Route planning method and device, electronic equipment and storage medium

Abstract

The invention relates to the technical field of vehicles, and discloses a route planning method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining the allergy data of a person in a current vehicle, the current planned to-be-selected route of the vehicle, the target source information of the current planned to-be-selected route of each vehicle, and the real-time road condition of the current planned to-be-selected route of each vehicle; and if the number of the current planned to-be-selected routes of the vehicle is at least two, performing priority ranking on all the current planned to-be-selected routes of the vehicle according to the allergy data, the target source information and the real-time road condition, and determining the current planned to-be-selected route of the vehicle with the highest priority ranking as a recommended route so as to perform route planning on the vehicle. In this way, it can be avoided that routes with allergens are recommended to the greatest extent under selective conditions in combination with the allergy condition of people in the vehicle when the routes are pushed, or the number or concentration of the allergens of the recommended routes is as small as possible, the health requirements of users are met, and the user experience is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a route planning method, device, electronic device and storage medium. Background Art

[0002] When using a vehicle, the route planning function is a function that users use most frequently. Regardless of whether the user is familiar with the route to the destination, he or she often needs to use the route planning function to check the congestion level of the various planned routes, whether there are temporary road closures or speed limits, etc.

[0003] In the vehicle route planning technology in related technologies, the focus is often on whether the vehicle model, license plate number, etc. are allowed to travel on certain roads, and whether the planned route itself has special circumstances such as temporary road closures, congestion, traffic accidents, etc., and the route planning is carried out in combination with factors such as the distance of the journey and historical time. However, these route planning focuses more on the conditions of the vehicle itself and the road conditions, ignoring the specific needs of the occupants, especially the special requirements of the occupants for the gas composition in the air in the car during driving and safety. The planned route may not be a satisfactory route for the user, resulting in a poor user experience. Summary of the invention

[0004] The embodiments of the present application provide a route planning method, device, electronic device and storage medium to solve the technical problem that route planning in related technologies focuses more on the conditions of the vehicle itself and the road conditions, but ignores the specific needs of the occupants, especially the special requirements of the occupants for the gas composition of the air in the vehicle during driving and safety. The planned route may not be a route that satisfies the user, resulting in a poor user experience.

[0005] The embodiment of the present application provides a route planning method, the route planning method comprising: obtaining allergy data of a person in a vehicle, a currently planned candidate route of the vehicle, target source information of each vehicle's currently planned candidate route, and an initial planning priority of each vehicle's currently planned candidate route, the target source information comprising allergy source information and / or toxic gas emission source information; if the number of the currently planned candidate routes of the vehicle is at least two, prioritizing all the currently planned candidate routes of the vehicle according to the allergy data, the target source information and the initial planning priority;

[0006] A currently planned candidate route for a vehicle with the highest priority is determined as a recommended route to perform route planning for the vehicle.

[0007] In one embodiment of the present application, before obtaining the allergy data of the current occupant of the vehicle, the method includes: obtaining the identity recognition data of the current occupant of the vehicle; matching the identity recognition data with preset allergy information in a preset allergy information database, wherein the preset allergy information includes the identity recognition data of historical occupants who have had allergic reactions during the historical driving of the vehicle, and the target source information when the allergic reaction occurred; if the match is successful, determining the target source information in the successfully matched preset allergy information as the allergy data of the current occupant of the vehicle.

[0008] In one embodiment of the present application, the method for determining the preset allergy information includes: obtaining historical video data including historical occupants during the historical driving process of the vehicle; identifying abnormal behavior characteristics of the historical video data, the abnormal behavior characteristics indicating that the historical occupants have had an allergic reaction; if the abnormal behavior characteristics are identified, obtaining target source information of the environment in which the vehicle is located when the abnormal behavior characteristics occur; and associating the target source information with the identity identification data of the historical occupants to obtain the preset allergy information.

[0009] In one embodiment of the present application, abnormal behavior features are identified on the historical video data, including: determining a historical motion energy map and a motion history map based on a binary foreground mask, an image gradient, and a motion duration of each frame in the historical video data; determining whether a significant trajectory deviation has occurred for the historical occupant based on the historical motion energy map and the motion history map; if a significant trajectory deviation has occurred, inputting a target trajectory feature into a pre-trained action type judgment model to determine a predicted action type of the historical occupant corresponding to the target trajectory feature, the target trajectory feature being obtained based on the trajectory of the historical occupant who has experienced a significant trajectory deviation; if the predicted action type is a preset action type, determining the recognition result as an abnormal behavior feature being recognized.

[0010] In one embodiment of the present application, obtaining the target source information of the environment in which the vehicle is located when the abnormal behavior characteristic occurs includes: obtaining the existence status of the target place in the environment in which the vehicle is located when the abnormal behavior characteristic occurs; if the target place exists, using the preset target source of the target place as the target source information; if the target place does not exist, detecting the type of particles in the cabin environment of the vehicle, and using the detected type of particles as the target source information.

[0011] In one embodiment of the present application, after determining a vehicle's currently planned candidate route with the highest priority as a recommended route, the method further includes: if the target source information on the recommended route matches the allergy data, collecting the vehicle's in-vehicle air quality data and the vehicle's outdoor air quality data during the vehicle's driving; performing allergen concentration detection on the in-vehicle air quality data and the vehicle's outdoor air quality data; when the detected allergen concentration is greater than a preset concentration threshold, determining an air purification strategy based on the detected allergen concentration, the air purification strategy including at least one of closing the windows, starting the air purification device, and starting the internal and external circulation functions in the vehicle.

[0012] In one embodiment of the present application, the method also includes at least one of the following: displaying the execution status of the air purification strategy; displaying at least one of the in-vehicle air quality data, the outside air quality data and the allergen concentration; when the vehicle is disconnected from the preset server, the in-vehicle air quality data, the outside air quality data and the allergen concentration are stored in the vehicle, and after the vehicle restores the connection with the preset server, the in-vehicle air quality data, the outside air quality data and the allergen concentration stored in the vehicle are synchronized to the preset server; if the air purification strategy includes closing the windows, the closing time, closing location and the in-vehicle air quality data, the outside air quality data and the allergen concentration before closing the windows are uploaded to the preset server.

