Navigation method and device, equipment and medium

Abstract

The invention provides a navigation method and device, equipment and a medium, and relates to the technical field of maps, in particular to the technical field of map navigation, intelligent cabins and automatic driving. According to the implementation scheme, in response to the fact that the vehicle is subjected to tire burst, tire deformation information of the tire burst wheel is determined on the basis of sensing data for the tire burst wheel, and the tire deformation information indicates size information of the tire burst wheel after tire burst; determining position information of a target lane line and an adjustment direction for the target lane line in a target map for navigating the vehicle based on the current driving lane of the vehicle and the position of the flat tire wheel in the vehicle; determining an adjustment amount for the target lane line based on the tire deformation information; adjusting position information of the target lane line based on the adjustment direction and the adjustment amount; determining a virtual lane line for the vehicle after tire burst based on the adjustment result of the position information of the target lane line; and navigating the vehicle by using the target map containing the virtual lane line.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of map, in particular to the technical field of map navigation, intelligent cockpit and autonomous driving, and specifically relates to a navigation method and device, electronic equipment, computer readable storage medium and computer program product. BACKGROUND

[0002] During the driving of a vehicle, a tire burst is a sudden condition with high risk. The tire burst can cause the change of the wheel diameter of the vehicle, and further affect the driving track and maneuverability of the vehicle.

[0003] The methods described in this section can not have been previously conceived or made. Unless otherwise indicated, it should not be assumed that any of the methods described in this section qualify as prior art merely by virtue of their inclusion in this section. Similarly, issues identified with respect to a method in this section should not assume to have been admitted to be prior art against a method in any art field. SUMMARY

[0004] The present disclosure provides a navigation method, device, electronic equipment, computer readable storage medium and computer program product.

[0005] According to an aspect of the present disclosure, a navigation method is provided, comprising: in response to determining that a vehicle has a tire burst, determining tire deformation information of a tire of a tire burst wheel based on sensor data of the tire burst wheel, wherein the tire deformation information indicates size information of the tire burst wheel after the tire burst; determining position information of a target lane line and an adjustment direction for the target lane line in a target map for navigation of the vehicle based on a current driving lane of the vehicle and a position of the tire burst wheel in the vehicle; determining an adjustment amount for the target lane line based on the tire deformation information; adjusting the position information of the target lane line based on the adjustment direction and the adjustment amount; determining a virtual lane line for the vehicle after the tire burst based on an adjustment result of the position information of the target lane line; and navigating the vehicle using the target map containing the virtual lane line.

[0006] According to an aspect of the present disclosure, a trajectory planning method for a vehicle is provided, comprising: determining a target map for navigation of the vehicle using the above navigation method; and planning a trajectory of the vehicle based on the target map.

[0007] According to an aspect of the present disclosure, there is provided a navigation device, comprising: a first determining unit configured to determine tire deformation information of a tire of a tire burst wheel based on sensor data for the tire burst wheel in response to determining that a vehicle has a tire burst, wherein the tire deformation information indicates size information of the tire burst wheel after the tire burst; a second determining unit configured to determine position information of a target lane line and an adjustment direction for the target lane line in a target map for navigation of the vehicle based on a current lane of the vehicle and a position of the tire burst wheel in the vehicle; a third determining unit configured to determine an adjustment amount for the target lane line based on the tire deformation information; an adjusting unit configured to adjust the position information of the target lane line based on the adjustment direction and the adjustment amount; a fourth determining unit configured to determine a virtual lane line for the vehicle after the tire burst based on an adjustment result of the position information of the target lane line; and a navigation unit configured to navigate the vehicle using the target map containing the virtual lane line.

[0008] According to an aspect of the present disclosure, there is provided a trajectory planning device for a vehicle, configured to plan a trajectory of the vehicle based on a target map, wherein the target map for navigation of the vehicle is determined using the above navigation device.

[0009] According to an aspect of the present disclosure, there is provided an electronic device, comprising: at least one processor; and a memory communicatively connected with the at least one processor; wherein 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 navigation method.

[0010] According to an aspect of the present disclosure, there is provided an electronic device, comprising: at least one processor; and a memory communicatively connected with the at least one processor; wherein 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 trajectory planning method for a vehicle.

[0011] According to an aspect of the present disclosure, there is provided an autonomous vehicle, comprising the above electronic device capable of implementing the above trajectory planning method for a vehicle.

[0012] According to an 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 the above navigation method or the above trajectory planning method for a vehicle.

[0013] According to an aspect of the disclosure, there is provided a computer program product comprising a computer program, wherein the computer program, when executed by a processor, is capable of implementing the above-mentioned navigation method or trajectory planning method for a vehicle.

[0014] It is to be understood that the details set forth herein do not limit the scope of the embodiments of the disclosure to the preferred embodiments described. Rather, the scope of the embodiments of the disclosure is defined by the appended claims. BRIEF DESCRIPTION OF DRAWINGS

[0015] The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the principles of the application. The illustrated embodiments are merely examples of the present application and are not intended to restrict the scope of the claims in any way.

[0016] Figure 1 shows a schematic diagram of an exemplary system in which the various methods described herein can be implemented according to an exemplary embodiment of the disclosure; Figure 2 shows a flowchart of a navigation method according to an exemplary embodiment of the disclosure; Figure 3 shows a schematic diagram of a target map according to an exemplary embodiment of the disclosure; Figure 4 shows a structural block diagram of a navigation device according to an exemplary embodiment of the disclosure; Figure 5 shows a structural block diagram of an exemplary electronic device that can be used to implement embodiments of the disclosure. DETAILED DESCRIPTION

[0017] Exemplary embodiments of the present disclosure are described herein with reference to the accompanying drawings, in which various details are set forth to facilitate an understanding of the present disclosure. However, it will be apparent to one of ordinary skill in the art that various changes and modifications can be made to the embodiments described herein without departing from the scope of the present disclosure. Likewise, the present disclosure is not intended to be limited to the various embodiments described herein, but rather, the scope of the present disclosure is to be accorded the broadest scope possible under the law. Accordingly, the present disclosure is set forth only in connection with the examples set forth herein, and it will be apparent to one of ordinary skill in the art that various changes and modifications can be made without departing from the scope of the present disclosure.

[0018] In the present disclosure, unless otherwise stated, the use of the terms "first", "second", etc. to describe various elements is not intended to limit the position, sequence, or importance of these elements, and such terms are used only to distinguish one element from another. In some examples, the first element and the second element can refer to the same instance of the element, and in some cases, based on the context of the description, they can also refer to different instances.

[0019] The terminology used in the description of the various described examples herein is for the purpose of describing particular examples only and is not intended to be limiting. Unless specifically defined otherwise, any term used herein can be one or more of the same. Furthermore, the term "and / or" as used herein encompasses any and all possible combinations of the listed items.

