A method and device for determining a strategy for escaping from a predicament, electronic equipment and storage medium

Abstract

The present disclosure provides a method and device for determining an escape strategy, electronic equipment, readable storage medium and computer program product, and relates to the fields of artificial intelligence such as unmanned driving, intelligent transportation and autonomous parking. The specific implementation scheme is: when it is detected that an autonomous vehicle encounters a vehicle driving difficulty, obtaining vehicle surrounding perception information of the autonomous vehicle; determining a target vehicle escape strategy from preset vehicle escape strategies for the vehicle surrounding perception information of the autonomous vehicle, wherein the preset vehicle escape strategies at least include a first vehicle escape strategy of controlling the autonomous vehicle to escape by remotely taking over the control right of the vehicle. The target vehicle escape strategy determined by the scheme can be more suitable for the vehicle surrounding perception information of the autonomous vehicle, and can avoid taking over the control right of the vehicle by the driver to control the autonomous vehicle to escape as much as possible, thereby reducing the escape cost of the autonomous vehicle.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the field of data processing, in particular to unmanned driving and intelligent transportation technology, and can be specifically used in artificial intelligence scenarios such as unmanned driving and autonomous parking. BACKGROUND

[0002] Due to the complexity of road traffic, an automatic driving vehicle inevitably encounters a vehicle driving difficulty situation during driving. The existence of the vehicle driving difficulty situation seriously restricts the promotion and popularization of the automatic driving vehicle.

[0003] Therefore, in the case that the automatic driving vehicle encounters the vehicle driving difficulty situation, how to determine a vehicle escape strategy to help the automatic driving vehicle escape from the vehicle driving difficulty situation becomes a problem to be solved in the automatic driving technology. SUMMARY

[0004] The present disclosure provides a method and device for determining a vehicle escape strategy, an electronic device, a readable storage medium, and a computer program product, to determine a more suitable vehicle escape strategy.

[0005] According to an aspect of the present disclosure, a method for determining a vehicle escape strategy is provided, which can include the following steps:

[0006] obtaining vehicle surrounding perception information of the automatic driving vehicle when it is detected that the automatic driving vehicle encounters a vehicle driving difficulty situation;

[0007] determining a target vehicle escape strategy from preset vehicle escape strategies based on the vehicle surrounding perception information of the automatic driving vehicle, wherein the preset vehicle escape strategies at least include a first vehicle escape strategy of controlling the automatic driving vehicle to escape from the vehicle driving difficulty situation by remotely taking over the control right of the vehicle.

[0008] According to a second aspect of the present disclosure, a device for determining a vehicle escape strategy is provided, which can include:

[0009] a vehicle surrounding perception information obtaining unit configured to obtain vehicle surrounding perception information of the automatic driving vehicle when it is detected that the automatic driving vehicle encounters a vehicle driving difficulty situation;

[0010] a vehicle escape strategy determining unit configured to determine a target vehicle escape strategy from preset vehicle escape strategies based on the vehicle surrounding perception information of the automatic driving vehicle, wherein the preset vehicle escape strategies at least include a first vehicle escape strategy of controlling the automatic driving vehicle to escape from the vehicle driving difficulty situation by remotely taking over the control right of the vehicle.

[0011] According to another aspect of the present disclosure, an electronic device is provided, which includes:

[0012] at least one processor; and

[0013] a memory communicatively connected with the at least one processor; wherein

[0014] 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 method in any embodiment of the present disclosure.

[0015] According to another aspect of the present disclosure, a non-transitory computer readable storage medium storing computer instructions for causing a computer to perform the method in any embodiment of the present disclosure is provided.

[0016] According to another aspect of the present disclosure, a computer program product is provided, comprising computer programs / instructions, characterized in that the computer programs / instructions, when executed by a processor, implement the method in any embodiment of the present disclosure.

[0017] The technology of the present disclosure, when detecting that an autonomous vehicle encounters vehicle driving difficulties, first obtains vehicle surrounding perception information of the autonomous vehicle, and then determines a target vehicle escape strategy in preset vehicle escape strategies according to the vehicle surrounding perception information of the autonomous vehicle.

[0018] Since the target vehicle escape strategy is determined in the preset vehicle escape strategies including at least the first vehicle escape strategy, the vehicle surrounding perception information of the autonomous vehicle is considered, and therefore the determined target vehicle escape strategy is more suitable for the vehicle surrounding perception information of the autonomous vehicle.

[0019] In addition, when detecting that an autonomous vehicle encounters vehicle driving difficulties, a vehicle escape strategy for controlling the autonomous vehicle to escape by manually taking over the control of the vehicle by the driver is not directly determined as the target vehicle escape strategy. Therefore, it is possible to avoid controlling the autonomous vehicle to escape by manually taking over the control of the vehicle by the driver as much as possible, and thus the escape cost of the autonomous vehicle can be reduced.

