险。并且可以降低云平台的计算压力。In the case of insufficient computing resources on the cloud platform, if the vehicle automatically calculates the driving route between the target energy replenishment station, it can automatically replenish energy in a more timely manner, reducing the risk of the vehicle stopping operation due to insufficient energy. And it can reduce the computing pressure of the cloud platform.

另一实现方式中，车辆可以接收云平台发送的规划路线,按照规划路线行驶至目标补能站进行自动补能。In another implementation manner, the vehicle can receive the planned route sent by the cloud platform, and travel to the target energy replenishment station according to the planned route for automatic energy replenishment.

如此，车辆可以及时进行补能，且车辆无需计算路线，降低车辆的能耗，避免车辆因能源不足而停止运营。In this way, the vehicle can replenish energy in time, and the vehicle does not need to calculate the route, which reduces the energy consumption of the vehicle and prevents the vehicle from stopping operation due to insufficient energy.

在本公开的一个实施例中，车辆还可以处理到目标补能站的顺路订单，如图4所示，该方法包括：In an embodiment of the present disclosure, the vehicle can also process a drop-in order to the target energy supplementation station. As shown in FIG. 4 , the method includes:

S401、接收云平台发送的目标补能站的位置。S401. Receive the position of the target energy supplementing station sent by the cloud platform.

其中，S401与S301相同，此处不再重复描述。Wherein, S401 is the same as S301, and the description is not repeated here.

S402、获取云平台派发的顺路订单。S402. Obtain a drop-in order distributed by the cloud platform.

其中，车辆处理顺路订单所需续航里程，与车辆从顺路订单的终点行驶至目标补能站所需里程之和，小于剩余续航里程。Among them, the cruising mileage required by the vehicle to process the drop-in order and the mileage required for the vehicle to travel from the end point of the drop-in order to the target energy replenishment station is less than the remaining cruising range.

云平台派发的顺路订单可以包括顺路订单的起点位置和终点位置，或者还可以包括从起点位置至终点位置之间的路线。The drop-in order dispatched by the cloud platform may include the start and end positions of the drop-in order, or may also include the route from the start position to the end position.

S403、处理顺路订单。S403 , processing a drop-in order.

车辆可以基于顺路订单的起点位置，行驶至该起点位置，进而可以计算到终点位置之间的路线，并按照计算出的路线行驶。The vehicle can drive to the starting point based on the starting point of the drop-in order, and then can calculate the route to the ending point and drive according to the calculated route.

或者，在云平台规划从起点位置至终点位置之间的路线的情况下，车辆可以按照云平台规划的路线进行行驶。Alternatively, when the cloud platform plans a route from the starting point to the ending point, the vehicle may travel according to the route planned by the cloud platform.

或者，车辆还可以按照乘客在APP中选择的路线行驶。Alternatively, the vehicle can also follow the route selected by the passenger in the app.

S404、在完成顺路订单后，若接收到云平台发送的距离当前位置最近的补能站的位置，则自动行驶至距离当前位置最近的补能站进行自动补能。S404. After completing the drop-in order, if the position of the energy replenishing station closest to the current position sent by the cloud platform is received, the vehicle will automatically drive to the energy replenishing station closest to the current position for automatic energy replenishment.

S405、若未接收到云平台发送的距离当前位置最近的补能站的位置，则自动行驶至目标补能站进行自动补能。S405 , if the position of the energy supplementing station closest to the current position sent by the cloud platform is not received, automatically drive to the target energy supplementing station for automatic energy supplementation.

采用该方法，在剩余续航里程足够车辆完成顺路订单的情况下，车辆处理顺路订单，可以在保证车辆不因能源不足而停止运营的情况下，处理更多的订单，提高对运营车辆的利用率，且提高运营效率。By adopting this method, when the remaining cruising range is sufficient for the vehicle to complete the drop-in order, the vehicle can process the drop-in order, which can process more orders and improve the utilization rate of the operating vehicle while ensuring that the vehicle does not stop operation due to insufficient energy. , and improve operational efficiency.

另外，在车辆完成顺路订单之后，若接收到云平台发送的距离当前位置最近的补能站位置，则行驶至该补能站位置进行自动补能，在未接收到云平台发送的距离当前位置最近的补能站的位置的情况下，车辆也可以自动行驶至目标补能站进行自动补能。可以使得车辆在完成顺路订单后尽快完成补能，降低车辆因能源不足而停止运营的风险。In addition, after the vehicle completes the drop-in order, if it receives the position of the energy-replenishing station that is closest to the current position sent by the cloud platform, it will drive to the position of the energy-replenishing station for automatic energy replenishment. In the case of the location of the nearest energy replenishing station, the vehicle can also automatically drive to the target energy replenishing station for automatic energy replenishment. It can make the vehicle complete the energy replenishment as soon as possible after completing the drop-in order, and reduce the risk of the vehicle stopping operation due to insufficient energy.