[0013] An embodiment of the present application also provides a route planning device, which includes: an acquisition module, used to acquire the allergy data of the current occupant of the vehicle, the vehicle's currently planned routes, the target source information of each vehicle's currently planned routes, and the initial planning priority of each vehicle's currently planned routes, wherein the target source information includes allergy source information and / or toxic gas emission source information; a sorting module, used to prioritize all the vehicle's currently planned routes according to the allergy data, target source information and initial planning priority if the number of the vehicle's currently planned routes is at least two; and a determination module, used to determine the vehicle's currently planned routes with the highest priority as a recommended route, so as to perform route planning for the vehicle.

[0014] An embodiment of the present application also provides a vehicle, which includes a route planning device provided by any of the above embodiments.

[0015] An embodiment of the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements a method as described in any one of the above embodiments when executing the computer program.

[0016] An embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the method of any of the above embodiments is implemented.

[0017] In the scheme implemented by the route planning method, device, electronic device and storage medium provided above, the method obtains the allergy data of the current occupant of the vehicle, the vehicle's currently planned candidate routes, the target source information of each vehicle's currently planned candidate routes, and the real-time road conditions of each vehicle's currently planned candidate routes. If the number of vehicles' currently planned candidate routes is at least two, all vehicles' currently planned candidate routes are prioritized according to the allergy data, target source information and real-time road conditions, and the vehicle's currently planned candidate route with the highest priority is determined as the recommended route to plan the vehicle route. In this way, when pushing the route, the allergy condition of the occupant of the vehicle can be combined, and under selective conditions, routes with allergens can be avoided as much as possible, or the number or concentration of allergens in the recommended routes can be as small as possible, thereby meeting the health needs of users and improving user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments of the present application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor.

[0019] Figure 1 An exemplary system architecture diagram for route planning to which the embodiments of the present application can be applied;

[0020] Figure 2 A schematic diagram of a process flow of a route planning method provided in an embodiment of the present application;

[0021] Figure 3 A schematic diagram of the structure of a route planning device provided in an embodiment of the present application;

[0022] Figure 4 A schematic diagram of the structure of an electronic device in an embodiment of the present application;

[0023] Figure 5 Another structural schematic diagram of an electronic device in an embodiment of the present application. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0025] This embodiment will be described from the perspective of a route planning device, which can be specifically integrated in an electronic device, that is, the route planning method of the embodiment of the present application can be executed by an electronic device, and the electronic device can be a terminal, a vehicle and other devices. Among them, the terminal can be a mobile phone, a tablet computer, a smart Bluetooth device, a laptop, a touch screen, a game console, or a personal computer (PC), a vehicle-mounted terminal and other devices; the server can be a single server or a server cluster composed of multiple servers. The route planning device can be integrated in multiple servers or in multiple electronic devices. Or the route planning device can also be integrated in a server and a terminal. At this time, the route planning method provided in the embodiment of the present application is executed by the server to obtain a recommended route, and then the recommended route is sent to the terminal to display the recommended route at the terminal.

[0026] As an example, the route planning method provided in the embodiment of the present application can be applied to Figure 1In the route planning system shown. The route planning system includes a terminal 101 and a server 102. The terminal 101 can be a mobile phone, a tablet computer, a laptop computer, a car computer, etc. The terminal 101 and the server 102 can communicate bidirectionally through the network. The server 102 can be used to store the allergy data of the current occupants of the vehicle, the target source information on multiple planned routes, the real-time road conditions and other related data. The terminal 101 obtains the above data from the server through the network, and processes the above data through the processor of the terminal 101 (such as CPU (Central Processing Unit, central processing unit) to obtain the priority ranking of the vehicle's currently planned routes to be selected, and then obtain the recommended route. The terminal and the server perform unidirectional or bidirectional data exchange through the network. The server 102 can be an independent server, or it can be a server network or server cluster composed of servers, which includes but is not limited to a computer, a network host, a single network server, a plurality of network server sets or a cloud server composed of multiple servers. The cloud server is based on cloud computing (Cloud Computing) is composed of a large number of computers or network servers. For example, the terminal 101 can obtain the allergy data of the current occupants, the current planned candidate routes of the vehicles, the target source information of each vehicle's current planned candidate routes, and the real-time road conditions of each vehicle's current planned candidate routes. If the number of the vehicle's current planned candidate routes is at least two, all the vehicle's current planned candidate routes are prioritized according to the allergy data, target source information and real-time road conditions, and the vehicle's current planned candidate route with the highest priority is determined as the recommended route to plan the route for the vehicle. In this way, the allergy conditions of the occupants can be combined when making route recommendations, and routes with allergens can be avoided as much as possible under selective conditions, or the number or concentration of allergens in the recommended routes can be as small as possible to meet the health needs of users and improve user experience.

[0027] For another example, when the route planning method is applied to an on-board terminal of a vehicle, the vehicle may be a fuel vehicle, an electric vehicle (EV), a hybrid vehicle, a plug-in HEV, a range extended EV, a hybrid electric vehicle (HEV), a gas vehicle, a methanol vehicle, a solar vehicle or other new energy vehicles. The vehicle may be a passenger vehicle such as a sedan, a sport utility vehicle (SUV), a multi-purpose vehicle (MPV), or a bus, a truck, a semi-trailer, etc. This application does not impose any specific restrictions on this.

[0028] The following is a detailed description in conjunction with the accompanying drawings. It should be noted that the description order of the following embodiments is not intended to limit the preferred order of the embodiments. Although the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than that shown in the drawings.

[0029] See also Figure 2 As shown, Figure 2 A schematic diagram of a route planning method provided in an embodiment of the present application, the method comprising the following steps:

[0030] Step S210, obtaining the allergy data of the current occupant of the vehicle, the vehicle's currently planned routes, the target source information of each vehicle's currently planned routes, and the initial planning priority of each vehicle's currently planned routes.