[0020] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present disclosure, nor to limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0021] The accompanying drawings are used to better understand the present scheme and do not limit the present disclosure. Among them:

[0022] Figure 1 a schematic diagram of an autonomous driving system provided in an embodiment of the present disclosure;

[0023] Figure 2 a flowchart of a determination method of an escape strategy provided in an embodiment of the present disclosure;

[0024] Figure 3 A flowchart illustrating a first method for determining a target vehicle's escape strategy, as provided in the embodiments of this disclosure;

[0025] Figure 4 This is a flowchart of a second method for determining a target vehicle's escape strategy provided in the embodiments of this disclosure;

[0026] Figure 5 This is a schematic diagram of a device for determining an escape strategy in an embodiment of this disclosure;

[0027] Figure 6 This is a schematic diagram of an electronic device provided in an embodiment of the present disclosure. Detailed Implementation

[0028] The exemplary embodiments of this disclosure are described below with reference to the accompanying drawings, including various details of the embodiments to aid understanding, and should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this disclosure. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0029] Autonomous vehicles often need to rely on, for example, during operation. Figure 1 The autonomous driving system shown is used to control autonomous vehicles. Figure 1 This is a schematic diagram of an autonomous driving system provided in an embodiment of the present disclosure. Figure 1 The autonomous driving system shown may include the following components:

[0030] Map module 101: Used to provide high-precision map services for vehicle driving route planning.

[0031] Positioning module 102: Used to determine the real-time location information of autonomous vehicles.

[0032] Perception module 103: Used to obtain vehicle perimeter perception information of autonomous vehicles through on-board perception devices.

[0033] Prediction module 104: used to predict the trajectory of obstacles based on the vehicle's surrounding perception information and other perception information obtained from roadside perception devices.

[0034] Global navigation module 105: Based on the road network topology, it determines the optimal global vehicle travel path that meets the preset evaluation indicators for the target starting point and target ending point through a global optimization algorithm.

[0035] The planning module 106 is configured to determine, based on the motion trajectory of the obstacle and the optimal global vehicle driving path, vehicle driving planning of the autonomous vehicle in the process of driving along the optimal global vehicle driving path, such as obstacle avoidance, lane changing, and gear shifting.

[0036] The control module 107 is configured to control the autonomous vehicle through the Controller Area Network (CAN) bus 108 based on the driving planning determined by the planning module 106, so as to realize safe driving of the autonomous vehicle.

[0037] However, due to the complexity of road traffic, the autonomous vehicle will inevitably encounter vehicle driving difficulties in the driving process. In order to help the autonomous vehicle to realize vehicle escape in the case of vehicle driving difficulties, the disclosure provides a method for determining an escape strategy, which will be described in detail with reference to Figure 2 The method shown in the figure can include the following steps: Figure 2

[0038] Step S201: obtaining vehicle surrounding perception information of the autonomous vehicle when detecting that the autonomous vehicle encounters vehicle driving difficulties.

[0039] Step S202: determining a target vehicle escape strategy from preset vehicle escape strategies based on the vehicle surrounding perception information of the autonomous vehicle, wherein the preset vehicle escape strategies at least include a first vehicle escape strategy of controlling the autonomous vehicle to escape by remotely taking over the control right of the vehicle.

[0040] The method for determining an escape strategy provided in the embodiments of the disclosure, when detecting that the autonomous vehicle encounters vehicle driving difficulties, will first obtain vehicle surrounding perception information of the autonomous vehicle, and then determine a target vehicle escape strategy from preset vehicle escape strategies based on the vehicle surrounding perception information of the autonomous vehicle.

[0041] Since the target vehicle escape strategy is determined from the preset vehicle escape strategies by considering the vehicle surrounding perception information of the autonomous vehicle, the target vehicle escape strategy determined is more suitable for the vehicle surrounding perception information of the autonomous vehicle. The preset vehicle escape strategies at least include the first vehicle escape strategy.

[0042] In addition, when detecting that the autonomous vehicle encounters vehicle driving difficulties, the vehicle escape strategy corresponding to taking over the control right of the vehicle by the driver is not directly determined as the target vehicle escape strategy. Thus, it is possible to avoid, as much as possible, controlling the autonomous vehicle to escape by taking over the control right of the vehicle by the driver, and thus it is possible to reduce the escape cost of the autonomous vehicle.​

[0043] In the embodiments of the present disclosure, in the case that the autonomous vehicle cannot autonomously determine whether it can continue to drive safely, it is determined that the autonomous vehicle encounters vehicle driving difficulty.

[0044] The cause of the vehicle driving difficulty can include that the autonomous vehicle has a risk of collision with an obstacle during driving on a specified road section. The cause of the vehicle driving difficulty can also include that the autonomous vehicle drives into a dead end or a narrow road during driving and thus cannot continue to drive forward. The cause of the vehicle driving difficulty can also include that the autonomous vehicle cannot continue to drive according to the current vehicle driving path due to a change in road signs or traffic signs. The cause of the vehicle driving difficulty can also include that the autonomous vehicle cannot judge whether an unknown obstacle in front of the road will affect the safe driving of the autonomous vehicle. Specifically, in the embodiments of the present disclosure, the cause of the vehicle driving difficulty is not specifically limited.