[0020] Embodiments of the present disclosure will be described in detail with reference to the drawings, wherein:

[0021] Figure 1 A schematic diagram illustrating an example system 100 in which various methods and apparatus described herein can be implemented in accordance with embodiments of the present disclosure is shown. Referring to Figure 1 The system 100 includes a motor vehicle 110, a server 120, and one or more communication networks 130 coupling the motor vehicle 110 to the server 120.

[0022] In embodiments of the present disclosure, the motor vehicle 110 can include a computing device in accordance with embodiments of the present disclosure and / or be configured to perform methods in accordance with embodiments of the present disclosure.

[0023] The server 120 can run one or more services or software applications of a navigation method or a trajectory planning method for a vehicle. In certain embodiments, the server 120 can also provide other services or software applications, which can include non-virtual environments and virtual environments. In Figure 1 In the illustrated configuration, the server 120 can include one or more components implementing the functionality performed by the server 120. These components can include software components, hardware components, or a combination thereof, executable by one or more processors. A user of the motor vehicle 110 can in turn utilize one or more client applications to interact with the server 120 to utilize the services provided by these components. It should be understood that various different system configurations are possible, which can differ from the system 100. Thus, Figure 1 The system 100 is one example of a system for implementing the various methods described herein and is not intended to be limiting.

[0024] Server 120 can include one or more general purpose computers, special purpose server computers (e.g., PC (personal computer) servers, UNIX servers, mid-range servers), blade servers, mainframe computers, server clusters, or any other appropriate arrangement and / or combination. Server 120 can include one or more virtual machines running a virtual operating system, or other computing architectures involving virtualization (e.g., one or more flexible pools of logical storage devices that can be virtualized to maintain virtual storage devices for servers). In various embodiments, server 120 can run one or more services or software applications that provide the functionality described below.

[0025] Computing units in server 120 can run one or more operating systems including any of the operating systems described above, as well as any commercially available server operating systems. Server 120 can also run any of a variety of additional server applications and / or mid-tier applications, including HTTP servers, FTP servers, CGI servers, JAVA servers, database servers, etc.

[0026] In some embodiments, server 120 can include one or more applications to analyze and consolidate data feeds and / or event updates received from motor vehicles 110. Server 120 can also include one or more applications to display the data feeds and / or real-time events via one or more display devices of motor vehicles 110.

[0027] Network(s) 130 can be any type of network familiar to those skilled in the art that can support data communications using any of a variety of available protocols, including without limitation TCP / IP, SNA, IPX, etc. As an example, one or more of networks 130 can be satellite communications networks, local area networks (LANs), Ethernet-based networks, token ring networks, wide area networks (WANs), the Internet, virtual networks, virtual private networks (VPNs), intranets, extranets, blockchain networks, public switched telephone networks (PSTNs), infrared networks, wireless networks (including for example Bluetooth, WiFi), and / or any combination of these and other networks.

[0028] The system 100 can also include one or more databases 150. In certain embodiments, these databases can be used to store data and other information. For example, one or more of the databases 150 can be used to store information such as audio files and video files. The data stores 150 can reside in various locations. For example, a data store used by the server 120 can be local to the server 120, or can be remote from the server 120 and can communicate with the server 120 via a network- or dedicated-based connection. The data stores 150 can be of different types. In certain embodiments, a data store used by the server 120 can be a database, such as a relational database. One or more of these databases can store, update, and retrieve data to and from the database in response to commands.

[0029] In certain embodiments, one or more of the databases 150 can also be used by applications to store application data. Databases used by applications can be databases of different types, such as key-value stores, object stores, or regular stores backed by file systems.

[0030] The motor vehicle 110 can include sensors 111 for perceiving the surrounding environment. The sensors 111 can include one or more of the following sensors: visual camera, infrared camera, ultrasonic sensor, millimeter wave radar, and laser radar (LiDAR). Different sensors can provide different detection accuracy and range. The camera can be installed at the front, rear, or other positions of the vehicle. The visual camera can capture the situation inside and outside the vehicle in real time and present it to the driver and / or passenger. In addition, through analysis of the pictures captured by the visual camera, information such as traffic signal indication, intersection situation, running state of other vehicles, etc. can be obtained. The infrared camera can capture objects in night vision conditions. The ultrasonic sensor can be installed around the vehicle to measure the distance of objects outside the vehicle from the vehicle by taking advantage of the strong directivity of ultrasonic waves. The millimeter wave radar can be installed at the front, rear, or other positions of the vehicle to measure the distance of objects outside the vehicle from the vehicle by taking advantage of the characteristics of electromagnetic waves. The laser radar can be installed at the front, rear, or other positions of the vehicle to detect object edges, shape information, and thus perform object recognition and tracking. Due to the Doppler effect, the radar device can also measure the speed change of the vehicle and moving objects.

[0031] The motor vehicle 110 can also comprise a communication device 112. The communication device 112 can comprise a satellite positioning module capable of receiving satellite positioning signals (e.g. Beidou, GPS, GLONASS and GALILEO) from satellites 141 and generating coordinates based on these signals. The communication device 112 can also comprise a module for communicating with mobile communication base stations 142, which can implement any suitable communication technology, such as GSM / GPRS, CDMA, LTE, etc. current or evolving wireless communication technologies (e.g. 5G technology). The communication device 112 can also have a vehicle-to-everything (V2X) module configured for implementing vehicle-to-vehicle (V2V) communication with other vehicles 143 and vehicle-to-infrastructure (V2I) communication with infrastructure 144, for example. In addition, the communication device 112 can also have a module configured to communicate with user terminals 145 (including but not limited to smartphones, tablets or wearable devices such as watches) for example through a wireless local area network using the IEEE 802.11 standard or Bluetooth. With the communication device 112, the motor vehicle 110 can also access the server 120 via the network 130.

[0032] The motor vehicle 110 can also comprise a control device 113. The control device 113 can comprise a processor, such as a central processing unit (CPU) or a graphics processing unit (GPU), or other specialized processors, in communication with various types of computer-readable storage devices or media. The control device 113 can comprise an autonomous driving system for automatically controlling various actuators in the vehicle. The autonomous driving system is configured to control the powertrain, steering system and braking system, etc. of the motor vehicle 110 (not shown) via a plurality of actuators in response to inputs from a plurality of sensors 111 or other input devices to control acceleration, steering and braking, respectively, without or with limited human intervention. Part of the processing functions of the control device 113 can be implemented through cloud computing. For example, some processing can be performed using an on-board processor, while other processing can be performed using computing resources in the cloud. The control device 113 can be configured to perform the methods according to the present disclosure. In addition, the control device 113 can be implemented as an example of a motor vehicle-side (client) computing device according to the present disclosure.

[0033] Figure 1 The system 100 can be configured and operated in various ways to enable the application of various methods and devices described according to the present disclosure.

[0034] A tire burst is a dangerous emergency situation during vehicle driving. A tire burst can cause a change in the wheel diameter of the vehicle, thereby affecting the driving trajectory and maneuverability of the vehicle. At this time, if the driver drives according to the original map lane line information, a traffic accident is likely to occur due to misjudgment.

