Method and device for bypassing and escaping

Abstract

According to the embodiment of the invention, the method and the device for bypassing and escaping are provided. The method comprises the following steps: in response to determining that a vehicle is in a trapped state, sending an assistance request to remote equipment; an assistance message is received from the remote device, the assistance message indicates a detrapping strategy of the vehicle, and the detrapping strategy comprises a first strategy corresponding to the left bypassing obstacle or a second strategy corresponding to the right bypassing obstacle; and based on the escape strategy, controlling to generate an escape route of the vehicle. Therefore, according to the embodiment of the invention, the detour escape of the vehicle can be executed based on the left detour instruction or the right detour instruction sent by the remote equipment.

Description

Technical Field

[0001] Example embodiments of the present disclosure generally relate to the field of computers, and more particularly, to methods, devices, apparatuses, computer-readable storage media, and computer program products for detour escape. Background Art

[0002] Autonomous driving is a technology that uses computers to replace human drivers or assist human drivers to perceive the vehicle's surroundings, plan the vehicle's movement trajectory, and control the vehicle to a designated destination.

[0003] During the autonomous driving process, the vehicle will follow the planned route. Due to perception problems or some unexpected factors, the vehicle may become stuck or unable to continue driving. Some solutions can support remote personnel to assist the vehicle to get out of trouble by marking waypoints, but such assistance requires a lot of time cost from the remote personnel. Summary of the invention

[0004] In a first aspect of the present disclosure, a method for bypassing an obstacle is provided. The method comprises: in response to determining that a vehicle is in an trapped state, sending an assistance request to a remote device; receiving an assistance message from the remote device, the assistance message indicating an escape strategy of the vehicle, the escape strategy comprising a first strategy corresponding to a left bypass obstacle or a second strategy corresponding to a right bypass obstacle; and based on the escape strategy, controlling the generation of an escape route for the vehicle.

[0005] In a second aspect of the present disclosure, a device for detouring and escaping from a jam is provided. The device comprises: a sending module configured to send an assistance request to a remote device in response to determining that the vehicle is in a jammed state; a receiving module configured to receive an assistance message from the remote device, the assistance message indicating an escape strategy of the vehicle, the escape strategy comprising a first strategy corresponding to a left bypass obstacle or a second strategy corresponding to a right bypass obstacle; and a control module configured to control the generation of an escape route of the vehicle based on the escape strategy.

[0006] In a third aspect of the present disclosure, an electronic device is provided. The device includes at least one processing unit; and at least one memory, the at least one memory is coupled to the at least one processing unit and stores instructions for execution by the at least one processing unit. When the instructions are executed by the at least one processing unit, the device executes the method of the first aspect.

[0007] In a fourth aspect of the present disclosure, a computer-readable storage medium is provided, wherein a computer program is stored on the computer-readable storage medium, and the computer program can be executed by a processor to implement the method of the first aspect.

[0008] In a fifth aspect of the present disclosure, a computer program product is provided, which includes computer executable instructions, and when the computer executable instructions are executed by a processor, the method of the first aspect is implemented.

[0009] It should be understood that the contents described in the summary of the present invention are not intended to limit the key features or important features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The above and other features, advantages and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. In the accompanying drawings, the same or similar reference numerals represent the same or similar elements, wherein:

[0011] Figure 1 A schematic diagram showing an example environment in which embodiments of the present disclosure can be implemented;

[0012] Figure 2 A flowchart showing an example process for detour escape according to some embodiments of the present disclosure is shown;

[0013] Figure 3A shows an example traffic environment according to some embodiments of the present disclosure;

[0014] Figure 3B An example interface for assisting a vehicle to escape from distress according to some embodiments of the present disclosure is shown;

[0015] Figure 4 A schematic structural block diagram of an apparatus for escaping distress by detour according to certain embodiments of the present disclosure is shown; and

[0016] Figure 5 A block diagram of a device capable of implementing various embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0017] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as being limited to the embodiments set forth herein. On the contrary, these embodiments are provided to provide a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not intended to limit the scope of protection of the present disclosure.