[0045] In the embodiments of the present disclosure, the preset vehicle escape strategy is at least one candidate strategy pre-configured for realizing vehicle escape of the autonomous vehicle. The target vehicle escape strategy is a strategy determined in the preset vehicle escape strategy for realizing vehicle escape of the autonomous vehicle.

[0046] In addition, in order to ensure the driving safety of the autonomous vehicle, it can be specified that the preset vehicle escape strategy is a strategy configured for realizing vehicle escape of the autonomous vehicle for a specified traffic scenario. In this way, only when it is detected that the autonomous vehicle drives in the specified traffic scenario and encounters vehicle driving difficulty, the vehicle surrounding perception information of the autonomous vehicle is further obtained, and the target vehicle escape strategy is determined in the preset vehicle escape strategy according to the vehicle surrounding perception information of the autonomous vehicle, so as to help the autonomous vehicle to realize vehicle escape. The specified traffic scenario includes but is not limited to a closed park and a semi-open road.

[0047] The vehicle surrounding perception information of the autonomous vehicle can at least include vehicle surrounding information collected based on the vehicle-mounted sensor of the autonomous vehicle, and can also include vehicle surrounding information collected for the autonomous vehicle by a roadside perception device and the like. Specifically, the vehicle surrounding perception information of the autonomous vehicle can include obstacle information in front of the autonomous vehicle, obstacle information behind the autonomous vehicle, obstacle information on the side of the autonomous vehicle, road sign information on the current driving road of the autonomous vehicle, or traffic sign information on the current driving road of the autonomous vehicle, and the like.

[0048] Specifically, the obstacle information includes but is not limited to the number of obstacles, the type of obstacles, the motion state of obstacles, etc. The road marking information includes but is not limited to lane line information, zebra crossing information, and no parking line information. The traffic sign information includes but is not limited to traffic light information and traffic sign information.

[0049] In the embodiment of the present disclosure, the specific implementation manner of detecting that the autonomous vehicle encounters vehicle driving difficulty can be: detecting whether the escape request information sent by the autonomous vehicle is received, and determining that the autonomous vehicle encounters vehicle driving difficulty in the case of detecting the escape request information.

[0050] In the case of detecting that the autonomous vehicle encounters vehicle driving difficulty through the above implementation manner, the specific process of obtaining the vehicle surrounding perception information of the autonomous vehicle can be: first, obtaining the escape request information sent by the autonomous vehicle in the case of encountering vehicle driving difficulty. Then, in response to the escape request information, the vehicle surrounding perception information of the autonomous vehicle is obtained.

[0051] In response to the escape request information, the vehicle surrounding perception information of the autonomous vehicle is obtained. Therefore, the workload of obtaining the vehicle surrounding perception information of the autonomous vehicle can be reduced, and the real-time performance of obtaining the vehicle surrounding perception information of the autonomous vehicle can be ensured.

[0052] In the embodiment of the present disclosure, in response to the escape request information, the process of obtaining the vehicle surrounding perception information of the autonomous vehicle can be: analyzing the escape request information to obtain the vehicle surrounding perception information of the autonomous vehicle carried in the escape request information.

[0053] In the embodiment of the present disclosure, in response to the escape request information, the process of obtaining the vehicle surrounding perception information of the autonomous vehicle can also be: first, determining, after receiving the escape request information, the vehicle surrounding perception information of the autonomous vehicle in the preset database based on the label corresponding to the escape request information.

[0054] In the embodiment of the present disclosure, for the vehicle surrounding perception information of the autonomous vehicle, the specific implementation manner of determining the target vehicle escape strategy in the preset vehicle escape strategy can be as shown in Figure 3 Figure 3 The flowchart of the first method for determining the target vehicle escape strategy provided in the embodiment of the present disclosure. Figure 3 The method shown in

[0055] ​Step S301: For the vehicle surrounding perception information of the autonomous vehicle, determine a safe driving prospect of the autonomous vehicle, the safe driving prospect including a first driving prospect that the autonomous vehicle cannot continue to safely drive according to a current vehicle driving path, or a second driving prospect that the autonomous vehicle can continue to safely drive according to the current vehicle driving path.

[0056] Step S302: Based on the safe driving prospect, determine a target vehicle escape strategy.

[0057] First, determine the safe driving prospect of the autonomous vehicle, and then determine the target vehicle escape strategy based on the safe driving prospect, which can reduce the safety cost of vehicle escape of the autonomous vehicle.

[0058] The safe driving prospect is used to represent the prospect that the autonomous vehicle can continue to safely drive according to the current vehicle driving path in the case of encountering vehicle driving difficulties. The current vehicle driving path includes a vehicle driving path planned for the autonomous vehicle from a target starting point to a target ending point, or a vehicle driving path planned for the autonomous vehicle to reach the target ending point in a current time period.