[0035] In related technologies, a vehicle-mounted map mainly provides conventional road navigation information, including fixed lane line display, road name, traffic rules, and the like. When an emergency situation such as a tire burst occurs in a vehicle, the map cannot adjust key navigation information such as lane lines in real time according to the actual state of the vehicle, and can only rely on the driver's own experience to make judgments and operations. After the vehicle bursts, the driver drives according to the fixed lane line, which is likely to cause an accident due to changes in vehicle control and deviations in lane line judgment.

[0036] Based on this, the present disclosure provides a navigation method, which adjusts lane lines of a current driving lane of a vehicle based on tire deformation information of a tire burst wheel after the vehicle bursts, to generate virtual lane lines adapted to the tire burst vehicle, so that the user can drive based on the virtual lane lines in the navigation map, and improve the safety of vehicle driving.

[0037] Figure 2 A flowchart of a navigation method 200 according to an example embodiment of the present disclosure is shown. As shown in the figure, Figure 2 The method 200 includes the following steps. Step S201, in response to determining that a vehicle has a tire burst, determining tire deformation information of a tire burst wheel based on sensing data of the tire burst wheel, wherein the tire deformation information indicates size information of the tire burst wheel after the tire burst; Step S202, determining position information of a target lane line and an adjustment direction for the target lane line in a target map used for navigation of the vehicle based on a current driving lane of the vehicle and a position of the tire burst wheel in the vehicle; Step S203, determining an adjustment amount for the target lane line based on the tire deformation information; Step S204, adjusting the position information of the target lane line based on the adjustment direction and the adjustment amount; Step S205, determining a virtual lane line for the vehicle after the tire burst based on an adjustment result of the position information of the target lane line; and Step S206, navigating the vehicle using the target map containing the virtual lane line.

[0038] By applying the above method 200, the lane lines of the current driving lane of the vehicle can be adjusted based on the tire deformation information of the tire burst wheel after the vehicle bursts, to generate virtual lane lines adapted to the tire burst vehicle, so that the user can drive based on the virtual lane lines in the navigation map, and improve the safety of vehicle driving.

[0039] In some examples, the sensing data for the blown tire wheel can include wheel speed sensing data, tire pressure monitoring data, temperature monitoring data, etc. In one example, each wheel of the vehicle can be installed with a Hall wheel speed sensor, and each tire valve can be installed with a pressure sensor, based on which a tire pressure monitoring system (TPMS) is obtained. The sampling frequency, data transmission mode, monitoring data format, etc. of the Hall wheel speed sensor and the tire pressure monitoring system can be selected or set according to the needs of the actual application scenario, for example, a Hall wheel speed sensor with a sampling frequency of 100 Hz, an output pulse signal (60 pulses corresponding to each rotation), and a binary data transmission through a CAN bus can be used to transmit the wheel speed sensing to the vehicle central controller. For another example, a pressure sensor with a sampling frequency of 1 Hz, a detection range of 0-1000 kPa, an accuracy of ±2 kPa, and a monitoring data transmission through a 433 MHz radio frequency signal can be used to transmit the tire pressure monitoring data to the vehicle receiver. In one example, the pressure sensor installed in the tire valve can also integrate the function of collecting the temperature inside the tire to more comprehensively monitor the tire condition of each wheel.

[0040] According to some embodiments, the information of whether the vehicle has a blown tire is determined by: obtaining vehicle sensing data, wherein the vehicle sensing data includes wheel speeds of a plurality of wheels, tire pressure sensing data of the plurality of wheels, and vehicle body motion sensing data; and determining whether the vehicle has a blown tire in response to the vehicle sensing data satisfying a blown tire determination condition, wherein the blown tire determination condition includes: an abnormal wheel speed determination condition indicating that there is an abnormal wheel speed wheel in the plurality of wheels; an abnormal tire pressure determination condition indicating that the tire pressure of the abnormal wheel speed wheel decreases; and an abnormal vehicle body motion determination condition indicating that the vehicle body of the vehicle deviates or decelerates. In this way, the vehicle blown tire information can be more accurately determined by combining multi-dimensional vehicle sensing data and vehicle blown tire determination conditions, and more accurate navigation information can be provided for the vehicle driver based on this.

[0041] In some examples, the vehicle sensing data can be obtained based on the wheel speed sensor, the tire pressure monitoring system, and the vehicle body inertial measurement unit described above. In one example, the vehicle body inertial measurement unit can include an accelerometer and a gyroscope installed on the vehicle body, for example, a 3-axis accelerometer and a 3-axis gyroscope installed at the center of gravity of the vehicle body to capture the sudden change of the vehicle body posture at the moment of the vehicle blown tire.

[0042] In some examples, the abnormal wheel speed determination condition, the abnormal tire pressure determination condition, and the abnormal vehicle body motion determination condition can include multiple sub-determination conditions. For example, the abnormal wheel speed determination condition can include a determination condition for a wheel speed deviation rate and a determination condition for a wheel speed change rate.

[0043] In one example, based on the wheel speed sensor data of each wheel of the vehicle, the wheel speed deviation rate of each wheel relative to a reference wheel speed can be calculated in real time. When the output signal of the wheel speed sensor is a pulse signal corresponding to 60 pulses per revolution, the rotation speed n of each wheel can be obtained based on the calculation formula n = pulse frequency x 60 / pulse number / wheel diameter, and the wheel speed deviation rate of each wheel speed n_i relative to the reference wheel speed n_ref can be calculated based on the formula wheel speed deviation rate = (n_i - n_ref) / n_ref x 100%. In the formula, the reference wheel speed n_ref is determined based on the wheel speeds of other wheels, for example, can be the average of the wheel speeds of the same side non-flat tire wheels, or the average of the wheel speeds of the diagonal wheels.

[0044] In this example, when the wheel speed deviation rate δ exceeds the preset wheel speed deviation rate threshold and lasts for a duration longer than the preset duration threshold, it indicates the tire condition of the vehicle tire blowout, wheel diameter sudden decrease, and thus the wheel speed surge, and at the same time, the duration of the abnormal wheel speed deviation rate can be detected to exclude the instantaneous fluctuation caused by road bumps, so as to more accurately identify the flat tire wheel.

[0045] In one example, the wheel speed sensor data of each wheel of the vehicle is sampled and returned based on a certain sampling time interval (for example, the wheel speed information of each wheel can be collected every 1 second), and the wheel speed change rate can be calculated based on the wheel speed information obtained at adjacent two sampling time points. As described previously, when the vehicle has a flat tire, the flat tire wheel will cause the wheel diameter to suddenly decrease, resulting in a significant increase in the wheel speed, and thus the wheel speed change rate of the flat tire wheel is significantly greater than that of the normal wheel. In this example, the reference wheel speed change rate can be determined based on the wheel speed change rates of each wheel of the vehicle (for example, the average of the wheel speed change rates of each wheel can be calculated), and whether there is a wheel speed change rate abnormal wheel can be determined based on the difference between the wheel speed change rate of each wheel and the reference wheel speed change rate, based on which whether there is a flat tire wheel can be identified.