[0031] The target source information includes allergen information and / or toxic gas emission source information. The target source information can be obtained through user reporting, based on public relevant information, through professional environmental testing personnel, or through other methods known to those skilled in the art.

[0032] The planning method of the vehicle's currently planned candidate routes can be obtained using route planning methods known to those skilled in the art, and is not limited here. When the destination information is provided, one or more vehicle's currently planned candidate routes can be obtained based on its current location based on various route planning methods known to those skilled in the art.

[0033] The initial planning priority of each vehicle's currently planned candidate route can be a priority obtained by sorting based on a route sorting method known to those skilled in the art. For example, when navigating through various existing navigation software on board, there will be a recommended route sorting, and the recommended route sorting is used as its initial planning priority.

[0034] Compared with the solution in the related art that directly recommends routes after the initial planning priority and the vehicle's current planned candidate routes are known, the route planning method provided in the embodiment of the present application introduces the parameter of the physical condition of the occupants. Subsequent route planning is comprehensively performed by combining the target source information on the vehicle's current planned candidate routes and the allergy data of the current occupants.

[0035] In one embodiment, before obtaining the allergy data of the current occupant of the vehicle, the method includes: obtaining the identity recognition data of the current occupant of the vehicle; matching the identity recognition data with preset allergy information in a preset allergy information database, the preset allergy information including the identity recognition data of historical occupants who had allergic reactions during the historical driving of the vehicle, and target source information when the allergic reaction occurred; if the match is successful, determining the target source information in the successfully matched preset allergy information as the allergy data of the current occupant of the vehicle.

[0036] It is understandable that the allergy data of at least some passengers and drivers who have ridden in a vehicle with this function will be stored in a preset allergy information database in advance. Before the vehicle is ready to plan a route, by identifying the occupants of the vehicle and then searching the preset allergy information database to see whether there is any allergy data of the occupants, it is possible to know whether the occupants of the vehicle have allergies.

[0037] As an example, in response to the in-car navigation function being activated, after the user inputs the navigation destination, the allergy data of the passengers and / or the driver in the car is triggered to be obtained. The current people in the car include but are not limited to the passengers and / or the driver in the car.

[0038] As an example, with the consent of the vehicle occupants in advance, the face of the occupants can be collected and recognized in a legal manner to obtain the identity data, so that the allergy data of the occupants can be queried without the occupants being aware of the allergy. Of course, the identity data can also be obtained in other ways known to those skilled in the art, and this is just an example.

[0039] One way to obtain data for the preset allergy information database may be based on data compared, extracted and stored by the system based on abnormal behavior characteristics of the target passenger during his or her historical rides in the vehicle. For example, the method for determining the preset allergy information includes: obtaining historical video data including historical occupants of the vehicle during the historical driving of the vehicle; identifying abnormal behavior characteristics of the historical video data, the abnormal behavior characteristics indicating that the historical occupants had allergic reactions; if the abnormal behavior characteristics are identified, obtaining target source information of the vehicle's environment when the abnormal behavior characteristics occur; and associating the target source information with the identity recognition data of the historical occupants to obtain the preset allergy information.

[0040] It should be noted that the collection of user privacy data such as in-car videos in the embodiments of the present application is obtained in a legal manner with the prior consent of the relevant users, and will not be elaborated later.

[0041] In one embodiment, abnormal behavior features are identified for historical video data, including: determining a historical motion energy map and a motion history map based on a binary foreground mask, an image gradient, and a motion duration of each frame in the historical video data; determining whether a historical occupant of the vehicle has significantly deviated from its trajectory based on the historical motion energy map and the motion history map; if a significant deviation from the trajectory has occurred, inputting a target trajectory feature into a pre-trained action type judgment model to determine a predicted action type of the historical occupant of the vehicle corresponding to the target trajectory feature, the target trajectory feature being obtained based on the trajectory of the historical occupant of the vehicle who has significantly deviated from its trajectory; if the predicted action type is a preset action type, determining the recognition result as an abnormal behavior feature being recognized.

[0042] As an example, abnormal behavior characteristics refer to the allergic reaction of the human body to the environment, including but not limited to: at least one of nasal symptoms (sneezing, nasal congestion), eye symptoms (tears, redness), skin symptoms (rash, itching), oral and throat symptoms (face or throat swelling), respiratory system symptoms (coughing), etc. The preset action type is at least one of the aforementioned sneezing, nasal congestion, tearing, red eyes, rash, itching, face or throat swelling, coughing, etc.

[0043] As an example, the historical motion energy map and the motion history map are determined as follows: During the driving of the vehicle, the in-vehicle camera collects video data in real time, and Bo Bick is used to extract the normal behavior characteristics of the passengers: the motion energy map (MEI) describes the spatial distribution of the motion by calculating the motion intensity of the foreground pixels in each frame.

[0044]

[0045] Among them, MEI t is the motion energy map of the tth frame, MEI t-1 is the motion energy map of the t-1th frame,

[0046] B t is the binary foreground mask of the t-th frame, is the image gradient of the t-th frame image, Represents pixel-by-pixel multiplication.

[0047] The motion history graph (MHI) is constructed to represent human motion by accumulating the motion detected in each frame.

[0048]

[0049] Among them, MHI t is the motion history graph of the tth frame, MHI t-1 is the motion history graph of the t-1th frame,

[0050] B tis the binary foreground mask of the tth frame, T is a constant used to represent the duration of the motion (a value based on big data or experience, the time required to complete an action or the time corresponding to the required number of frames), Represents pixel-by-pixel multiplication.

[0051] Bo Bick focuses on extracting static feature images from video frames. When the driver / passenger performs a small action (such as the driver driving with steady hands on the steering wheel, or the passenger sitting normally), Bo Bick uses feature extraction methods with low computational complexity to monitor the user's actions in real time. When the motion energy of a single frame exceeds the threshold (preset energy threshold), or the motion between two frames is large (such as violent facial movements when sneezing or coughing, wiping tears when crying, scratching when it itches, or drinking water or yawning), the value of the motion history graph is greater than the preset motion threshold, indicating a significant deviation from the trajectory.