[0059] In the embodiment of the present disclosure, in the case that the safe driving prospect includes the first driving prospect, the specific implementation process of determining the target vehicle escape strategy based on the safe driving prospect is as follows:

[0060] First, detect whether the first vehicle escape strategy is supported in the current region of the autonomous vehicle to obtain a detection result. Then, determine the target vehicle escape strategy based on the detection result.

[0061] In the case that the autonomous vehicle cannot continue to safely drive according to the current vehicle driving path, first, detect whether the first vehicle escape strategy is supported in the current region of the autonomous vehicle. Then, determine the target vehicle escape strategy based on the detection result. This can avoid the case that the first vehicle escape strategy is determined as the target vehicle escape strategy although the first vehicle escape strategy is not supported in the current region. Thus, the safety of vehicle escape of the autonomous vehicle can be further guaranteed.

[0062] For example, after the autonomous vehicle enters a dead end according to the current vehicle driving path, the autonomous vehicle cannot continue to drive according to the current vehicle driving path, at this time, the safe driving prospect is determined as the first driving prospect. For another example, if the autonomous vehicle continues to drive according to the current vehicle driving path, a collision with a front obstacle will occur, at this time, the safe driving prospect is determined as the first driving prospect.

[0063] In actual applications, the specific implementation manner of the first vehicle escape strategy includes a vehicle escape strategy of remotely driving the autonomous vehicle by a remote driving system. Specifically, the manner of remotely driving the autonomous vehicle by the remote driving system can be specifically as follows: remotely driving the autonomous vehicle by a cloud driving manner.

[0064] The cloud driving includes but is not limited to a 5th Generation Mobile Communication Technology (5G) cloud driving based on a 5th Generation Mobile Communication Technology (5G).

[0065] Since the first vehicle escape strategy is a strategy of remotely taking over the control right of the vehicle to control the autonomous vehicle to escape from the vehicle, the remote taking over of the control right of the vehicle often needs the current region of the autonomous vehicle to have a condition of supporting the remote taking over of the control right of the vehicle. Therefore, in the embodiments of the present disclosure, whether the current region of the autonomous vehicle supports the first vehicle escape strategy can be detected by detecting whether the current region of the autonomous vehicle has the condition of supporting the remote taking over of the control right of the vehicle.

[0066] Specifically, when the specific implementation manner of the first vehicle escape strategy is the vehicle escape strategy of remotely driving the autonomous vehicle by the remote driving system, whether the current region of the autonomous vehicle supports the first vehicle escape strategy can be detected by detecting whether the current region of the autonomous vehicle has a good network communication signal.

[0067] If the current region of the autonomous vehicle has a good network communication signal, the current region of the autonomous vehicle supports the first vehicle escape strategy, and at this time, the detection result is that the current region supports the first vehicle escape strategy. Otherwise, the current region does not support the first vehicle escape strategy. For example, when the specific implementation manner of the first vehicle escape strategy is the vehicle escape strategy of remotely driving the autonomous vehicle by the 5G cloud driving, whether the current region of the autonomous vehicle supports the first vehicle escape strategy can be detected by detecting whether the current region of the autonomous vehicle has a good 5G signal.

[0068] In the embodiments of the present disclosure, when the detection result includes that the current region supports the first vehicle escape strategy, based on the safe driving prospect, the specific implementation manner of the target vehicle escape strategy is determined as follows: the first vehicle escape strategy is determined as the target vehicle escape strategy.

[0069] In a case where the detection result includes that the first vehicle escape strategy is supported in the current region, the first vehicle escape strategy is determined as the target vehicle escape strategy. It can be ensured that the first vehicle escape strategy is preferentially adopted as the target vehicle escape strategy in a case where the autonomous vehicle encounters vehicle travel difficulty. Thus, it is possible to avoid, as much as possible, that the autonomous vehicle is controlled to escape from the vehicle by the driver artificially taking over the vehicle control right, and it is possible to reduce the escape cost of the autonomous vehicle escape.

[0070] In an embodiment of the present disclosure, in a case where the detection result includes that the first vehicle escape strategy is not supported in the current region, the specific implementation manner of determining the target vehicle escape strategy based on the safe travel prospect can be as shown in Figure 4 Figure 4 A flowchart of a second method for determining a target vehicle escape strategy provided in an embodiment of the present disclosure is shown in Figure 4 The method shown in can include the following steps:

[0071] Step S401: obtaining a second vehicle escape strategy from the preset vehicle escape strategy, the second vehicle escape strategy being a strategy for planning a vehicle travel path by using a target bird's eye view to control the autonomous vehicle to escape from the vehicle, and the target bird's eye view including a bird's eye view corresponding to the current region.

[0072] Step S402: determining the second vehicle escape strategy as the target vehicle escape strategy.

[0073] In an embodiment of the present disclosure, even in a case where the first vehicle escape strategy is not supported in the current region, the second vehicle escape strategy is preferentially obtained from the preset vehicle escape strategy, and the second vehicle escape strategy is determined as the target vehicle escape strategy. Through the above process, it is possible to exclude that the vehicle escape strategy for controlling the autonomous vehicle to escape from the vehicle by the driver artificially taking over the vehicle control right is determined as the target vehicle escape strategy. Thus, it is possible to avoid, as much as possible, that the autonomous vehicle is controlled to escape from the vehicle by the driver artificially taking over the vehicle control right, and it is possible to reduce the escape cost of the autonomous vehicle escape.