[0046] In one example, the abnormal tire pressure determination condition can include a determination condition for tire pressure and a determination condition for tire temperature. For example, when the tire pressure decreases by more than a preset tire pressure change amplitude threshold (for example, 30%) within 1 second and the tire temperature rises by more than a preset temperature change amplitude threshold (for example, 5°C) within a certain time, it indicates the tire condition of the vehicle tire blowout, tire pressure sudden decrease, and tire temperature sudden increase due to increased friction between the tire and the road, so as to more accurately identify the flat tire wheel.

[0047] In actual application scenarios, the wheel blowout can cause the pressure sensor to be damaged, in which case, when the TPMS signal is lost, the abnormal tire pressure determination step can be skipped, and the wheel blowout is detected depending on other dimensional determination conditions.

[0048] In one example, the abnormal vehicle body motion determination conditions include a determination condition for the acceleration of the vehicle in the vertical direction, a determination condition for the yaw rate of the vehicle, and a determination condition for the acceleration of the vehicle in the driving direction. For example, when the vertical acceleration peak of the tire blowout side vehicle body exceeds the preset vertical acceleration threshold and is accompanied by high-frequency vibration of the vehicle body caused by tire out-of-roundness, the determination condition for the vertical direction acceleration is satisfied. When the vehicle is offset to the tire blowout side and the yaw rate exceeds the preset yaw rate threshold, the determination condition for the yaw rate is satisfied. When the deceleration acceleration of the vehicle in the driving direction exceeds the preset driving direction acceleration threshold, the determination condition for the driving direction acceleration of the vehicle is satisfied. By combining the above-mentioned abnormal vehicle body motion determination conditions in each dimension, the tire blowout wheel can be more accurately identified.

[0049] In actual application scenarios, the determination conditions described above can be combined according to actual needs to determine whether the vehicle has a tire blowout and the specific location of the tire blowout wheel. For example, when the abnormal wheel speed determination condition is satisfied, one of the abnormal tire pressure determination conditions is satisfied, and two of the abnormal vehicle body motion determination conditions are satisfied, it is determined that the vehicle has a tire blowout, so as to more accurately identify the vehicle tire blowout information and the specific location of the tire blowout wheel.

[0050] In one example, when the vehicle is driving on a relatively flat road (such as a city trunk road, a highway, etc.), the influence of road bumps on the driving condition of the vehicle is small. In this case, the abnormal condition of the vehicle sensor data is more likely to be caused by a tire blowout of the vehicle, so the determination conditions for the wheel speed deviation rate, the determination conditions for the tire pressure, the determination conditions for the tire temperature, and the determination conditions for the acceleration of the vehicle in the vertical direction described in the foregoing can be combined to identify the tire blowout of the vehicle.

[0051] In one example, when the vehicle is driving on a road with uneven or muddy road surface, road bumps can cause the vehicle body to bump or the vehicle wheels to slip. In this case, the determination conditions for the wheel speed change rate, the determination conditions for the tire pressure, and the determination conditions for the acceleration of the vehicle in the driving direction described in the foregoing can be combined to identify the tire blowout of the vehicle, so as to exclude the misidentification caused by the wheel speed fluctuation of each wheel or the body bump caused by the road factors, thereby more accurately identifying the tire blowout information of the vehicle.

[0052] In some examples, the road surface condition information described above can be determined based on road type information in a map or weather information during vehicle driving. For example, when the vehicle is driving on a highway, it can be determined that the road surface condition is well maintained and the road surface is relatively flat. When the vehicle is driving on a field road and corresponding to a rainy and snowy weather, it can be determined that the road surface may have bumps or muddy and slippery. Based on this, the vehicle driving scene can be more accurately determined, so that the vehicle tire burst information can be more accurately identified.

[0053] According to some embodiments, the vehicle sensing data further includes vehicle steering information, and the determining whether the vehicle has a tire burst based on the vehicle sensing data includes: determining whether the vehicle sensing data meets the abnormal body motion determination condition based on the wheel steering information and the vehicle body motion sensing data. Thus, the abnormal body motion information can be more accurately determined in combination with the vehicle steering information to exclude the influence of the driver's active steering behavior on the body motion.

[0054] In some examples, the vehicle steering information can be obtained by using a steering wheel angle sensor and a brake pressure sensor installed on a brake master cylinder. The steering angle data is transmitted through a LIN bus to exclude the interference information of active steering causing wheel speed difference. The brake pressure sensor can be used to distinguish between deceleration caused by tire burst and active braking deceleration.

[0055] According to some embodiments, the determining the tire deformation information of the tire burst wheel based on the sensing data of the tire burst wheel in step S201 includes: determining an effective wheel diameter of the tire burst wheel after the tire burst based on the wheel speed sensing data of the tire burst wheel and the driving speed of the vehicle; and determining a tire deformation rate of the tire burst wheel based on an original wheel diameter of the tire burst wheel, the effective wheel diameter, and the tire pressure sensing data of the tire burst wheel. Thus, the tire deformation rate can be more accurately determined based on the wheel diameter information before and after the tire burst and the tire pressure monitoring information to ensure that the virtual lane line is adapted to the tire size after the tire burst of the vehicle, and the safety of the vehicle driving is ensured.

[0056] According to some embodiments, the method 200 further comprises: determining wheel speed difference information of a plurality of wheels included in the vehicle based on wheel speeds of the plurality of wheels; and correcting wheel speed sensor data of the tire burst wheel based on the wheel speed difference information; wherein the determining the effective wheel diameter of the tire burst wheel after the tire burst based on the wheel speed sensor data of the tire burst wheel and the driving speed of the vehicle comprises determining the effective wheel diameter of the tire burst wheel after the tire burst based on the corrected wheel speed sensor data of the tire burst wheel and the driving speed of the vehicle. Thus, the wheel speed of the tire burst wheel can be corrected based on the wheel speed difference information of different wheels to compensate for wheel speed error caused by too large wheel speed difference of different vehicle wheels after the tire burst of the vehicle, based on which the tire deformation information is determined more accurately, and based on which the virtual lane line adapted to the tire burst wheel is determined more accurately.

[0057] In one example, the determination process of the tire information comprises the following steps: Step 1, acquiring real-time rotation speeds of each wheel in the vehicle, and determining whether the wheel speed information of the tire burst wheel needs to be corrected based on this.

[0058] When |N_tire - N_avg| > 20% x N_avg, the wheel speed information is corrected based on N_corrected = N_tire x (1 - k1 x AN), wherein N_avg is the average rotation speed of the wheels, N_tire is the rotation speed of the tire burst wheel, AN is the rotation speed difference percentage (AN = |N_tire - N_avg| / N_avg), k1 is a pre-set wheel speed compensation coefficient, and N_corrected is the corrected wheel speed of the tire burst wheel.