以下对本公开实施例提供的一种车辆补能方法的流程，如图5所示，该方法包括：The following is a process flow of a vehicle energy supplement method provided by an embodiment of the present disclosure, as shown in FIG. 5 , the method includes:

S501、云平台监控车辆剩余续航里程。S501. The cloud platform monitors the remaining cruising range of the vehicle.

其中，车辆上可以安装有能够与云平台进行通信的装置，比如车载终端，或者为车辆中的车机。Wherein, a device capable of communicating with the cloud platform may be installed on the vehicle, such as a vehicle-mounted terminal, or a vehicle machine in the vehicle.

该通信装置可以实时向云平台发送车辆的相关信息。例如，车辆的剩余续航里程、车辆实时位置、车辆的实际每公里能耗值等。The communication device can send the relevant information of the vehicle to the cloud platform in real time. For example, the remaining cruising range of the vehicle, the real-time location of the vehicle, the actual energy consumption per kilometer of the vehicle, etc.

相应地，云平台可以实时计算车辆的能耗加权系数，也可实时计算车辆到各补能站所需续航里程。Correspondingly, the cloud platform can calculate the weighted coefficient of energy consumption of the vehicle in real time, and can also calculate the cruising range required by the vehicle to each energy supplement station in real time.

S502、判断车辆剩余续航里程是否小于等于预设阈值。S502. Determine whether the remaining cruising range of the vehicle is less than or equal to a preset threshold.

若是，则执行S505；若否，则执行S503。If yes, execute S505; if not, execute S503.

S503、云平台引导车辆优先接单，车辆处于订单模式。S503 , the cloud platform guides the vehicle to take orders first, and the vehicle is in the order mode.

当车辆的剩余续航里程大于预设阈值时，车辆处于正常运营状态，持续接单并完成订单。When the remaining cruising range of the vehicle is greater than the preset threshold, the vehicle is in normal operation and continues to accept and complete orders.

S504、车辆订单结束。S504, the vehicle order ends.

车辆订单结束后，返回S501。After the vehicle order is completed, return to S501.

S505、云平台引导车辆优先换电，车辆进入优先补能模式。S505 , the cloud platform guides the vehicle to give priority to battery replacement, and the vehicle enters a priority energy replenishment mode.

S506、云平台规划车辆到补能站路线，下发给车辆。S506 , the cloud platform plans a route from the vehicle to the energy replenishing station, and issues the route to the vehicle.

其中，云平台为车辆选择补能站的方式可参考上述实施例中的相关描述，此处不再赘述。Wherein, for the manner in which the cloud platform selects the energy supplementing station for the vehicle, reference may be made to the relevant descriptions in the above-mentioned embodiments, which will not be repeated here.

可选地，云平台同时下发该补能站位置信息以及当前车辆到该补能站的路线。Optionally, the cloud platform simultaneously delivers the location information of the energy supplement station and the route of the current vehicle to the energy supplement station.

或者，云平台下发该补能站位置信息，车端无人控制器根据该补能站位置信息和当前车辆位置，计算得到一条当前车辆到该补能站的路线。Alternatively, the cloud platform sends the location information of the energy-replenishing station, and the unmanned vehicle-end controller calculates a route from the current vehicle to the energy-replenishing station according to the location information of the energy-replenishing station and the current vehicle position.

S507、云平台判断车辆至补能站是否有顺路订单。S507, the cloud platform judges whether there is a drop-in order from the vehicle to the energy-replenishing station.

若是，则执行S508；若否，则执行S511。If yes, execute S508; if not, execute S511.

S508、云平台判断车辆剩余续航里程是否大于顺路订单里程加上车辆到补能站里程。S508, the cloud platform judges whether the remaining cruising range of the vehicle is greater than the mileage of the drop-in order plus the mileage of the vehicle to the energy replenishing station.

即，云平台需要判断车辆若处理该该顺路订单后，剩余的续航里程能否继续行驶至上述补能站。That is, the cloud platform needs to determine whether the vehicle can continue to travel to the above-mentioned energy-replenishing station with the remaining cruising range after processing the drop-in order.

若是，则执行S509；若否，则执行S511。If yes, execute S509; if not, execute S511.

S509、云平台给车辆派单。S509, the cloud platform dispatches the order to the vehicle.

可以理解的，当车辆的剩余续航里程满足车辆在完成顺路订单后，仍可以继续行驶至补能站，则云平台将该顺路订单发送给车辆。It can be understood that when the remaining cruising range of the vehicle satisfies that the vehicle can continue to drive to the energy replenishment station after completing the drop-in order, the cloud platform sends the drop-in order to the vehicle.

S510、车辆订单结束。S510, the vehicle order ends.

S511、云平台引导车辆按照到补能站的路线行驶。S511 , the cloud platform guides the vehicle to travel along the route to the energy supplementation station.

可选地，如果此时车辆的剩余续航里程还可以支持车辆完成另一顺路订单，则云平台还可以再次为车辆派发顺路订单。Optionally, if the remaining cruising range of the vehicle can still support the vehicle to complete another drop-in order at this time, the cloud platform can also distribute the drop-in order for the vehicle again.