[0018] It should be noted that the titles of any sections / subsections provided herein are not restrictive. Various embodiments are described throughout this article, and any type of embodiment may be included under any section / subsection. In addition, the embodiments described in any section / subsection may be combined in any manner with any other embodiments described in the same section / subsection and / or different sections / subsections.

[0019] In the description of the embodiments of the present disclosure, the term "including" and similar terms should be understood as open inclusion, that is, "including but not limited to". The term "based on" should be understood as "based at least in part on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The term "some embodiments" should be understood as "at least some embodiments". Other explicit and implicit definitions may be included below. The terms "first", "second", etc. may refer to different or the same objects. Other explicit and implicit definitions may be included below.

[0020] The embodiments of the present disclosure may involve user data, data acquisition and / or use, etc. These aspects are subject to the corresponding laws, regulations and relevant provisions. In the embodiments of the present disclosure, all data collection, acquisition, processing, processing, forwarding, use, etc. are carried out on the premise that the user knows and confirms. Accordingly, when implementing each embodiment of the present disclosure, the type, scope of use, usage scenario, etc. of the data or information that may be involved should be informed to the user and the user's authorization should be obtained in an appropriate manner in accordance with the relevant laws and regulations. The specific notification and / or authorization method can vary according to the actual situation and application scenario, and the scope of the present disclosure is not limited in this respect.

[0021] In this specification and the embodiments, if personal information processing is involved, it will be processed on the premise of having a legal basis (such as obtaining the consent of the subject of personal information, or it is necessary to perform a contract, etc.), and will only be processed within the scope of regulations or agreements. If a user refuses to process personal information other than the necessary information for basic functions, it will not affect the user's use of basic functions.

[0022] As used herein, the term "model" can learn the association between the corresponding input and output from the training data, so that after the training is completed, the corresponding output can be generated for a given input. The generation of the model can be based on machine learning technology. Deep learning is a machine learning algorithm that processes inputs and provides corresponding outputs by using multiple layers of processing units. In this article, "model" may also be referred to as "machine learning model", "machine learning network" or "network", and these terms are used interchangeably in this article.

[0023] One of the modes of vehicle failure is called "stuck", which means that the autonomous vehicle is unable to continue driving the current route through autonomous driving and stops, which may cause the autonomous vehicle to be unable to continue to complete subsequent trips and may cause adverse effects on traffic.

[0024] For example, a vehicle may be unable to effectively plan its route forward because it detects a specific obstacle. Traditional methods of assisting in getting out of trouble usually rely on remote personnel to help the vehicle get out of trouble by marking waypoints, but this requires a lot of time cost for remote personnel.

[0025] The embodiments of the present disclosure propose a solution for bypassing and escaping from a trapped state. According to various embodiments of the present disclosure, in response to determining that a vehicle is in a trapped state, an assistance request is sent to a remote device; an assistance message is received from the remote device, the assistance message indicates an escape strategy for the vehicle, the escape strategy including a first strategy corresponding to a left bypass obstacle or a second strategy corresponding to a right bypass obstacle; and based on the escape strategy, a control is performed to generate an escape route for the vehicle.

[0026] Thus, the embodiments of the present disclosure can execute the detour of the vehicle based on the left detour instruction or the right detour instruction issued by the remote device. Based on this approach, the embodiments of the present disclosure can reduce the operating cost of remote assistance, thereby being able to assist the vehicle to escape from distress more efficiently.

[0027] Example Environment

[0028] Figure 1 A schematic diagram of an example environment 100 in which embodiments of the present disclosure can be implemented is shown. In the environment 100, an assisting person 110 can interact with a remote device 120 directly or with an attached device via the remote device 120. The remote device 120 can present a user interface 140 to the assisting person 110 for the assisting person 110 to view vehicle information or perform route planning and other operations.