[0059] Step 2, performing secondary correction on the corrected wheel speed information of the tire burst wheel based on the body roll rate and the acceleration of the vehicle in the driving direction.

[0060] When the body roll rate or the acceleration of the vehicle in the driving direction exceeds a pre-set threshold, the wheel speed information is secondarily corrected based on N_final = N_corrected x (1 + k2 x (ω + |a|)), wherein ω is the body roll rate, a is the acceleration of the vehicle in the driving direction, k2 is a pre-set secondary compensation coefficient, and N_final is the secondarily corrected wheel speed of the tire burst wheel.

[0061] Step 3, calculating the effective wheel diameter of the tire burst wheel after the tire burst.

[0062] The effective wheel diameter after the tire burst of the tire burst wheel is calculated based on D = (V x 1000 x 60) / (N_final x π). In the formula, V is the driving speed of the vehicle (which can be calculated based on the normal wheel rotation speed: V = 0.377 x R x N_avg / 1000, in which R is the standard wheel diameter of the wheel), and D is the effective wheel diameter after the tire burst.

[0063] Step 4, the initial deformation rate λ_base is calculated based on λ_base = (D0 - D) / D0 x 100%. In the formula, D0 is the standard wheel diameter before the tire burst.

[0064] Step 5, when the tire pressure or the tire temperature exceeds the preset threshold, the initial deformation rate is corrected based on λ_temp = λ_base x (1 + k3 x (P0 - P) / P0 + k4 x (T - T0) / T0).

[0065] In the formula, P is the real-time tire pressure obtained by the tire pressure sensor, T is the tire temperature, k3 is a preset tire pressure influence coefficient, and k4 is a preset temperature influence coefficient.

[0066] Step 6, the tire deformation rate is secondarily corrected based on λ_final = λ_temp x (1 + 0.1 x (0.8 - μ)). In the formula, μ is a pre-stored road adhesion coefficient. In this example, the road type can be determined in combination with the map information and the current position of the vehicle, and then the road adhesion coefficient corresponding to the road type is obtained (for example: asphalt 0.8, cement 0.75, sandstone 0.6, and ice and snow 0.3).

[0067] By applying the above steps, the tire deformation information can be more accurately determined, and the virtual lane line adapted to the tire burst wheel can be more accurately determined based thereon.

[0068] According to some embodiments, determining the target lane line and the adjustment direction for the target lane line in the target map for navigating the vehicle based on the current driving lane of the vehicle and the position of the tire burst wheel in the vehicle in step S202 comprises: determining the lane line on the same side of the tire burst wheel of the current driving lane as the target lane line; and determining the direction pointed by the target lane line to the vehicle as the adjustment direction. In this way, the lane line to be adjusted can be determined based on the tire burst position of the vehicle, so as to adjust the lane line on the tire burst side to the direction of the vehicle body, thereby improving the safety of the vehicle driving by narrowing the lane.

[0069] In some examples, when the tire burst wheel is a left wheel, the target lane line is a left lane line of a current lane of the vehicle, and when the tire burst wheel is a right wheel, the target lane line is a right lane line of the current lane of the vehicle, so as to narrow the lane line of the current lane, and when the driver drives the vehicle along the narrowed lane line, the vehicle driving process has greater safety margin, thereby improving the safety of the vehicle driving.

[0070] In some examples, the target lane line and the adjustment direction for the target lane line in step S202 can also be determined based on other manners, for example, both lane lines of the current lane of the vehicle can be taken as the target lane line and adjusted towards the vehicle body, so as to narrow the lane and improve the safety of the vehicle driving.

[0071] According to some embodiments, the method 200 further comprises: in response to determining that the adjusted target lane line does not satisfy a safety condition, reducing the adjustment amount; and readjusting the target lane line based on the reduced adjustment amount, wherein the safety condition comprises: a distance between the adjusted target lane line and a road edge is not more than a first distance threshold; or a distance between the adjusted target lane line and an opposite lane line is not more than a second distance threshold. In this way, the distance between the adjusted lane line and the road edge or other lane can be detected based on the preset safety condition, so as to ensure safety.

[0072] In some examples, the first distance threshold and the second distance threshold are manually set in advance to meet the requirements of actual application scenarios.

[0073] In some examples, the first distance threshold can be dynamically adjusted according to the actual road condition of the vehicle driving. For example, when the current lane of the tire burst vehicle is a curve, the first distance threshold can be increased, and when the current lane of the tire burst vehicle is a straight line, the first distance threshold can be reduced, so as to improve the safety of the vehicle driving. For another example, when the road edge of the current lane of the tire burst vehicle is provided with a fence or a hard road edge, the first distance threshold can be increased, and when the road edge of the current lane of the tire burst vehicle is not provided with a hard object (for example, the road edge corresponds to a road marking), the first distance threshold can be reduced, so as to improve the safety of the vehicle driving.

[0074] In some examples, the second distance threshold can be dynamically adjusted according to the actual road condition, for example, when there is an oncoming vehicle in the opposite lane during the driving of the tire burst vehicle, the second distance threshold can be increased, and when there is no vehicle in the opposite lane, the second distance threshold can be reduced, so as to improve the safety of the vehicle driving.

[0075] According to some embodiments, the method 200 further comprises: repeating the operation of reducing the adjustment amount and the operation of readjusting the target lane line based on the reduced adjustment amount until a condition is met, wherein the condition is that: the adjustment amount is less than or equal to a minimum adjustment amount threshold; and the adjusted target lane line does not satisfy the safety condition, and wherein the minimum adjustment amount threshold is determined based on an original wheel diameter of the vehicle or a width of the current lane. In this way, a termination condition for reducing the adjustment amount can be defined based on the minimum adjustment amount threshold, and even if the adjusted target lane line does not satisfy the safety condition, it is necessary to ensure that the adjustment of the lane line for the tire blowout wheel corresponds to a certain minimum amplitude (i.e., the minimum adjustment amount threshold), ensuring the safety of the vehicle driving.

[0076] In one example, when the current lane of the vehicle is wide, the minimum adjustment amount threshold of the target lane line can be determined based on a product of the current lane and a preset proportion. When the current lane of the vehicle is narrow, the minimum adjustment amount threshold of the target lane line can be determined based on the original wheel diameter of the vehicle, so that the adjusted lane line can be matched with the current road condition while ensuring effective adjustment of the lane line for the tire blowout wheel and ensuring the safety of the vehicle driving.

[0077] According to some embodiments, the position information of the target lane line in step S204 includes at least one positioning point included in the target lane line, the operation of adjusting the position information of the target lane line based on the adjustment direction and the adjustment amount includes: moving the at least one positioning point based on the adjustment direction and the adjustment amount, and wherein the operation of determining the virtual lane line for the vehicle after tire blowout based on the adjustment result of the position information of the target lane line in step S205 includes: obtaining the virtual lane line by connecting the at least one positioning point after moving. In this way, the positioning point (end point for positioning the target lane line in the original map) can be moved based on the adjustment direction and the adjustment amount, so that the virtual lane line can be obtained conveniently and quickly.