S512、车辆到达补能站自动补能。S512, the vehicle automatically replenishes energy when it arrives at the energy replenishment station.

S513、车辆驶离。S513, the vehicle drives away.

可以理解的是，车辆完成自动补能后即可离开补能站，云平台可以继续对该车辆的剩余续航里程进行监控。It is understandable that after the vehicle completes the automatic energy replenishment, it can leave the energy replenishment station, and the cloud platform can continue to monitor the remaining cruising range of the vehicle.

采用该方法，云平台可以自动发现车辆的剩余续航里程不足，进而自动调度车辆进行自动补能，全程无须人工介入。在补能过程中云平台自动匹配车辆是否可以接顺路订单，尽量避免空车行驶，提高运行效率和经济效益。Using this method, the cloud platform can automatically find that the remaining cruising range of the vehicle is insufficient, and then automatically dispatch the vehicle for automatic energy replenishment, without manual intervention in the whole process. During the energy replenishment process, the cloud platform automatically matches whether the vehicle can receive orders on the way, try to avoid empty vehicles, and improve operational efficiency and economic benefits.

需要说明的是，在本公开实施例中，也可以在车辆端实时监测车辆的剩余续航里程，在剩余续航里程小于等于预设阈值时，车辆可向云平台发送告警消息，进而云平台按照上述方法调度车辆至补能站进行自动补能。即实现了云端和车端配合实现自动补能。It should be noted that, in the embodiment of the present disclosure, the remaining cruising range of the vehicle can also be monitored in real time at the vehicle end, and when the remaining cruising range is less than or equal to a preset threshold, the vehicle can send an alarm message to the cloud platform, and the cloud platform will follow the above-mentioned steps. Methods Dispatching vehicles to the energy replenishment station for automatic energy replenishment. That is, the cloud and the vehicle end cooperate to realize automatic energy replenishment.

或者，在车端具有足够的计算资源的情况下，车端在监测到车辆的剩余续航里程小于等于预设阈值时，也可以从云平台中获取车辆附近的补能站位置，进而计算行驶至补能站所需里程小于剩余续航里程的补能站，自动行驶至该补能站进行自动补能。即实现了云端和车端配合实现自动补能。Alternatively, when the vehicle end has sufficient computing resources, when the vehicle end detects that the remaining cruising range of the vehicle is less than or equal to the preset threshold, it can also obtain the location of the energy-replenishing station near the vehicle from the cloud platform, and then calculate the driving distance. The mileage required by the energy-replenishing station is less than the remaining cruising range of the energy-replenishing station, and it will automatically drive to the energy-replenishing station for automatic energy replenishment. That is, the cloud and the vehicle end cooperate to realize automatic energy replenishment.

基于相同的发明构思，本公开实施例提供一种车辆补能装置，该装置应用于云平台，如图6所示，该装置包括：Based on the same inventive concept, an embodiment of the present disclosure provides a vehicle energy supplementing device, which is applied to a cloud platform. As shown in FIG. 6 , the device includes:

监测模块601，用于实时监测车辆的剩余续航里程。Themonitoring module 601 is used to monitor the remaining cruising range of the vehicle in real time.

选择模块602，用于当剩余续航里程小于等于预设阈值时，根据剩余续航里程为车辆选择目标补能站。Theselection module 602 is configured to select a target energy replenishing station for the vehicle according to the remaining cruising range when the remaining cruising range is less than or equal to a preset threshold.

第一发送模块603，用于向车辆发送目标补能站的位置，以指示车辆自动行驶至目标补能站进行自动补能。Thefirst sending module 603 is configured to send the position of the target energy replenishing station to the vehicle, so as to instruct the vehicle to automatically drive to the target energy replenishing station for automatic energy replenishment.

可选的，选择模块602，具体用于：Optionally, theselection module 602 is specifically used for:

计算车辆到各补能站所需的续航里程。Calculate the cruising range required by the vehicle to reach each energy-replenishing station.

选择所需续航里程小于剩余续航里程的一个补能站作为目标补能站。Select an energy replenishing station with a required cruising range less than the remaining cruising range as the target energy replenishing station.

可选的，选择模块602，具体用于：Optionally, theselection module 602 is specifically used for:

针对每个补能站，获取车辆从当前位置行驶至补能站的路线距离。For each energy replenishment station, obtain the route distance of the vehicle from the current position to the energy replenishment station.

计算路线距离与能耗加权系数的乘积，得到车辆到补能站的续航里程。其中，能耗加权系数为车辆的每公里实际能耗值与基准能耗值之间的比值。Calculate the product of the route distance and the energy consumption weighting coefficient to obtain the cruising range of the vehicle to the energy-supplying station. Wherein, the energy consumption weighting coefficient is the ratio between the actual energy consumption value per kilometer of the vehicle and the reference energy consumption value.

可选的，该装置还包括：Optionally, the device further includes:

确定模块，用于确定从车辆的当前位置至目标补能站的规划路线。The determining module is used for determining the planned route from the current position of the vehicle to the target energy supplementing station.