[0074] The target bird's eye view can include a bird's eye view covering at least the current region, which is collected by using an image collection device such as a drone or a flying vehicle. The current region is a region set in advance based on a priori value, for example, the current region can be a region with a distance of not more than 2 kilometers from the autonomous vehicle.

[0075] When the vehicle travel path is planned by using the target bird's eye view, the planning of the vehicle travel path can be realized by combining the target bird's eye view on the basis of a high-definition map, a position of the autonomous vehicle, and vehicle surrounding perception information of the autonomous vehicle.

[0076] ​In the embodiments of the present disclosure, since the first vehicle escape strategy or the second vehicle escape strategy is a strategy capable of controlling the autonomous vehicle to escape from the vehicle, when the first vehicle escape strategy or the second vehicle escape strategy is determined as the target vehicle escape strategy, the first vehicle driving path for the autonomous vehicle to escape from the vehicle can be further planned based on the target vehicle escape strategy, and the autonomous vehicle can be controlled to escape from the vehicle based on the first vehicle driving path.

[0077] After the first vehicle escape strategy or the second vehicle escape strategy is determined as the target vehicle escape strategy, the first vehicle driving path is planned for the target vehicle escape strategy, and the autonomous vehicle is controlled to escape from the vehicle based on the first vehicle driving path, the autonomous vehicle can safely and quickly escape from the vehicle.

[0078] In the embodiments of the present disclosure, when the safe driving prospect includes the first driving prospect, if the first vehicle escape strategy and the second vehicle escape strategy are not applicable to the current vehicle difficulty situation, the vehicle escape strategy of controlling the autonomous vehicle to escape from the vehicle by the driver manually taking over the vehicle control right can be determined as the target vehicle escape strategy, so as to provide guarantee for the autonomous vehicle to escape from the vehicle.

[0079] In the embodiments of the present disclosure, when the safe driving prospect includes the second driving prospect, the process of determining the target vehicle escape strategy based on the safe driving prospect is: first, obtaining a third vehicle escape strategy of autonomously escaping from the vehicle by the autonomous vehicle in the preset vehicle escape strategy. Then, the third vehicle escape strategy is determined as the target escape strategy.

[0080] When the autonomous vehicle can continue to safely drive according to the current vehicle driving path, autonomously escaping from the vehicle by the autonomous vehicle can save the vehicle escape cost and improve the vehicle escape efficiency.

[0081] For example, after it is determined that the autonomous vehicle encounters vehicle driving difficulty caused by an obstacle that will not affect the safe driving of the vehicle, the third vehicle escape strategy can be determined as the target escape strategy, and the autonomous vehicle is instructed to autonomously escape from the vehicle.

[0082] For another example, when the cause of the vehicle driving difficulty is that unknown obstacles appear in front of the road, the autonomous vehicle cannot determine whether the obstacles will affect the safe driving of the autonomous vehicle, the autonomous vehicle sends a request for help information to the pre-configured cloud. After receiving the request for help information, the cloud obtains the vehicle surrounding perception information of the autonomous vehicle in response to the request for help information, and determines the safe driving prospect of the autonomous vehicle according to the vehicle surrounding perception information of the autonomous vehicle. If it is determined that the obstacles belong to obstacles that will not cause substantial safety impact on the safe driving of the autonomous vehicle, the safe driving prospect is determined as the second driving prospect, and the third vehicle help strategy is determined as the target help strategy. In actual application, obstacles such as plastic bags, drooping branches, extended shrub leaves, smoke, and water mist belong to obstacles that will not cause substantial safety impact on the safe driving of the autonomous vehicle.

[0083] The third vehicle help strategy can be that the autonomous vehicle continues to drive according to the current vehicle driving path and passes through the obstacles by rolling.

[0084] The cloud is an execution subject of the determination method of the help strategy provided in the embodiments of the present disclosure. In addition, in the embodiments of the present disclosure, the execution subject of the determination method of the help strategy is also a server, and the specific implementation of the server is a server or a server cluster.

[0085] It should be noted that the execution subject of the determination method of the help strategy is not specifically limited in the embodiments of the present disclosure. In addition, the request for help information sent by the autonomous vehicle when encountering vehicle driving difficulty can also implement the following steps: requesting help decision assistance from the execution subject (such as the cloud), and remotely authorizing the execution subject (such as the cloud) to enable the execution subject (such as the cloud) to execute the determination method of the help strategy.

[0086] In addition, in order to provide the autonomous vehicle with help basis for autonomous vehicle help, a second vehicle driving path for the autonomous vehicle to help can also be planned according to the target vehicle help strategy, and the second vehicle driving path is sent to the autonomous vehicle. Specifically, when sending the third vehicle help strategy as the target vehicle help strategy to the autonomous vehicle, the second vehicle driving path can also be sent to the autonomous vehicle at the same time, so that the autonomous vehicle can help according to the second vehicle driving path.