[0078] In some examples, the position information of the target lane line includes positioning point coordinates in the map data of the target map for positioning the target lane line (i.e., line segment endpoint coordinates of one or more line segments constituting the target lane line). If the tire burst side is the right side (right front wheel or right rear wheel tire burst), the offset direction is "toward the inside of the vehicle driving direction" (i.e., the inside of the road), Δx = S x sinθ, Δy = -S x cosθ. If the tire burst side is the left side (right front wheel or right rear wheel tire burst), the offset direction is "toward the inside of the vehicle driving direction", Δx = -S x sinθ, Δy = S x cosθ. In the formula, Δx and Δy are the lateral and longitudinal offset amounts of the lane line line segment endpoints, θ is the vehicle driving direction angle, and S is the adjustment amount. In some examples, S can be determined based on the tire burst wheel position and a preset adjustment amount calculation formula. The adjustment amount calculation formula corresponding to different positions of the tire burst wheel may, for example, be as shown in the following table:

[0079] In the table, 20 cm, 28 cm, 3, 5 correspond to the pre-set linear adjustment coefficients, which can be flexibly adjusted according to requirements in actual application scenarios. In some examples, the adjustment amount calculation formula can also be constructed based on other types of mathematical formulas, which are not limited in the present disclosure.

[0080] Based on the obtained Δx and Δy, adjustment operations can be performed on each line segment endpoint of the original target lane line (such as L1(x1, y1)) to obtain the adjusted virtual endpoint coordinates: L1' = (x1 + Δx, y1 + Δy), L2' = (x2 + Δx, y2 + Δy). The virtual lane line can be generated simply and quickly by connecting the virtual endpoints (moved positioning points).

[0081] According to some embodiments, the method 200 further includes: displaying the virtual lane line based on a first display mode; and displaying other content in the target map except the virtual lane line based on a second display mode different from the first display mode. In this way, the virtual lane line and other map content can be displayed based on different display modes, so that the driver can drive based on the virtual lane line, and the safety of vehicle driving is improved.

[0082] In some examples, the display device of the navigation map can also display tire burst warning information to the vehicle driver at the same time, such as "right rear tire burst, the lane line has been adjusted, please drive carefully". At the same time, the vehicle-mounted voice system can also issue a voice prompt to remind the driver to pay attention to the vehicle tire burst information and the virtual lane line, so as to more accurately control the vehicle driving.

[0083] Figure 3 A schematic diagram of a target map according to an example embodiment of the present disclosure is shown. As shown in FIG. 1, the target map includes a virtual lane line L1' and a virtual lane line L2'. The virtual lane line L1' is an adjusted lane line based on the tire burst wheel position, and the virtual lane line L2' is a lane line in the target map. Figure 3As shown, the target map includes lane A, lane B, lane C and lane D, the double solid line and the dashed line in the figure show the original lane line of the target map, when the vehicle has a left tire burst in lane C, the method 200 described above can be applied to generate a virtual lane line (shown as a dotted line in the figure) adapted to the burst tire, and the lane line of the current driving lane can be narrowed, when the vehicle driver drives the vehicle along the narrowed lane line, the vehicle driving process has greater safety margin, thereby improving the safety of vehicle driving.

[0084] According to an aspect of the present disclosure, a trajectory planning method for a vehicle is also provided, comprising: determining a target map for the vehicle to navigate by using the method 400; and planning a trajectory of the vehicle based on the target map. Thereby, the technical means for generating a virtual lane line adapted to the burst tire of the vehicle can be applied in the automatic driving scenario, and further trajectory is planned for the burst tire based on the adjusted lane line, so as to improve the driving safety of the automatic driving vehicle.

[0085] According to an aspect of the present disclosure, a navigation device is also provided. Figure 4 A structural block diagram of the navigation device 400 according to an exemplary embodiment of the present disclosure is shown. As shown in the figure, Figure 4 The device 400 includes: A first determination unit 401 configured to determine tire deformation information of a burst tire based on sensing data for the burst tire in response to determining that the vehicle has a tire burst, wherein the tire deformation information indicates size information of the burst tire after the tire burst; A second determination unit 402 configured to determine position information of a target lane line in a target map for the vehicle to navigate and an adjustment direction for the target lane line based on a current driving lane of the vehicle and a position of the burst tire in the vehicle; A third determination unit 403 configured to determine an adjustment amount for the target lane line based on the tire deformation information; An adjustment unit 404 configured to adjust the position information of the target lane line based on the adjustment direction and the adjustment amount; A fourth determination unit 405 configured to determine a virtual lane line for the vehicle after the tire burst based on an adjustment result of the position information of the target lane line; and A navigation unit 406 configured to navigate the vehicle by using the target map containing the virtual lane line.

[0086] According to some embodiments, the second determining unit 402 comprises: a first determining sub-unit configured to determine that a lane line on the same side of the vehicle as the tire burst wheel is the target lane line; and a second determining sub-unit configured to determine that a direction pointed by the target lane line to the vehicle is the adjustment direction.

[0087] According to some embodiments, the apparatus 400 further comprises: a reducing unit configured to reduce the adjustment amount in response to determining that the adjusted target lane line does not satisfy a safety condition, the adjustment unit 404 being further configured to readjust the target lane line based on the reduced adjustment amount, wherein the safety condition comprises: a distance between the adjusted target lane line and a road edge is not more than a first distance threshold; or a distance between the adjusted target lane line and an opposite lane line is not more than a second distance threshold.

[0088] According to some embodiments, the reducing unit and the adjustment unit 404 are further configured to repeatedly perform the operation of reducing the adjustment amount and the operation of readjusting the target lane line based on the reduced adjustment amount until a condition is satisfied, the condition comprising: the adjustment amount is less than or equal to a minimum adjustment amount threshold; or the adjusted target lane line satisfies the safety condition.

[0089] According to some embodiments, the position information of the target lane line comprises at least one positioning point comprised by the target lane line, the adjustment unit 404 comprises: a moving sub-unit configured to move the at least one positioning point based on the adjustment direction and the adjustment amount, and wherein the fourth determining unit 405 is configured to obtain the virtual lane line by connecting the at least one moved positioning point.

[0090] According to some embodiments, the first determining unit 401 comprises: a third determining sub-unit configured to determine an effective wheel diameter of the tire burst wheel after the tire burst based on wheel speed sensor data of the tire burst wheel and a driving speed of the vehicle; and a fourth determining sub-unit configured to determine a tire deformation rate of the tire burst wheel based on an original wheel diameter of the tire burst wheel, the effective wheel diameter, and tire pressure sensor data of the tire burst wheel.