第二发送模块，用于向车辆发送规划路线，以指示车辆按照规划路线自动行驶至目标补能站进行自动补能。The second sending module is used for sending the planned route to the vehicle, so as to instruct the vehicle to automatically drive to the target energy replenishing station according to the planned route for automatic energy replenishment.

可选地，该装置还包括：Optionally, the device also includes:

判断模块，用于若确定当前存在与规划路线匹配的顺路订单，则计算车辆处理顺路订单所需续航里程，与车辆从顺路订单的终点行驶至目标补能站所需里程之和，是否小于剩余续航里程。The judgment module is used to calculate whether the cruising mileage required by the vehicle to process the drop-in order and the mileage required by the vehicle to travel from the end point of the drop-in order to the target energy supplement station is less than the remaining amount if it is determined that there is a drop-in order matching the planned route recharge mileage.

派单模块，用于若判断模块的判断结果为是，则为车辆派发顺路订单。The order dispatch module is used to dispatch a drop-in order for the vehicle if the judgment result of the judgment module is yes.

可选的，该装置还包括：Optionally, the device further includes:

第三发送模块，用于若监测到车辆完成顺路订单，则向车辆发送距离车辆当前位置最近的一个补能站的位置，以指示车辆自动行驶至最近的一个补能站进行自动补能。The third sending module is used to send the position of the nearest energy-replenishing station to the vehicle's current position to instruct the vehicle to automatically drive to the nearest energy-replenishing station for automatic energy replenishment if it is detected that the vehicle completes the drop-in order.

基于相同发明构思，本公开实施例还提供一种车辆补能装置，应用于车辆，如图7所示，该装置包括：Based on the same inventive concept, an embodiment of the present disclosure also provides a vehicle energy supplement device, which is applied to a vehicle. As shown in FIG. 7 , the device includes:

接收模块701，用于接收云平台发送的目标补能站的位置；其中，目标补能站为云平台实时监测到车辆的剩余续航里程小于等于预设阈值时，根据剩余续航里程为车辆选择的补能站。The receivingmodule 701 is configured to receive the location of the target energy-supplying station sent by the cloud platform; wherein, the target energy-supplying station is the one selected by the vehicle according to the remaining cruising mileage when the cloud platform detects that the remaining cruising range of the vehicle is less than or equal to a preset threshold in real time. Replenishment station.

自动驾驶模块702，用于自动行驶至目标补能站进行自动补能。Theautomatic driving module 702 is used for automatically driving to the target energy replenishing station for automatic energy replenishment.

可选的，自动驾驶模块702，具体用于：Optionally, theautomatic driving module 702 is specifically used for:

计算从当前位置到目标补能站位置之间的行驶路线；按照行驶路线行驶至目标补能站进行自动补能。Calculate the driving route from the current position to the location of the target energy supplementation station; follow the driving route to the target energy supplementation station for automatic energy supplementation.

或者，or,

接收云平台发送的规划路线；按照规划路线行驶至目标补能站进行自动补能。Receive the planned route sent by the cloud platform; follow the planned route to the target energy replenishment station for automatic energy replenishment.

可选的，该装置还包括：Optionally, the device further includes:

获取模块，用于获取云平台派发的顺路订单，其中，车辆处理顺路订单所需续航里程，与车辆从顺路订单的终点行驶至目标补能站所需里程之和，小于剩余续航里程。The obtaining module is used to obtain the drop-in order distributed by the cloud platform, wherein the cruising mileage required by the vehicle to process the drop-in order and the mileage required for the vehicle to travel from the end point of the drop-in order to the target energy replenishing station is less than the remaining cruising range.

处理模块，用于处理顺路订单。The processing module is used to process drop-in orders.

自动驾驶模块702，还用于若接收到云平台发送的距离当前位置最近的补能站的位置，则自动行驶至距离当前位置最近的补能站进行自动补能；若未接收到云平台发送的距离当前位置最近的补能站的位置，则自动行驶至目标补能站进行自动补能。Theautomatic driving module 702 is further configured to automatically drive to the nearest energy-replenishing station from the current position if it receives the position of the energy-replenishing station closest to the current position sent by the cloud platform; The position of the nearest energy-replenishing station from the current position will automatically drive to the target energy-replenishing station for automatic energy replenishment.

在本公开的另一实施例中，如图8所示，提供一种电子设备，包括：In another embodiment of the present disclosure, as shown in FIG. 8, an electronic device is provided, including:

至少一个处理器；以及at least one processor; and

与至少一个处理器通信连接的存储器；其中，a memory communicatively coupled to the at least one processor; wherein,

存储器存储有可被至少一个处理器执行的指令，指令被至少一个处理器执行，以使至少一个处理器能够执行上述车辆补能的方法。The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the above-described method for energizing a vehicle.

在本公开的另一实施例中，提供一种存储有计算机指令的非瞬时计算机可读存储介质，其中，计算机指令用于使计算机执行车辆补能的方法。In another embodiment of the present disclosure, there is provided a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to cause a computer to perform a method of energizing a vehicle.