[0052] It can be understood that MEI describes the spatial distribution of motion, showing the spatial distribution of motion contours and energy; MHI accumulates the motion detected in each frame, indicating the most recent motion of the human body in a motion process; MEI and MHI are combined to obtain the spatial and temporal characteristics of motion; as an example, the combination method can be to use MEI and MHI as two feature channels respectively, input into a classifier or tracking algorithm; or design a fusion algorithm to combine the two; or use MEI and MHI as different modes to input into a multimodal learning network, thereby realizing the judgment of whether a significant deviation from the trajectory has occurred. Of course, the judgment of whether a significant deviation from the trajectory has occurred can also be made by other methods known to those skilled in the art.

[0053] Among them, the action type judgment model can be a trained dynamic Bayesian network (DBN). An example training method of the trained dynamic Bayesian network includes: trajectory feature extraction, extracting key features from the collected trajectory data, including the size, position, speed, acceleration and space-time curvature of the trajectory (as the necessary input data of the DBN), obtaining a learning data set, and obtaining the learning data set, the learning data set includes the size, position, speed, acceleration and space-time curvature of the learning trajectories of multiple preset action types at multiple moments; using maximum likelihood estimation or maximum a posteriori probability estimation to learn the learning data set to obtain state transition probability and observation probability; using the learned state transition probability and observation probability as model parameters; and obtaining the action type judgment model based on the pre-constructed dynamic Bayesian network and model parameters.

[0054] As an example, abnormal behavior detection can be achieved by training a dynamic Bayesian network (DBN) using the size, position, speed, acceleration, and spatiotemporal curvature features of the trajectory.

[0055]

[0056] Where v is velocity, a is acceleration, and p is position. It can be seen that velocity (v) and acceleration (a) are calculated by the change in position (p).

[0057] The size of the trajectory can be determined based on position, velocity, acceleration and unit time. The size of the trajectory includes the size value and the trajectory motion amplitude.

[0058] The spacetime curvature (k) is estimated by the second-order derivative of the trajectory, reflecting the curvature of the trajectory:

[0059]

[0060] Among them, k is the space-time curvature, s is the arc length parameter of the trajectory, and p is the position.

[0061] Parameterize the trajectory so that it can be expressed in terms of arc length.

[0062] For the vector function r(t) =<f(t),g(t),h(t)> The function defined here, where a≤t≤b, and the arc length parameter s is defined as:

[0063]

[0064] Among them, s is the arc length parameter of the trajectory, the integral represents the total length of the curve between a and t, μ is the integral variable, t is the position of the point on the curve (trajectory), r(t) is a vector function, representing the position vector of a point on the curve, f(t), g(t), and h(t) are component functions of the vector function, representing the xyz coordinates of the curve in three-dimensional space as functions of parameter t respectively; a and b define the range of parameter t, that is, the parameter t of the curve changes from a to b, representing a specific part of the curve, which may be the entire length of the curve or a section of the curve; xyz is the coordinate component of the curve in three-dimensional space, which is a function of parameter t, that is, x=f(t), y=g(t), z=h(t), r'(u) is the tangent vector of the curve at u, and its modulus ∥r′(u)∥∥r′(u)∥ is the instantaneous velocity or differential length element of the curve at u.

[0065] Construct a DBN model, which consists of multiple time slices. Each time slice is a Bayesian network that represents the state and observation at different time points. The state transition probability and observation probability are obtained from the data through learning, and the maximum likelihood estimation (MLE) or maximum a posteriori probability (MAP) estimation is used for learning. For example: state transition probability

[0066]

[0067] Among them, N(X t-1 =i,Xt = j) is the number of samples that are in state i at time t-1 and in state j at time t, N(X t-1 =i) is the total number of samples in state i at time t-1, P(X t =j|X t-1 =i) is the state transition probability from state i to state j.

[0068] In the testing phase, the characteristics of the target trajectory are compared with the normal trajectory pattern learned through DBN. When the characteristics of the target trajectory deviate significantly from the normal pattern, its behavior is judged to be abnormal.

[0069] As an example, this can be compared by computing the posterior probability of observing the data:

[0070]

[0071] Where y1:t is the observation sequence from time 1 to t, N is the number of possible states, and P(X t =i|y1:t) is, P(y t |X1=t) is, X t X refers to the state at the current time point t, which can represent different features or variables, depending on the design and application scenario of the model. t-1 is the change of state from one time point to the next time point, Xt-1 refers to the starting state of this transition, j ranges from 1 to N (the total number of states), representing all possible states at the previous time point, and i is a specific state at time t. When calculating the posterior probability P(xt=i|y1:t), i is a specific state in the state space, and the probability of being in state i is calculated under the given observation data y1:t.

[0072] Set a threshold (referring to the series of actions or combination of actions corresponding to the allergic reaction) to determine when the posterior probability is considered low enough to be considered abnormal behavior. This threshold can be determined based on the needs of the actual application and historical data.

[0073] As another example, the allergy data of the current occupants of the vehicle can be obtained not only through database query, but also through temporary collection through voice inquiries in the vehicle, etc., to obtain the allergy data. The above obtaining of allergy data by querying the database is only an example.

[0074] In one embodiment, obtaining target source information of the vehicle's environment when the abnormal behavior characteristic occurs includes: obtaining the existence status of the target place in the vehicle's environment when the abnormal behavior characteristic occurs; if the target place exists, using the preset target source of the target place as the target source information; if the target place does not exist, detecting the particle types in the vehicle's cabin environment, and using the detected particle types as the target source information.

[0075] When a passenger exhibits the above-mentioned abnormal behavior characteristics, the environment of the current driving position is obtained, and / or, through the Mie scattering principle, the characteristics of the scattered light are measured to distinguish particles of different sizes in the current vehicle cabin. The sizes and size differences of particles such as pollen and dust are known, thereby realizing the collection of target source information.