[0091] According to some embodiments, the apparatus 400 further comprises: a fifth determining unit configured to determine wheel speed difference information of a plurality of wheels comprised by the vehicle based on wheel speeds of the plurality of wheels; and a correction unit configured to correct wheel speed sensor data of the tire burst wheel based on the wheel speed difference information, wherein the third determining sub-unit is configured to determine the effective wheel diameter of the tire burst wheel after the tire burst based on the corrected wheel speed sensor data of the tire burst wheel and the driving speed of the vehicle.

[0092] According to some embodiments, the information of whether the vehicle has a tire burst is determined by: an acquisition unit configured to acquire vehicle sensor data, wherein the vehicle sensor data comprises wheel speeds of a plurality of wheels, tire pressure sensor data of the plurality of wheels, and body motion sensor data, and wherein the body motion sensor data comprises at least one of a yaw rate of the vehicle, an acceleration of the vehicle in a vertical direction, or an acceleration of the vehicle in a driving direction; and a sixth determination unit configured to determine whether the vehicle has a tire burst in response to the vehicle sensor data satisfying a tire burst determination condition, wherein the tire burst determination condition comprises: an abnormal wheel speed determination condition indicating that there is an abnormal wheel speed in the plurality of wheels; an abnormal tire pressure determination condition indicating that a tire pressure of the abnormal wheel speed wheel decreases; and an abnormal body motion determination condition indicating that a body of the vehicle deviates or decelerates.

[0093] According to some embodiments, the vehicle sensor data further comprises vehicle steering information, and the sixth determination unit is configured to determine whether the vehicle sensor data satisfies the abnormal body motion determination condition based on the wheel steering information and the body motion sensor data.

[0094] According to some embodiments, the apparatus 400 further comprises: a first display unit configured to display the virtual lane line based on a first display mode; and a second display unit configured to display other content in the target map except the virtual lane line based on a second display mode different from the first display mode.

[0095] According to an aspect of the present disclosure, there is also provided a trajectory planning apparatus for a vehicle configured to plan a trajectory of the vehicle based on a target map, wherein the target map for navigation of the vehicle is determined by the above-mentioned navigation apparatus 400.

[0096] According to an aspect of the present disclosure, there is also provided an electronic device comprising: at least one processor; and a memory communicatively connected with the at least one processor; wherein 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-mentioned navigation method.

[0097] According to an aspect of the present disclosure, there is also provided an electronic device comprising: at least one processor; and a memory communicatively connected with the at least one processor; wherein 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-mentioned trajectory planning method for a vehicle.

[0098] According to one aspect of this disclosure, an autonomous vehicle is also provided, including the aforementioned electronic device capable of implementing the aforementioned trajectory planning method for the vehicle.

[0099] According to one aspect of this disclosure, a non-transitory computer-readable storage medium storing computer instructions is also provided, wherein the computer instructions are used to cause the computer to perform the navigation method described above or the trajectory planning method for a vehicle.

[0100] According to one aspect of this disclosure, a computer program product is also provided, comprising a computer program, wherein the computer program, when executed by a processor, implements the above-described navigation method or trajectory planning method for a vehicle.

[0101] refer to Figure 5 The present invention describes a structural block diagram of an electronic device 500 that can serve as a server or client of the present disclosure, which is an example of a hardware device that can be applied to various aspects of the present disclosure. The electronic device is intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0102] like Figure 5 As shown, device 500 includes a computing unit 501, which can perform various appropriate actions and processes based on a computer program stored in read-only memory (ROM) 502 or a computer program loaded from storage unit 508 into random access memory (RAM) 503. RAM 503 may also store various programs and data required for the operation of device 500. The computing unit 501, ROM 502, and RAM 503 are interconnected via bus 504. Input / output (I / O) interface 505 is also connected to bus 504.

[0103] A plurality of components in the device 500 are connected to the I / O interface 505, including an input unit 506, an output unit 507, a storage unit 508, and a communication unit 509. The input unit 506 can be any kind of device capable of inputting information to the device 500, which can receive inputted digital or character information, and generate key signal inputs related to user settings and / or function controls of the electronic device, and can include, but is not limited to, a mouse, a keyboard, a touch screen, a track pad, a track ball, a joystick, a microphone, and / or a remote controller. The output unit 507 can be any kind of device capable of presenting information, and can include, but is not limited to, a display, a speaker, a video / audio output terminal, a vibrator, and / or a printer. The storage unit 508 can include, but is not limited to, a magnetic disk, an optical disk. The communication unit 509 allows the device 500 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks, and can include, but is not limited to, a modem, a network card, an infrared communication device, a wireless communication transceiver, and / or a chipset, such as a Bluetooth device, an 802.11 device, a WiFi device, a WiMax device, a cellular communication device, and / or the like.

[0104] The computing unit 501 can be various general and / or special purpose processing components having processing and computing capabilities. Some examples of the computing unit 501 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The computing unit 501 performs various methods and processes described above, such as a navigation method or a trajectory planning method for a vehicle. For example, in some embodiments, the navigation method or the trajectory planning method for a vehicle can be implemented as a computer software program, which is tangibly embodied in a machine-readable medium, such as the storage unit 508. In some embodiments, part or all of the computer program can be loaded and / or installed onto the device 500 via the ROM 502 and / or the communication unit 509. When the computer program is loaded onto the RAM 503 and executed by the computing unit 501, one or more steps of the navigation method or the trajectory planning method for a vehicle described above can be performed. Alternatively, in other embodiments, the computing unit 501 can be configured to perform the navigation method or the trajectory planning method for a vehicle by any other appropriate means, such as by means of firmware.

[0105] The various embodiments of the systems and techniques described above can be implemented in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a complex programmable logic device (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0106] Program code for carrying out methods of the present disclosure can be written in any combination of one or more programming languages. The program code can be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the program code, when executed by the processor or controller, produces the functions / operations specified in the flowcharts and / or the block diagrams. The program code can be executed entirely on a machine, partially on a machine, partially on a machine as a stand-alone software package, or entirely on a remote machine or server.

[0107] In the context of the present disclosure, a machine-readable medium can be a tangible medium that contains or stores a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include but is not limited to an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of the machine-readable storage medium will include one or more lines of electrical conductors, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or Flash memory), optical fibers, portable compact disc read-only memories (CD-ROMs), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0108] To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the computer. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0109] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), the Internet, and a blockchain network.

[0110] The computer system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server is generally established by computer programs running on the respective computers and having a client-server relationship to each other. The servers can be cloud servers, servers of a distributed system, or servers combined with a blockchain.

[0111] It should be understood that the various forms of flow shown above can be re-ordered, added to, or deleted from without departing from the scope of the present disclosure. For example, the steps recited in the present disclosure can be performed in parallel, in series, or in a different order, as long as the desired results of the technology disclosed in the present disclosure are achieved, which is not limited herein.