本公开的技术方案中，所涉及的用户个人信息的收集、存储、使用、加工、传输、提供和公开等处理，均符合相关法律法规的规定，且不违背公序良俗。In the technical solutions of the present disclosure, the collection, storage, use, processing, transmission, provision, and disclosure of the user's personal information involved are all in compliance with relevant laws and regulations, and do not violate public order and good customs.

根据本公开的实施例，本公开还提供了一种电子设备、一种可读存储介质和一种计算机程序产品。According to embodiments of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium, and a computer program product.

图8示出了可以用来实施本公开的实施例的示例电子设备800的示意性框图。电子设备旨在表示各种形式的数字计算机，诸如，膝上型计算机、台式计算机、工作台、个人数字助理、服务器、刀片式服务器、大型计算机、和其它适合的计算机。电子设备还可以表示各种形式的移动装置，诸如，个人数字处理、蜂窝电话、智能电话、可穿戴设备和其它类似的计算装置。本文所示的部件、它们的连接和关系、以及它们的功能仅仅作为示例，并且不意在限制本文中描述的和/或者要求的本公开的实现。FIG. 8 shows a schematic block diagram of an exampleelectronic device 800 that may be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. Electronic devices may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are by way of example only, and are not intended to limit implementations of the disclosure described and/or claimed herein.

如图8所示，设备800包括计算单元801，其可以根据存储在只读存储器(ROM)802中的计算机程序或者从存储单元808加载到随机访问存储器(RAM)803中的计算机程序，来执行各种适当的动作和处理。在RAM 803中，还可存储设备800操作所需的各种程序和数据。计算单元801、ROM 802以及RAM 803通过总线804彼此相连。输入/输出(I/O)接口805也连接至总线804。As shown in FIG. 8 , thedevice 800 includes acomputing unit 801 that can be executed according to a computer program stored in a read only memory (ROM) 802 or a computer program loaded from astorage unit 808 into a random access memory (RAM) 803 Various appropriate actions and handling. In theRAM 803, various programs and data necessary for the operation of thedevice 800 can also be stored. Thecomputing unit 801 , theROM 802 , and theRAM 803 are connected to each other through abus 804 . An input/output (I/O)interface 805 is also connected tobus 804 .

设备800中的多个部件连接至I/O接口805，包括：输入单元806，例如键盘、鼠标等；输出单元807，例如各种类型的显示器、扬声器等；存储单元808，例如磁盘、光盘等；以及通信单元809，例如网卡、调制解调器、无线通信收发机等。通信单元809允许设备800通过诸如因特网的计算机网络和/或各种电信网络与其他设备交换信息/数据。Various components in thedevice 800 are connected to the I/O interface 805, including: aninput unit 806, such as a keyboard, mouse, etc.; anoutput unit 807, such as various types of displays, speakers, etc.; astorage unit 808, such as a magnetic disk, an optical disk, etc. ; and acommunication unit 809, such as a network card, a modem, a wireless communication transceiver, and the like. Thecommunication unit 809 allows thedevice 800 to exchange information/data with other devices through a computer network such as the Internet and/or various telecommunication networks.

计算单元801可以是各种具有处理和计算能力的通用和/或专用处理组件。计算单元801的一些示例包括但不限于中央处理单元(CPU)、图形处理单元(GPU)、各种专用的人工智能(AI)计算芯片、各种运行机器学习模型算法的计算单元、数字信号处理器(DSP)、以及任何适当的处理器、控制器、微控制器等。计算单元801执行上文所描述的各个方法和处理，例如车辆补能方法。例如，在一些实施例中，车辆补能方法可被实现为计算机软件程序，其被有形地包含于机器可读介质，例如存储单元808。在一些实施例中，计算机程序的部分或者全部可以经由ROM 802和/或通信单元809而被载入和/或安装到设备800上。当计算机程序加载到RAM 803并由计算单元801执行时，可以执行上文描述的车辆补能方法的一个或多个步骤。备选地，在其他实施例中，计算单元801可以通过其他任何适当的方式(例如，借助于固件)而被配置为执行车辆补能方法。Computing unit 801 may be various general-purpose and/or special-purpose processing components with processing and computing capabilities. Some examples of computingunits 801 include, but are not limited to, central processing units (CPUs), graphics processing units (GPUs), various specialized artificial intelligence (AI) computing chips, various computing units that run machine learning model algorithms, digital signal processing processor (DSP), and any suitable processor, controller, microcontroller, etc. Thecomputing unit 801 executes the various methods and processes described above, such as a vehicle energy supplement method. For example, in some embodiments, a vehicle energizing method may be implemented as a computer software program tangibly embodied on a machine-readable medium, such asstorage unit 808 . In some embodiments, part or all of the computer program may be loaded and/or installed ondevice 800 viaROM 802 and/orcommunication unit 809 . When the computer program is loaded intoRAM 803 and executed by computingunit 801, one or more steps of the vehicle energizing method described above may be performed. Alternatively, in other embodiments, thecomputing unit 801 may be configured to perform the vehicle energizing method by any other suitable means (eg, by means of firmware).