[0076] If the current environment is at least one of the following, including but not limited to pet shops, stray animal shelters, pollen-dense areas, dust mite-dense areas, chemical plants, industrial areas, etc., combined with the above abnormal behavior characteristics, the target allergens and allergic reactions of the target passenger are determined and stored in the database.

[0077] If it is not in the above environment, select a suitable wavelength to measure the cabin environment, such as the commonly used wavelengths of laser radar such as 532nm or 660nm, use a light scattering instrument to measure the scattered light intensity at different angles, and use Mie scattering theory to calculate the Mie scattering coefficient a n and b n , analyze the scattered light intensity distribution of particles of different particle sizes. Due to the different particle sizes of dust and pollen, their scattered light intensities at different angles will be different. By comparing the measured scattered light intensity with the theoretical calculation results, dust and pollen in the air can be distinguished. The typical particle size range of dust is usually 1-10 microns, and the typical particle size range of pollen is usually 20-50 microns.

[0078] According to Mie scattering theory, the scattering coefficient k sca and extinction coefficient k ext The calculation formula is:

[0079]

[0080]

[0081] Among them, k sca is the scattering coefficient, k ext is the extinction coefficient, a n and b n is the Mie scattering coefficient, Re is the real part of the complex number, in the calculation of the Mie scattering coefficient, a n and b n is a complex number, involving the complex refractive index m (where m = m Re +imIm , m Re is the real part of the refractive index, m Im is the imaginary part of the refractive index), in calculating the extinction coefficient k ext and the scattering coefficient k sca When only concerned about a n +b n The real part of n is used to represent the order of the scattering mode, which is related to the angular distribution of the scattered light. n is the wavelet order in the scattering mode. The calculation of an and bn involves the series expansion of Bessel function and Hankel function, and n is the index of this series.

[0082]

[0083]

[0084] where m is the ratio of the refractive index of the particle to the refractive index of the surrounding medium, is the dimensionless size parameter of the particle, α is the radius of the particle, and λ is the wavelength of the incident light. n Based on the spherical Bessel function of the first kind for the incident wave, ζ n Based on the spherical Hankel function of the first kind for scattered waves, ψ′ n is n The first derivative with respect to x, ξ n ' is ζ n The first derivative with respect to x.

[0085] Based on this, the distribution and type of particles in the vehicle cabin are judged, and the allergens of the passengers are judged according to the abnormal allergic reactions and stored in the database. In the above formula, any wavelength of the lidar can be selected. The scattering intensity of lasers of different wavelengths used to measure particles is slightly different. The degree of influence has been demonstrated by existing experiments and will not be repeated here. The parameters given are all known quantities. First calculate an and bn, and then calculate the scattering coefficient and extinction coefficient. By comparing the scattering intensities of different particle size ranges, the relative content of dust and pollen in the air can be determined. For example, a higher scattering intensity may indicate larger particles (such as pollen), while a lower scattering intensity may indicate smaller particles (such as dust). The scattering intensity is evaluated by the scattering coefficient and the extinction coefficient.

[0086] The specific particle type detection method can also be implemented based on other methods known to those skilled in the art, and the above is only an example.

[0087] Based on the above-mentioned abnormal behavior characteristics and environmental recognition / particle recognition in the vehicle cabin, as well as the corresponding target passenger identity, the allergy data of at least one user (passenger, driver) currently in the vehicle and the risk area (referring to the current geographical location where there is an environment or particle distribution that causes user allergies) can be obtained; and so on, the allergy data of multiple users (preset allergy information) can be obtained.

[0088] The next time the current occupant (the corresponding user after identity recognition) enters the car, the user's allergy data (allergens and risk areas) will be called. If there are at least two users in the car, the allergy data of all users will be obtained, and the risk areas will be marked in the navigation route for path planning. At the same time, corresponding purification measures will be performed for different allergens.

[0089] Step S220: If the number of the vehicle's currently planned candidate routes is at least two, all the vehicle's currently planned candidate routes are prioritized according to the allergy data, the target source information and the initial planning priority.

[0090] When performing priority sorting, the matching result of the target source information and the allergy data on the vehicle's currently planned candidate route can be used to sort the route in combination with the initial planning priority. Specifically, when the target source information matches the allergy data, the priority is lower, and when the target source information does not match the allergy data, the priority is higher. Then further sorting is performed based on the initial planning priority to obtain the final priority sorting.

[0091] If the target source information on all vehicles' currently planned candidate routes matches the allergy data, further sorting can be performed based on the number of people corresponding to the matching allergy data and the preset priority of the people.

[0092] As an example, when the target source information is toxic gas emission source information, the toxic gas emission source information is assumed to match all allergy data. When the target source information is allergy source information, matching is performed according to the actual matching result between the allergy source information and the allergy data.

[0093] As another example, when the target source information is toxic gas emission source information, regardless of whether the user's allergy data is obtained, in other words, even if the allergy data is null, it is still considered that the toxic gas emission source information matches the null value. When planning the route later, try to avoid this route.

[0094] In one embodiment, all the currently planned candidate routes of the vehicle are prioritized according to the allergy data, the target source information and the initial planning priority, including: if the target source information on the currently planned candidate route of the vehicle matches the allergy data, the currently planned candidate route is screened out; the subsequent sorting method can be at least one of the following:

[0095] If the number of currently planned candidate routes remaining after screening is 1, the currently planned candidate routes of the remaining vehicles are taken as the currently planned candidate routes of the vehicles with the highest priority;

[0096] If the number of currently planned candidate routes of the remaining vehicles after screening is at least 2, the currently planned candidate routes of the remaining vehicles are prioritized based on the initial planning priority;

[0097] If the number of currently planned routes for the remaining vehicles after screening is 0, the allergy priority is determined based on whether there is allergen information on the currently planned routes for each vehicle, the matching result between the existing allergen information and the allergy data, the number of members corresponding to the matched allergy data, and the member priority. Then, the current ranking value of the currently planned routes for the vehicles is determined based on the allergy priority, the initial planning priority, the preset coefficient of the allergy priority, and the preset coefficient of the initial planning priority, and then priority sorting is performed based on the current ranking value.