[0112] While embodiments or examples of this disclosure have been described with reference to the figures, it will be understood that the methods, systems, and devices described above are merely exemplary embodiments or examples, and the scope of the application is not limited to these embodiments or examples. Various elements of the embodiments or examples can be omitted or substituted by equivalents thereof. Furthermore, the steps can be performed in a different order than described in the disclosure. Further, various elements of the embodiments or examples can be combined in various ways. It is important that as technology evolves, many of the elements described herein can be substituted by equivalents which serve the same function.

Claims

1. A method for navigation, comprising: in response to determining that a vehicle has a tire burst, determining tire deformation information of a tire of a wheel with the tire burst based on sensor data of the wheel with the tire burst, wherein the tire deformation information indicates size information of the tire after the tire burst; based on a current lane of the vehicle and a position of the wheel with the tire burst in the vehicle, determining position information of a target lane and an adjustment direction for the target lane in a target map for navigation of the vehicle; determining an adjustment amount for the target lane based on the tire deformation information; adjusting the position information of the target lane based on the adjustment direction and the adjustment amount; determining a virtual lane for the vehicle after the tire burst based on an adjustment result of the position information of the target lane; and navigating the vehicle using the target map containing the virtual lane.

2. The method of claim 1, wherein, The determining, based on a current lane of the vehicle and a position of the wheel with the tire burst in the vehicle, of a target lane and an adjustment direction for the target lane in a target map for navigation of the vehicle comprises: determining a lane on a same side of the current lane as the wheel with the tire burst as the target lane; and determining a direction pointed by the target lane to the vehicle as the adjustment direction. 3.The method of claim 2, further comprising: in response to determining that the adjusted target lane does not satisfy a safety condition, reducing the adjustment amount; and re-adjusting the target lane based on the reduced adjustment amount, wherein the safety condition comprises: a distance between the adjusted target lane and a road edge is not more than a first distance threshold; or a distance between the adjusted target lane and an opposite lane is not more than a second distance threshold. 4.The method of claim 3, further comprising: repeating the operation of reducing the adjustment amount and the operation of re-adjusting the target lane based on the reduced adjustment amount until a condition is satisfied that: the adjustment amount is less than or equal to a minimum adjustment amount threshold; and the adjusted target lane does not satisfy the safety condition, wherein the minimum adjustment amount threshold is determined based on an original wheel diameter of the vehicle or a width of the current lane. The position information of the target lane comprises at least one positioning point included in the target lane, the adjusting, based on the adjustment direction and the adjustment amount, of the position information of the target lane comprises:

5. The method of any one of claims 2-4, wherein, moving the at least one positioning point based on the adjustment direction and the adjustment amount, and wherein the determining, based on an adjustment result of the position information of the target lane, of a virtual lane for the vehicle after the tire burst comprises: obtaining the virtual lane by connecting the moved at least one positioning point. The determining, based on sensor data of a wheel with a tire burst, of tire deformation information of the tire of the wheel with the tire burst comprises: determining an effective wheel diameter of the tire after the tire burst based on wheel speed sensor data of the wheel with the tire burst and a driving speed of the vehicle; and 6. The method of any one of claims 1-5, wherein, ​ ​ determine tire deformation rate of the tire of the tire burst wheel based on the original wheel diameter of the tire burst wheel, the effective wheel diameter, and the tire pressure sensing data of the tire burst wheel.

7. The method of claim 6, further comprising: determining wheel speed difference information of a plurality of wheels included in the vehicle based on wheel speeds of the plurality of wheels; and correcting wheel speed sensing data of the tire burst wheel based on the wheel speed difference information; wherein the determining the effective wheel diameter of the tire burst wheel after the tire burst based on the wheel speed sensing data of the tire burst wheel and the driving speed of the vehicle comprises: determining the effective wheel diameter of the tire burst wheel after the tire burst based on the corrected wheel speed sensing data of the tire burst wheel and the driving speed of the vehicle.

8. The method of any one of claims 1-7, wherein, the information of whether the vehicle has a tire burst is determined by: obtaining vehicle sensing data, wherein the vehicle sensing data includes wheel speeds of a plurality of wheels, tire pressure sensing data of the plurality of wheels, and body motion sensing data; and determining whether the vehicle has a tire burst in response to the vehicle sensing data satisfying a tire burst determination condition, wherein the tire burst determination condition includes: an abnormal wheel speed determination condition indicating that there is an abnormal wheel in the plurality of wheels; an abnormal tire pressure determination condition indicating that the tire pressure of the abnormal wheel decreases; and an abnormal body motion determination condition indicating that the body of the vehicle deviates or decelerates.

9. The method of claim 8, wherein, the abnormal body motion determination condition includes at least one of: a determination condition for a yaw rate of the vehicle; a determination condition for an acceleration of the vehicle in a vertical direction; or a determination condition for an acceleration of the vehicle in a driving direction.

10. The method of claim 8 or 9, wherein, the vehicle sensing data further includes vehicle steering information, and whether the vehicle sensing data satisfies the abnormal body motion determination condition is determined by: determining whether the vehicle sensing data satisfies the abnormal body motion determination condition based on the wheel steering information and the body motion sensing data.

11. The method of any one of claims 1-10, further comprising: displaying the virtual lane line based on a first display mode; and displaying other content in the target map other than the virtual lane line based on a second display mode different from the first display mode.

12. A trajectory planning method for a vehicle, comprising: determining a target map for navigating the vehicle by the method of any one of claims 1-11; and planning a trajectory of the vehicle based on the target map.

13. A navigation device, comprising: a first determining unit configured to determine tire deformation information of a tire burst wheel based on sensing data of the tire burst wheel in response to determining that the vehicle has a tire burst, wherein the tire deformation information indicates size information of the tire burst wheel after the tire burst; a second determining unit configured to determine position information of a target lane line and an adjustment direction for the target lane line in a target map for navigating the vehicle based on a current driving lane of the vehicle and a position of the tire burst wheel in the vehicle. ​ ​ a third determining unit configured to determine an adjustment amount for the target lane line based on the tire deformation information; an adjusting unit configured to adjust position information of the target lane line based on the adjustment direction and the adjustment amount; a fourth determining unit configured to determine a virtual lane line for the vehicle after the tire blowout based on an adjustment result of the position information of the target lane line; and a navigation unit configured to navigate the vehicle using a target map containing the virtual lane line.

14. A trajectory planning device for a vehicle configured to plan a trajectory of the vehicle based on a target map, wherein, The target map used for navigating the vehicle is determined using the apparatus of claim 13.

15. An electronic device, comprising: at least one processor; and a memory connected with the at least one processor in communication; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-11.

16. An electronic device, comprising: at least one processor; and a memory connected with the at least one processor in communication; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the method of claim 12.

17. An autonomous vehicle comprising the electronic device of claim 16.

18. A non-transitory computer readable storage medium having stored thereon computer instructions, wherein, The computer instructions are for causing a computer to perform the method according to any one of claims 1-12.

19. A computer program product comprising a computer program, wherein, The computer program, when executed by a processor, implements the method according to any one of claims 1-12. The computer program, when executed by a processor, implements the method according to any one of claims 1-12.

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