本文中以上描述的系统和技术的各种实施方式可以在数字电子电路系统、集成电路系统、场可编程门阵列(FPGA)、专用集成电路(ASIC)、专用标准产品(ASSP)、芯片上系统的系统(SOC)、复杂可编程逻辑设备(CPLD)、计算机硬件、固件、软件、和/或它们的组合中实现。这些各种实施方式可以包括：实施在一个或者多个计算机程序中，该一个或者多个计算机程序可在包括至少一个可编程处理器的可编程系统上执行和/或解释，该可编程处理器可以是专用或者通用可编程处理器，可以从存储系统、至少一个输入装置、和至少一个输出装置接收数据和指令，并且将数据和指令传输至该存储系统、该至少一个输入装置、和该至少一个输出装置。Various implementations of the systems and techniques described herein above may be implemented in digital electronic circuitry, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips system (SOC), complex programmable logic device (CPLD), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include being implemented in one or more computer programs executable and/or interpretable on a programmable system including at least one programmable processor that The processor, which may be a special purpose or general-purpose programmable processor, may receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device an output device.

用于实施本公开的方法的程序代码可以采用一个或多个编程语言的任何组合来编写。这些程序代码可以提供给通用计算机、专用计算机或其他可编程数据处理装置的处理器或控制器，使得程序代码当由处理器或控制器执行时使流程图和/或框图中所规定的功能/操作被实施。程序代码可以完全在机器上执行、部分地在机器上执行，作为独立软件包部分地在机器上执行且部分地在远程机器上执行或完全在远程机器或服务器上执行。Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer or other programmable data processing apparatus, such that the program code, when executed by the processor or controller, performs the functions/functions specified in the flowcharts and/or block diagrams. Action is implemented. The program code may execute entirely on the machine, partly on the machine, partly on the machine and partly on a remote machine as a stand-alone software package or entirely on the remote machine or server.

在本公开的上下文中，机器可读介质可以是有形的介质，其可以包含或存储以供指令执行系统、装置或设备使用或与指令执行系统、装置或设备结合地使用的程序。机器可读介质可以是机器可读信号介质或机器可读储存介质。机器可读介质可以包括但不限于电子的、磁性的、光学的、电磁的、红外的、或半导体系统、装置或设备，或者上述内容的任何合适组合。机器可读存储介质的更具体示例会包括基于一个或多个线的电气连接、便携式计算机盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦除可编程只读存储器(EPROM或快闪存储器)、光纤、便捷式紧凑盘只读存储器(CD-ROM)、光学储存设备、磁储存设备、或上述内容的任何合适组合。In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in connection with the instruction execution system, apparatus or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. Machine-readable media may include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media would include one or more wire-based electrical connections, portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM or flash memory), fiber optics, compact disk read only memory (CD-ROM), optical storage, magnetic storage, or any suitable combination of the foregoing.

为了提供与用户的交互，可以在计算机上实施此处描述的系统和技术，该计算机具有：用于向用户显示信息的显示装置(例如，CRT(阴极射线管)或者LCD(液晶显示器)监视器)；以及键盘和指向装置(例如，鼠标或者轨迹球)，用户可以通过该键盘和该指向装置来将输入提供给计算机。其它种类的装置还可以用于提供与用户的交互；例如，提供给用户的反馈可以是任何形式的传感反馈(例如，视觉反馈、听觉反馈、或者触觉反馈)；并且可以用任何形式(包括声输入、语音输入或者、触觉输入)来接收来自用户的输入。To provide interaction with a user, the systems and techniques described herein may be implemented on a computer having a display device (eg, a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user ); and a keyboard and pointing device (eg, a mouse or trackball) through which a user can provide input to the computer. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (eg, visual feedback, auditory feedback, or tactile feedback); and can be in any form (including acoustic input, voice input, or tactile input) to receive input from the user.

可以将此处描述的系统和技术实施在包括后台部件的计算系统(例如，作为数据服务器)、或者包括中间件部件的计算系统(例如，应用服务器)、或者包括前端部件的计算系统(例如，具有图形用户界面或者网络浏览器的用户计算机，用户可以通过该图形用户界面或者该网络浏览器来与此处描述的系统和技术的实施方式交互)、或者包括这种后台部件、中间件部件、或者前端部件的任何组合的计算系统中。可以通过任何形式或者介质的数字数据通信(例如，通信网络)来将系统的部件相互连接。通信网络的示例包括：局域网(LAN)、广域网(WAN)和互联网。The systems and techniques described herein may be implemented on a computing system that includes back-end components (eg, as a data server), or a computing system that includes middleware components (eg, an application server), or a computing system that includes front-end components (eg, a user's computer having a graphical user interface or web browser through which a user may interact with implementations of the systems and techniques described herein), or including such backend components, middleware components, Or any combination of front-end components in a computing system. The components of the system may be interconnected by any form or medium of digital data communication (eg, a communication network). Examples of communication networks include: Local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.