[0098] Step S230, determining a currently planned candidate route of the vehicle with the highest priority as a recommended route to perform route planning for the vehicle.

[0099] The most recommended route can be obtained by the above method. However, the route is not necessarily a route that does not make the occupants of the vehicle allergic, and may be only a relatively better route. Based on such a situation, after the currently planned candidate route of a vehicle with the highest priority is determined as the recommended route, the method also includes: if the target source information on the recommended route matches the allergy data, during the vehicle driving process (for example, the vehicle reaches the preset target area corresponding to the target source information), the vehicle's in-vehicle air quality data and the vehicle's outside air quality data are collected; the in-vehicle air quality data and the vehicle's outside air quality data are tested for allergen concentration; when the detected allergen concentration is greater than the preset concentration threshold, the air purification strategy is determined according to the detected allergen concentration, and the air purification strategy includes closing the window, starting the air purification device, and starting at least one of the internal and external circulation functions in the vehicle. The preset concentration threshold can be a different threshold value set based on the inside and outside of the vehicle, or it can be the same threshold value, which can be selected by those skilled in the art as needed. The specific collection method of the in-vehicle air quality data and the outside air quality data can be implemented by a method known to those skilled in the art, for example, the in-vehicle air quality data can be implemented with reference to the above-mentioned method for determining the particle type. As for the detection of allergen concentration, it can also be achieved by methods known to those skilled in the art, which will not be elaborated here.

[0100] Based on the above embodiment, the method further includes at least one of the following:

[0101] Display the execution status of the air purification strategy;

[0102] Displaying at least one of in-vehicle air quality data, out-vehicle air quality data, and allergen concentration;

[0103] When the vehicle is disconnected from the preset server, the in-vehicle air quality data, the outside air quality data and the allergen concentration are stored in the vehicle. After the vehicle is restored to the connection with the preset server, the in-vehicle air quality data, the outside air quality data and the allergen concentration stored in the vehicle are synchronized to the preset server.

[0104] If the air purification strategy includes closing the windows, the closing time and location of the windows, the air quality data inside the vehicle before closing, the air quality data outside the vehicle, and the allergen concentration are uploaded to a preset server.

[0105] The route planning method provided above obtains the allergy data of the current occupant of the vehicle, the vehicle's currently planned routes, the target source information of each vehicle's currently planned routes, and the real-time road conditions of each vehicle's currently planned routes. If the number of vehicles' currently planned routes is at least two, all vehicles' currently planned routes are prioritized according to the allergy data, target source information and real-time road conditions, and the vehicle's currently planned routes with the highest priority are determined as the recommended route to plan the route for the vehicle. In this way, when pushing the route, the allergy conditions of the occupants of the vehicle can be taken into consideration, and routes with allergens can be avoided as much as possible under selective conditions, or the number or concentration of allergens in the recommended routes can be as small as possible, thereby meeting the health needs of users and improving user experience.

[0106] With the acceleration of urbanization, there are more and more toxic gases and allergens on the road, which brings many hidden dangers to people's health. The existing navigation system mainly focuses on factors such as the shortest path and traffic conditions, and lacks consideration of user health factors. Therefore, it is of great significance to develop an intelligent route planning system that can identify and avoid potential allergens and toxic gases in advance according to the user's allergic constitution and navigation information. Based on the above problems, the route planning method provided in this embodiment can identify and avoid potential allergens and toxic gases in advance according to the user's allergic constitution and navigation information, and realize intelligent route planning. The route planning method provided in the above embodiment is exemplarily described below through a specific embodiment.

[0107] In the route planning stage, the initial route planning is first performed, and the optimal route (the vehicle's current planned route to be selected) is calculated based on the destination entered by the user. Allergen identification uses the allergen database and the toxic gas emission database (preset allergy information database) to identify whether there are allergens and toxic gas emission sources on the optimal route. If there are allergens or toxic gas emission sources, multiple avoidance routes will be automatically planned for users to choose based on real-time traffic information and the user's actual needs. The actual situation may be that the time is short but the distance is long, or the distance is short but the time is long due to traffic jams.

[0108] In the vehicle purification protection stage, if allergens cannot be completely avoided, the onboard air purifier is used to further reduce the content of allergens and toxic gases in the air inside the vehicle. When the system detects that the concentration of allergens exceeds the set safety threshold (preset concentration threshold), the system will automatically close the windows to initially prevent allergens or toxic gases from entering the vehicle. The specific analysis, decision-making and implementation plan of an example is as follows:

[0109] 1. Sensor module: collects air quality data inside and outside the vehicle in real time and transmits it to the data analysis module.

[0110] 2. Data analysis module: Receives data from the sensor module, analyzes the currently detected allergen concentration, compares it with the preset safety threshold, and transmits the analysis results to the decision module.

[0111] 3. Decision-making module: Receives the results from the data analysis module. If the detected allergen concentration exceeds the set safety threshold, it decides to close the windows and start the air purification device, and sends the instructions to close the windows and start the air purification device to the control module.

[0112] 4. Control module: Receives instructions from the decision-making module, drives the window motor and air purifier to work, so that the window starts to rise until it is completely closed, and the air purifier immediately starts to purify the air inside and outside the car. At the same time, the window closing status and the operating status of the air purifier are fed back, and the user is notified of the automatic closing of the window and the reason through the dashboard display, sound prompts or applications. It should be noted that during the window closing process, it is necessary to pay attention to the window anti-pinch status and monitor in real time whether there is resistance during the window closing process. If there is resistance, the rise should be stopped immediately and the drive motor should be reversed to descend to avoid pinching. At the same time, when the window is closed, the user should be allowed to open the window manually in the car to deal with emergencies.