[0087] In the case that the safe driving prospect includes the second driving prospect, if the third vehicle escape strategy is not applicable to the current vehicle stuck scene, the vehicle escape strategy of controlling the automatic driving vehicle to escape by manually taking over the vehicle control by the driver can also be determined as the target vehicle escape strategy, so as to provide guarantee for the automatic driving vehicle to escape.

[0088] As shown in Figure 5 Embodiments of the present disclosure provide a vehicle escape strategy determination device, which comprises:

[0089] A vehicle surrounding perception information obtaining unit 501 is configured to obtain vehicle surrounding perception information of the automatic driving vehicle when detecting that the automatic driving vehicle encounters a vehicle driving difficulty situation.

[0090] A vehicle escape strategy determination unit 502 is configured to determine a target vehicle escape strategy from preset vehicle escape strategies according to the vehicle surrounding perception information of the automatic driving vehicle, wherein the preset vehicle escape strategies at least include a first vehicle escape strategy of controlling the automatic driving vehicle to escape by remotely taking over the vehicle control.

[0091] In an embodiment, the vehicle surrounding perception information obtaining unit 501 can comprise:

[0092] A vehicle escape request information obtaining subunit is configured to obtain vehicle escape request information sent by the automatic driving vehicle when encountering a vehicle driving difficulty situation.

[0093] A vehicle surrounding perception information obtaining subunit is configured to obtain the vehicle surrounding perception information of the automatic driving vehicle in response to the vehicle escape request information.

[0094] In an embodiment, the vehicle escape strategy determination unit 502 can comprise:

[0095] A safe driving prospect determination subunit is configured to determine a safe driving prospect of the automatic driving vehicle according to the vehicle surrounding perception information of the automatic driving vehicle, wherein the safe driving prospect includes a first driving prospect that the automatic driving vehicle cannot continue to drive safely according to a current vehicle driving path, or a second driving prospect that the automatic driving vehicle can continue to drive safely according to the current vehicle driving path.

[0096] A first vehicle escape strategy determination subunit is configured to determine the target vehicle escape strategy based on the safe driving prospect.

[0097] In an embodiment, the first vehicle escape strategy determination subunit can comprise:

[0098] A detection result obtaining subunit is configured to detect whether the first vehicle escape strategy is supported in a region where the automatic driving vehicle is currently located, and obtain a detection result.

[0099] The second escape strategy determination sub-unit is configured to determine the target vehicle escape strategy based on the detection result.

[0100] In an embodiment, the second escape strategy determination sub-unit can include:

[0101] The third escape strategy determination sub-unit is configured to determine the first vehicle escape strategy as the target vehicle escape strategy when the detection result indicates that the first vehicle escape strategy is supported in the current region.

[0102] In an embodiment, the second escape strategy determination sub-unit can include:

[0103] The fourth escape strategy determination sub-unit is configured to obtain a second vehicle escape strategy from the preset vehicle escape strategies when the detection result indicates that the first vehicle escape strategy is not supported in the current region, the second vehicle escape strategy being a strategy of planning a vehicle driving path by using a target bird's eye view to control the autonomous vehicle to escape, and the target bird's eye view including a bird's eye view corresponding to the current region.

[0104] The fifth escape strategy determination sub-unit is configured to determine the second vehicle escape strategy as the target vehicle escape strategy.

[0105] In an embodiment, the device can further include:

[0106] The first path planning sub-unit is configured to plan a first vehicle driving path for the autonomous vehicle to escape according to the target vehicle escape strategy.

[0107] The vehicle control sub-unit is configured to control the autonomous vehicle to escape based on the first vehicle driving path.

[0108] In an embodiment, the first escape strategy determination sub-unit can further include:

[0109] The escape strategy obtaining sub-unit is configured to obtain a third vehicle escape strategy of autonomously escaping by the autonomous vehicle from the preset vehicle escape strategies when the safe driving prospect includes the second driving prospect.

[0110] The sixth escape strategy determination sub-unit is configured to determine the third vehicle escape strategy as the target escape strategy.

[0111] In an embodiment, the device can further include:

[0112] The second path planning sub-unit is configured to plan a second vehicle driving path for the autonomous vehicle to escape according to the target vehicle escape strategy.

[0113] The path sending sub-unit is configured to send the second vehicle travel path to the autonomous vehicle.

[0114] In the technical solutions of the present disclosure, the acquisition, storage and application of user personal information are in line with relevant laws and regulations and do not violate public order and good customs.

[0115] According to the embodiments of the present disclosure, the present disclosure further provides an electronic device and a readable storage medium.

[0116] Figure 6 A schematic block diagram of an example electronic device 600 that can be used to implement embodiments of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular telephones, smart phones, wearable devices, and other similar computing devices. The components shown here, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the present disclosure described and / or claimed in this document.