计算机系统可以包括客户端和服务器。客户端和服务器一般远离彼此并且通常通过通信网络进行交互。通过在相应的计算机上运行并且彼此具有客户端-服务器关系的计算机程序来产生客户端和服务器的关系。服务器可以是云服务器，也可以为分布式系统的服务器，或者是结合了区块链的服务器。A computer system can include clients and servers. Clients and servers are generally remote from each other and usually interact through a communication network. The relationship of client and server arises by computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, a distributed system server, or a server combined with blockchain.

本公开实施例还提供一种云平台，包括图8所示的电子设备，其中，该电子设备中的处理器能够执行上述方法实施例中云平台执行的方法。An embodiment of the present disclosure further provides a cloud platform, including the electronic device shown in FIG. 8 , wherein a processor in the electronic device can execute the method executed by the cloud platform in the foregoing method embodiments.

本公开实施例还提供一种自动驾驶车辆，包括图8所示的电子设备，其中该电子设备中的处理器能够执行上述方法实施例中车辆执行的方法。Embodiments of the present disclosure further provide an automatic driving vehicle, including the electronic device shown in FIG. 8 , wherein a processor in the electronic device can execute the method performed by the vehicle in the foregoing method embodiments.

应该理解，可以使用上面所示的各种形式的流程，重新排序、增加或删除步骤。例如，本公开中记载的各步骤可以并行地执行也可以顺序地执行也可以不同的次序执行，只要能够实现本公开公开的技术方案所期望的结果，本文在此不进行限制。It should be understood that steps may be reordered, added or deleted using the various forms of flow shown above. For example, the steps described in the present disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved, no limitation is imposed herein.

上述具体实施方式，并不构成对本公开保护范围的限制。本领域技术人员应该明白的是，根据设计要求和其他因素，可以进行各种修改、组合、子组合和替代。任何在本公开的精神和原则之内所作的修改、等同替换和改进等，均应包含在本公开保护范围之内。The above-mentioned specific embodiments do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may occur depending on design requirements and other factors. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present disclosure should be included within the protection scope of the present disclosure.

Claims (22)

1. A vehicle energy supplementing method is applied to a cloud platform and comprises the following steps:

monitoring the remaining endurance mileage of the vehicle in real time;

when the residual endurance mileage is less than or equal to a preset threshold value, selecting a target energy supplementing station for the vehicle according to the residual endurance mileage;

and sending the position of the target energy supplementing station to the vehicle to indicate the vehicle to automatically drive to the target energy supplementing station for automatic energy supplementing.

2. The method of claim 1, wherein said selecting a target energy replenishment station for the vehicle based on the remaining range comprises:

calculating the driving mileage required by the vehicle to each energy supplementing station;

and selecting one energy supplementing station with the required endurance mileage being less than the residual endurance mileage as the target energy supplementing station.

3. The method of claim 2, wherein the calculating the required range of the vehicle to each energy replenishment station comprises:

acquiring a route distance from the current position of the vehicle to each energy supplementing station;

calculating the product of the route distance and an energy consumption weighting coefficient to obtain the driving mileage of the vehicle to the energy charging station; and the energy consumption weighting coefficient is the ratio of the actual energy consumption value per kilometer of the vehicle to the reference energy consumption value.

4. The method of claim 1, after the selecting a target energy replenishment station for the vehicle in accordance with the remaining range, the method further comprising:

determining a planned route from a current location of the vehicle to the target energy replenishment station;

and sending the planned route to the vehicle to indicate the vehicle to automatically drive to the target energy supplementing station according to the planned route for automatic energy supplementing.

5. The method of claim 4, further comprising, after the determining a planned route from a current location of the vehicle to the target energy replenishment station:

if the existing on-road order matched with the planned route is determined, calculating the sum of the driving mileage required by the vehicle for processing the on-road order and the mileage required by the vehicle for driving from the terminal point of the on-road order to the target energy supplementing station, wherein the sum of the driving mileage and the mileage is less than the residual driving mileage;

and if so, dispatching the on-road order for the vehicle.

6. The method of claim 5, after said dispatching said on-road order for said vehicle, further comprising:

and if the vehicle is monitored to complete the on-road order, sending the position of an energy supplementing station closest to the current position of the vehicle to the vehicle so as to indicate that the vehicle automatically drives to the closest energy supplementing station for automatic energy supplementing.

7. A vehicle energy supplementing method is applied to a vehicle and comprises the following steps:

receiving the position of a target energy supplementing station sent by a cloud platform; the target energy supplementing station is an energy supplementing station selected for the vehicle according to the remaining endurance mileage when the cloud platform monitors that the remaining endurance mileage of the vehicle is less than or equal to a preset threshold value in real time;

and automatically driving to the target energy supplementing station to perform automatic energy supplementing.

8. The method of claim 7, wherein the automatically driving to the target energy replenishment station for automatic energy replenishment comprises:

calculating a driving route from the current position to the target energy supplementing station position; driving to the target energy supplementing station according to the driving route for automatic energy supplementing;

or,

receiving a planned route sent by the cloud platform; and driving to the target energy supplementing station according to the planned route to perform automatic energy supplementing.