[0113] 5. Event recording and cloud data analysis module: record the time, location and triggering conditions of automatic window closing. At the same time, upload all detection data to the cloud for data analysis and sharing, helping users understand the long-term air quality trend and allergen exposure.

[0114] In addition, the solution also provides real-time and offline data management:

[0115] 1. Real-time data management: The system monitors the air quality data inside and outside the car in real time, and displays the air quality index and allergen concentration data on the central control display or the user's mobile phone application.

[0116] 2. Offline data management: When the vehicle is in offline mode, the system will cache the detection data and synchronize it to the cloud server after the network connection is restored for future query and analysis.

[0117] The route planning method provided in the above embodiment can perform route planning based on the user's allergic constitution and navigation information intelligence. After the user enters the navigation destination, it can automatically identify the allergens on the optimal route and provide multiple avoidance routes for the user to choose from. At the same time, the risk of allergies and inhalation of harmful gases can be further reduced through the on-board purification and filtration devices.

[0118] By intelligently identifying and avoiding potential allergens and toxic gases, the user's health risks during driving are effectively reduced, and the user experience and safety are improved.

[0119] In one embodiment, a route planning device is provided, and the route planning device is used to execute the route planning method provided in any of the above embodiments. Figure 3 , Figure 3 A schematic diagram of a route planning device provided in an embodiment of the present application is shown in FIG. Figure 3 As shown, the route planning device 300 includes an acquisition module 301, a sorting module 302, and a determination module 303, wherein: the acquisition module 301 is used to acquire the allergy data of the current occupant of the vehicle, the vehicle's currently planned routes, the target source information of each vehicle's currently planned routes, and the initial planning priority of each vehicle's currently planned routes, the target source information includes allergy source information and / or toxic gas emission source information; the sorting module 302 is used to prioritize all the vehicles' currently planned routes according to the allergy data, the target source information and the initial planning priority if the number of the vehicles' currently planned routes is at least two; the determination module 303 is used to determine the vehicle's currently planned routes with the highest priority as a recommended route to plan the route for the vehicle.

[0120] In one embodiment, the device also includes an allergy data determination module, which is used to obtain the identity recognition data of the current occupant before obtaining the allergy data of the current occupant; match the identity recognition data with preset allergy information in a preset allergy information database, the preset allergy information including the identity recognition data of historical occupants who have had allergic reactions during the historical driving of the vehicle, and the target source information when the allergic reaction occurred; if the match is successful, the target source information in the successfully matched preset allergy information is determined as the allergy data of the current occupant.

[0121] In one embodiment, the device also includes a purification module, which is used to determine a vehicle's currently planned candidate route with the highest priority as a recommended route. If the target source information on the recommended route matches the allergy data, during the vehicle's driving, collect the vehicle's in-vehicle air quality data and the vehicle's outdoor air quality data; perform allergen concentration detection on the in-vehicle air quality data and the vehicle's outdoor air quality data; when the detected allergen concentration is greater than a preset concentration threshold, determine an air purification strategy based on the detected allergen concentration, the air purification strategy including closing the windows, starting the air purification device, and starting at least one of the internal and external circulation functions in the vehicle.

[0122] In one embodiment, the device further includes a display module for at least one of: displaying the execution status of the air purification strategy; and displaying at least one of the in-vehicle air quality data, the out-of-vehicle air quality data, and the allergen concentration.

[0123] In one embodiment, the device also includes a data transmission and storage module, which is used for at least one of the following: when the vehicle is disconnected from the preset server, the in-vehicle air quality data, the outside air quality data and the allergen concentration are stored in the vehicle, and after the vehicle restores the connection with the preset server, the in-vehicle air quality data, the outside air quality data and the allergen concentration stored in the vehicle are synchronized to the preset server; if the air purification strategy includes closing the windows, the closing time, closing location and the in-vehicle air quality data, the outside air quality data and the allergen concentration before closing the windows are uploaded to the preset server.

[0124] For the specific definition of the route planning device, please refer to the definition of the route planning method above, which will not be repeated here. Each module in the above route planning device can be implemented in whole or in part by software, hardware and a combination thereof. The above modules can be embedded in or independent of the processor in the electronic device in the form of hardware, or can be stored in the memory of the electronic device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0125] In this embodiment, the route planning device is essentially provided with multiple modules for executing the route planning method in any of the above embodiments. The specific functions and technical effects can be referred to the above embodiments and will not be repeated here.

[0126] In one embodiment, a vehicle is provided, which includes the route planning device provided by any one of the above embodiments, and is used to execute the route planning method provided by any one of the above embodiments.

[0127] In this embodiment, the vehicle is substantially provided with a plurality of modules for executing the route planning method in any of the above embodiments. The specific functions and technical effects may refer to the above embodiments and will not be described in detail here.

[0128] In one embodiment, an electronic device is provided. The electronic device may be a server, and its internal structure diagram may be as shown in FIG. Figure 4 As shown. The electronic device includes a processor, a memory, a network interface and a database connected via a system bus. The processor of the electronic device is used to provide computing and control capabilities. The memory of the electronic device includes a non-volatile and / or volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the electronic device is used to communicate with an external client via a network connection. When the computer program is executed by the processor, the functions or steps on the server side of the above method are implemented.

[0129] In one embodiment, an electronic device is provided. The electronic device may be a client, and its internal structure diagram may be as follows: Figure 5 As shown. The electronic device includes a processor, a memory, a network interface, a display screen and an input device connected via a system bus. Among them, the processor of the electronic device is used to provide computing and control capabilities. The memory of the electronic device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the electronic device is used to communicate with an external server via a network connection. When the computer program is executed by the processor, the functions or steps of the client side of the above method are implemented.

[0130] In one embodiment, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the following steps when executing the computer program: obtaining allergy data of a person currently in the vehicle, the vehicle's currently planned routes, target source information of each vehicle's currently planned routes, and an initial planning priority of each vehicle's currently planned routes, wherein the target source information includes allergy source information and / or toxic gas emission source information; if the number of the vehicle's currently planned routes is at least two, prioritizing all the vehicle's currently planned routes according to the allergy data, target source information, and initial planning priority; and determining the vehicle's currently planned routes with the highest priority as a recommended route to plan the route for the vehicle.