[0117] As shown in Figure 6 The device 600 includes a computing unit 601 that can perform various appropriate actions and processes in accordance with a computer program stored in a read-only memory (ROM) 602 or a computer program loaded from a storage unit 608 into a random access memory (RAM) 603. Various programs and data required for the operation of the device 600 can also be stored in the RAM 603. The computing unit 601, the ROM 602, and the RAM 603 are connected to each other through a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0118] Various components in the device 600 are connected to the I / O interface 605, including an input unit 606, such as a keyboard, a mouse, etc.; an output unit 607, such as various types of displays, speakers, etc.; the storage unit 608, such as a magnetic disk, an optical disk, etc.; and a communication unit 609, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 609 allows the device 600 to exchange information / data with other devices through a computer network, such as the Internet, and / or various telecommunication networks.

[0119] The computing unit 601 can be various general and / or special purpose processing components with processing and computing capabilities. Some examples of the computing unit 601 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized 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 601 performs various methods and processes described above, such as the determination method of the escape strategy. For example, in some embodiments, the determination method of the escape strategy can be implemented as a computer software program tangibly embodied in a machine-readable medium, such as the storage unit 608. In some embodiments, part or all of the computer program can be loaded and / or installed on the device 600 via the ROM 602 and / or the communication unit 609. When the computer program is loaded into the RAM 603 and executed by the computing unit 601, one or more steps of the determination method of the escape strategy described above can be performed. Alternatively, in other embodiments, the computing unit 601 can be configured to perform the determination method of the escape strategy by any other appropriate means, such as by means of firmware.

[0120] Various implementations of the systems and techniques described above can be realized 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 programmable logic device (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various implementations 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.

[0121] 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 computing apparatus to produce a machine, such that the program code, when executed by the processor or controller, implements the functions / acts specified in the flowcharts and / or block diagrams. Program code can be entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine or server, or entirely on a remote machine or server.

[0122] In the context of this 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 would include an electrical connection based on one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0123] 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.

[0124] 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), and the Internet.

[0125] 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 arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, a server of a distributed system, or a server combined with a blockchain.

[0126] It should be understood that the various forms of flow shown above can be used to reorder, add, or remove steps. For example, the steps described in the present disclosure can be performed in parallel, in series, or in a different order, without limitation herein, so long as the desired results of the technology disclosed in the present disclosure are achieved.

[0127] The specific implementation described above does not constitute a limitation on the protection scope of the present disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A method for determining an escape strategy, comprising: obtaining vehicle surrounding perception information of an autonomous vehicle in a situation where the autonomous vehicle encounters a vehicle travel difficulty; determining a target vehicle escape strategy from preset vehicle escape strategies for the vehicle surrounding perception information of the autonomous vehicle, wherein the preset vehicle escape strategies at least include a first vehicle escape strategy of controlling the autonomous vehicle to escape by remotely taking over vehicle control; the obtaining of the vehicle surrounding perception information of the autonomous vehicle comprises: a cloud or a server obtaining escape request information sent by the autonomous vehicle in the situation where the autonomous vehicle encounters a vehicle travel difficulty; the cloud or the server obtaining the vehicle surrounding perception information of the autonomous vehicle in response to the escape request information; the determining of the target vehicle escape strategy from the preset vehicle escape strategies for the vehicle surrounding perception information of the autonomous vehicle comprises: determining a safe travel prospect of the autonomous vehicle for the vehicle surrounding perception information of the autonomous vehicle, wherein the safe travel prospect includes a first travel prospect that the autonomous vehicle cannot continue to travel safely according to a current vehicle travel path, or a second travel prospect that the autonomous vehicle can continue to travel safely according to the current vehicle travel path; determining the target vehicle escape strategy based on the safe travel prospect; in a case where the safe travel prospect includes the second travel prospect, the determining of the target vehicle escape strategy based on the safe travel prospect comprises: obtaining a third vehicle escape strategy of autonomously escaping by the autonomous vehicle from the preset vehicle escape strategies; determining the third vehicle escape strategy as the target escape strategy.

2. The method of claim 1, wherein, in a case where the safe travel prospect includes the first travel prospect, the determining of the target vehicle escape strategy based on the safe travel prospect comprises: detecting whether a current region where the autonomous vehicle is located supports the first vehicle escape strategy, to obtain a detection result; determining the target vehicle escape strategy based on the detection result.

3. The method of claim 2, wherein, in a case where the detection result includes that the current region supports the first vehicle escape strategy, the determining of the target vehicle escape strategy based on the safe travel prospect comprises: determining the first vehicle escape strategy as the target vehicle escape strategy.

4. The method of claim 2, wherein, in a case where the detection result includes that the current region does not support the first vehicle escape strategy, the determining of the target vehicle escape strategy based on the safe travel prospect comprises: obtaining a second vehicle escape strategy from the preset vehicle escape strategies, wherein the second vehicle escape strategy is a strategy of planning a vehicle travel path by using a target bird's eye view to control the autonomous vehicle to escape, and the target bird's eye view includes a bird's eye view corresponding to the current region; determining the second vehicle escape strategy as the target vehicle escape strategy.