9. The method of claim 7, after the receiving the location of the target energy replenishment station sent by the cloud platform, the method further comprising:

acquiring an on-road order dispatched by the cloud platform, wherein the sum of the mileage required by the vehicle for processing the on-road order and the mileage required by the vehicle for driving from the terminal point of the on-road order to the target energy supplementing station is less than the residual mileage;

processing the in-route order;

if the position of the energy supplementing station which is closest to the current position and sent by the cloud platform is received, automatically driving to the energy supplementing station which is closest to the current position to perform automatic energy supplementing;

and if the position of the energy supplementing station which is closest to the current position and is sent by the cloud platform is not received, automatically driving to the target energy supplementing station to perform automatic energy supplementing.

10. The utility model provides a vehicle can make up by oneself device, is applied to the cloud platform, includes:

the monitoring module is used for monitoring the remaining endurance mileage of the vehicle in real time;

the selection module is used for selecting a target energy supplementing station for the vehicle according to the residual endurance mileage when the residual endurance mileage is less than or equal to a preset threshold value;

and the first sending module is used for sending the position of the target energy supplementing station to the vehicle so as to indicate the vehicle to automatically drive to the target energy supplementing station for automatic energy supplementing.

11. The apparatus of claim 10, wherein the selection module is specifically configured to:

calculating the driving mileage required by the vehicle to each energy supplementing station;

and selecting one energy supplementing station with the required endurance mileage smaller than the residual endurance mileage as the target energy supplementing station.

12. The apparatus according to claim 11, wherein the selection module is specifically configured to:

acquiring a route distance from the current position of the vehicle to each energy supplementing station;

calculating the product of the route distance and the energy consumption weighting coefficient to obtain the endurance mileage of the vehicle to the energy supplementing station; and the energy consumption weighting coefficient is the ratio of the actual energy consumption value per kilometer of the vehicle to the reference energy consumption value.

13. The apparatus of claim 10, the apparatus further comprising:

a determination module to determine a planned route from a current location of the vehicle to the target energy replenishment station;

and the second sending module is used for sending the planned route to the vehicle so as to instruct the vehicle to automatically drive to the target energy supplementing station according to the planned route for automatic energy supplementing.

14. The apparatus of claim 13, the apparatus further comprising:

the judging module is used for calculating the driving mileage required by the vehicle to process the on-road order if the on-road order matched with the planned route exists currently, and whether the sum of the driving mileage required by the vehicle from the terminal point of the on-road order to the target energy supplementing station and the driving mileage required by the vehicle is less than the residual driving mileage or not is judged;

and the order dispatching module is used for dispatching the on-road order for the vehicle if the judgment result of the judgment module is positive.

15. The apparatus of claim 14, the apparatus further comprising:

and the third sending module is used for sending the position of an energy supplementing station closest to the current position of the vehicle to the vehicle if the vehicle is monitored to complete the on-road order so as to indicate that the vehicle automatically runs to the closest energy supplementing station for automatic energy supplementing.

16. A vehicle energy supplementing device is applied to a vehicle and comprises:

the receiving module is used for receiving the position of the target energy supplementing station sent by the cloud platform; the target energy supplementing station is an energy supplementing station selected for the vehicle according to the remaining endurance mileage when the cloud platform monitors that the remaining endurance mileage of the vehicle is less than or equal to a preset threshold value in real time;

and the automatic driving module is used for automatically driving to the target energy supplementing station to perform automatic energy supplementing.

17. The apparatus of claim 16, wherein the autopilot module is specifically configured to:

calculating a driving route from the current position to the target energy supplementing station position; driving to the target energy supplementing station according to the driving route for automatic energy supplementing;

or,

receiving a planned route sent by the cloud platform; and driving to the target energy supplementing station according to the planned route for automatic energy supplementing.

18. The apparatus of claim 16, the apparatus further comprising:

the acquisition module is used for acquiring the on-road order dispatched by the cloud platform, wherein the sum of the mileage required by the vehicle for processing the on-road order and the mileage required by the vehicle for driving from the terminal point of the on-road order to the target energy supplementing station is less than the residual mileage;

the processing module is used for processing the on-road order;

the automatic driving module is further used for automatically driving to the energy supplementing station closest to the current position for automatic energy supplementing if the position of the energy supplementing station closest to the current position and sent by the cloud platform is received; and if the position of the energy supplementing station which is closest to the current position and sent by the cloud platform is not received, automatically driving to the target energy supplementing station to perform automatic energy supplementing.

19. An electronic device, comprising:

at least one processor; and

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

the memory stores instructions executable by the at least one processor to instruct the at least one processor to perform the method of any of claims 1-6 or 7-9.

20. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-6 or 7-9.

21. A cloud platform comprising the electronic device of claim 19, wherein a processor in the electronic device is capable of performing the method of any of claims 1-6.

22. An autonomous vehicle comprising the electronic device of claim 19, wherein a processor in the electronic device is capable of performing the method of any of claims 7-9.

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