[0131] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented: obtaining allergy data of the current occupant of the vehicle, the vehicle's currently planned routes, target source information of each vehicle's currently planned routes, and an initial planning priority of each vehicle's currently planned routes, wherein the target source information includes allergy source information and / or toxic gas emission source information; if the number of the vehicle's currently planned routes is at least two, prioritizing all the vehicle's currently planned routes according to the allergy data, target source information and initial planning priority; and determining the vehicle's currently planned routes with the highest priority as a recommended route to plan the route for the vehicle.

[0132] It should be noted that the above functions or steps that can be implemented by the computer-readable storage medium or electronic device can refer to the relevant descriptions on the server side and the client side in the aforementioned method embodiment. To avoid repetition, they will not be described one by one here.

[0133] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing related hardware through a computer program, and the above-mentioned computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0134] Those skilled in the art will clearly understand that for the sake of convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the above-mentioned device or system can be divided into different functional units or modules to complete all or part of the functions described above.

[0135] The embodiments provided above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A route planning method, characterized in that: The route planning method comprises: Acquire allergy data of the current occupant of the vehicle, the vehicle's currently planned candidate routes, target source information of each vehicle's currently planned candidate routes, and the initial planning priority of each vehicle's currently planned candidate routes, wherein the target source information includes allergy source information and / or toxic gas emission source information; If the number of the currently planned candidate routes of the vehicle is at least two, all the currently planned candidate routes of the vehicle are prioritized according to the allergy data, the target source information and the initial planning priority; A currently planned candidate route for a vehicle with the highest priority is determined as a recommended route to perform route planning for the vehicle.

2. The route planning method according to claim 1, characterized in that: Before obtaining the allergy data of the current occupant of the vehicle, the method includes: Obtaining the identity data of the person currently in the vehicle; matching the identity recognition data with preset allergy information in a preset allergy information database, the preset allergy information including the identity recognition data of historical vehicle occupants who had allergic reactions during historical driving of the vehicle, and target source information when the allergic reactions occurred; If the match is successful, the target source information in the successfully matched preset allergy information is determined as the allergy data of the current person in the vehicle.

3. The route planning method according to claim 2, characterized in that: The method for determining the preset allergy information includes: During the historical driving process of the vehicle, historical video data including historical occupants of the vehicle are obtained; Identifying abnormal behavior characteristics of the historical video data, wherein the abnormal behavior characteristics indicate that the historical occupant of the vehicle has had an allergic reaction; If an abnormal behavior feature is identified, obtaining target source information of the environment in which the vehicle is located when the abnormal behavior feature occurs; The target source information is associated with the historical identification data of the occupants of the vehicle to obtain the preset allergy information.

4. The route planning method according to claim 3, characterized in that: Identifying abnormal behavior features of the historical video data includes: Determine a historical motion energy map and a motion history map according to a binary foreground mask, an image gradient, and a motion duration of each frame in the historical video data; Determine whether the historical occupant of the vehicle has significantly deviated from the trajectory based on the historical motion energy graph and the motion history graph; If a significant trajectory deviation occurs, the target trajectory feature is input into a pre-trained action type judgment model to determine the predicted action type of the historical occupant corresponding to the target trajectory feature, wherein the target trajectory feature is obtained based on the trajectory of the historical occupant with significant trajectory deviation; If the predicted action type is a preset action type, the recognition result is determined as a recognition of abnormal behavior characteristics.

5. The route planning method according to claim 3, characterized in that: Acquiring target source information of the environment in which the vehicle is located when the abnormal behavior feature occurs includes: Acquire the target location existence status of the environment where the vehicle is located when the abnormal behavior feature occurs; If the target place exists, the preset target source of the target place is used as the target source information; If the target location does not exist, the particle types in the cabin environment of the vehicle are detected, and the detected particle types are used as the target source information.

6. The route planning method according to any one of claims 1 to 5, characterized in that: After determining the currently planned candidate route of the vehicle with the highest priority as the recommended route, the method further includes: If the target source information on the recommended route matches the allergy data, collecting the in-vehicle air quality data and the outside air quality data of the vehicle during the driving of the vehicle; Performing allergen concentration detection on the in-vehicle air quality data and the out-vehicle air quality data; When the detected allergen concentration is greater than a preset concentration threshold, an air purification strategy is determined according to the detected allergen concentration, and the air purification strategy includes closing the windows, starting the air purification device, and starting at least one of the internal and external circulation functions in the vehicle.

7. The route planning method according to claim 6, characterized in that: The method further comprises at least one of the following: Displaying the execution status of the air purification strategy; Displaying at least one of the in-vehicle air quality data, the out-vehicle air quality data, and the allergen concentration; When the vehicle is disconnected from the preset server, the in-vehicle air quality data, the outside air quality data and the allergen concentration are stored in the vehicle, and after the vehicle is restored to the connection with the preset server, the in-vehicle air quality data, the outside air quality data and the allergen concentration stored in the vehicle are synchronized to the preset server; If the air purification strategy includes closing the windows, the closing time and location of the windows, the air quality data inside the vehicle before closing, the air quality data outside the vehicle, and the allergen concentration are uploaded to a preset server.

8. A route planning device, characterized in that: The route planning device comprises: An acquisition module, used to acquire allergy data of the current occupant of the vehicle, the vehicle's currently planned candidate routes, target source information of each vehicle's currently planned candidate routes, and the initial planning priority of each vehicle's currently planned candidate routes, wherein the target source information includes allergy source information and / or toxic gas emission source information; A sorting module, configured to sort the priorities of all the currently planned candidate routes of the vehicle according to the allergy data, the target source information and the initial planning priority if the number of the currently planned candidate routes of the vehicle is at least two; The determination module is used to determine a currently planned candidate route of the vehicle with the highest priority as a recommended route to plan the route for the vehicle.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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