5. The method of claim 3 or 4, further comprising: planning a first vehicle travel path for the autonomous vehicle to escape according to the target vehicle escape strategy. based on the first vehicle travel path, control the autonomous vehicle to perform vehicle escape.

6. The method of claim 1, further comprising: planning, for the target vehicle escape strategy, a second vehicle travel path for the autonomous vehicle to perform vehicle escape; sending the second vehicle travel path to the autonomous vehicle.

7. A vehicle escape strategy determination apparatus, comprising: a vehicle surrounding perception information obtaining unit configured to, in a case where it is detected that an autonomous vehicle encounters vehicle travel difficulty, obtain vehicle surrounding perception information of the autonomous vehicle; a vehicle escape strategy determination unit configured to, for the vehicle surrounding perception information of the autonomous vehicle, determine a target vehicle escape strategy from among preset vehicle escape strategies, the preset vehicle escape strategies at least including a first vehicle escape strategy of controlling the autonomous vehicle to perform vehicle escape by remotely taking over vehicle control right; the vehicle surrounding perception information obtaining unit, comprising: an escape request information obtaining subunit configured to, in the cloud or server, obtain escape request information sent by the autonomous vehicle in a case where it encounters vehicle travel difficulty; a vehicle surrounding perception information obtaining subunit configured to, in the cloud or server, obtain vehicle surrounding perception information of the autonomous vehicle in response to the escape request information; the vehicle escape strategy determination unit, comprising: a safe travel prospect determination subunit configured to, for the vehicle surrounding perception information of the autonomous vehicle, determine a safe travel prospect of the autonomous vehicle, the safe travel prospect including a first travel prospect that the autonomous vehicle cannot continue to travel safely according to a current vehicle travel path, or a second travel prospect that the autonomous vehicle can continue to travel safely according to the current vehicle travel path; a first escape strategy determination subunit configured to determine the target vehicle escape strategy based on the safe travel prospect; the first escape strategy determination subunit, comprising: an escape strategy obtaining subunit configured to, in a case where the safe travel prospect includes the second travel prospect, obtain, from the preset vehicle escape strategies, a third vehicle escape strategy of performing vehicle escape by the autonomous vehicle autonomously; a sixth escape strategy determination subunit configured to determine the third vehicle escape strategy as the target escape strategy.

8. The apparatus of claim 7, wherein, the first escape strategy determination subunit, comprising: a detection result obtaining subunit configured to detect whether a current region where the autonomous vehicle is located supports the first vehicle escape strategy, and obtain a detection result; a second escape strategy determination subunit configured to determine the target vehicle escape strategy based on the detection result.

9. The apparatus of claim 8, wherein, the second escape strategy determination subunit, comprising: a third escape strategy determination subunit configured to, in a case where the detection result includes that the current region where the autonomous vehicle is located supports the first vehicle escape strategy, determine the first vehicle escape strategy as the target vehicle escape strategy.

10. The apparatus of claim 8, wherein, the second escape strategy determination subunit, comprising: a fourth escape strategy determination subunit configured to, in a case where the detection result includes that the current region where the autonomous vehicle is located does not support the first vehicle escape strategy, determine a second vehicle escape strategy of performing vehicle escape by the autonomous vehicle autonomously as the target vehicle escape strategy. the fourth escape strategy determination subunit, comprising: a fifth escape strategy determination subunit configured to, in a case where the detection result includes that the current region where the autonomous vehicle is located supports the second vehicle escape strategy, determine the second vehicle escape strategy as the target vehicle escape strategy. The fourth escape strategy determination sub-unit is configured to, in a case where the detection result comprises that the current region does not support the first vehicle escape strategy, obtain a second vehicle escape strategy from the preset vehicle escape strategies, the second vehicle escape strategy being a strategy of planning a vehicle driving path by using a target bird's eye view to control the autonomous vehicle to escape. The fifth escape strategy determination sub-unit is configured to determine the second vehicle escape strategy as the target vehicle escape strategy.

11. The apparatus of claim 9 or 10, further comprising: a first path planning sub-unit configured to, for the target vehicle escape strategy, plan a first vehicle driving path for the autonomous vehicle to escape; a vehicle control sub-unit configured to control the autonomous vehicle to escape based on the first vehicle driving path.

12. The apparatus of claim 11, further comprising: a second path planning sub-unit configured to, for the target vehicle escape strategy, plan a second vehicle driving path for the autonomous vehicle to escape; a path sending sub-unit configured to send the second vehicle driving path to the autonomous vehicle.

13. An electronic device, comprising: at least one processor; and a memory connected to the at least one processor in communication; 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 method of any one of claims 1 to 6. The computer instructions are used to make the computer perform the method of any one of claims 1 to 6.

14. A non-transitory computer readable storage medium having stored thereon computer instructions, wherein, The computer program / instructions, when executed by the processor, implement the method of any one of claims 1 to 6.

15. A computer program product comprising computer programs / instructions, wherein, ​

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