[0029] The remote device 120 may include, for example, a cloud device or an edge computing device. In some embodiments, such a remote device 120 may be configured to provide the vehicle 101 with supplementary perception information about the traffic environment, and / or provide escape guidance for the trapped vehicle 101.

[0030] Environment 100 may include vehicle 101. In some embodiments, vehicle 101 may be any type of vehicle that can carry people and / or objects and move through a power system such as an engine, including but not limited to cars, trucks, buses, electric vehicles, RVs, etc. Vehicle 101 may be an autonomous driving vehicle (also called an autonomous vehicle) that integrates functions such as environmental perception, planning and decision-making, and multi-level assisted driving.

[0031] like Figure 1 As shown, the vehicle 101 is equipped with an electronic device 150, which can be connected to the remote device 120. For example, the electronic device 150 can communicate with the remote device 120 via an appropriate wireless communication method. The electronic device 150 can be any device with computing capabilities, and can generate a driving route for escape or execute corresponding instructions according to the path planning information sent by the remote device 120.

[0032] It should be understood that the structure and functionality of environment 100 are described for exemplary purposes only and does not imply any limitation on the scope of the present disclosure.

[0033] Remote assistance to escape distress

[0034] Some example embodiments of the present disclosure will be described below with continued reference to the accompanying drawings. Figure 2 FIG. 2 is a flow chart showing an example vehicle escape process 200 according to some embodiments of the present disclosure. The process 200 may be, for example, Figure 1 The electronic device 150 is implemented. Figure 1 To describe Figure 2 process 200.

[0035] like Figure 2 As shown, at block 210 , in response to determining that the vehicle 101 is in a distressed state, the electronic device 150 sends a request for assistance to the remote device 120 .

[0036] In some embodiments, the electronic device 150 can automatically detect that the vehicle 101 is in a trapped state, or can also determine that the vehicle 101 is in a trapped state based on the interaction of the safety officer. Exemplarily, the electronic device 150 can determine whether the vehicle 101 is in a trapped state based on the characteristics of the vehicle 101, such as the speed and position.

[0037] Further, after determining that the vehicle 101 is in a trapped state, the electronic device 150 may send an assistance request to the remote device 120 .

[0038] In some embodiments, the electronic device 150 may determine whether the trapped scene of the vehicle 101 matches a set of preset scenes. Specifically, when it is determined that the vehicle 101 is in a trapped state, the electronic device 150 may determine the reason why the vehicle 101 cannot plan a forward route.

[0039] In some embodiments, such a preset scenario may include a first trapped scenario. The first trapped scenario may be related to the type of target obstacle in the traffic environment of the vehicle 101. For example, the vehicle 101 may be in a trapped state because it cannot determine whether a specific obstacle in front of the lane is stationary.

[0040] In some embodiments, such a preset scenario may include a second trapped scenario. The second trapped scenario may be associated with the passability of a target area in the traffic environment of the vehicle 101. For example, when the vehicle 101 needs to pass through a narrow area, it may not be possible to determine whether the vehicle 101 can pass safely.

[0041] In some embodiments, such a preset scenario may include a third trapped scenario. The third trapped scenario indicates that the vehicle is trapped because it cannot move forward to bypass an obstacle. For example, the vehicle 101 may be too close to the obstacle, resulting in the vehicle 101 being unable to plan a route around the obstacle.

[0042] In some embodiments, such a preset scenario may include a fourth trapped scenario. The fourth trapped scenario may be associated with the state of a traffic light in a traffic environment. For example, when the traffic light corresponding to the vehicle where the vehicle 101 is located is damaged (e.g., cannot be displayed normally), this will cause the vehicle 101 to be unable to plan a route and become trapped.

[0043] In some embodiments, the distress scenario of the vehicle 101 may not match the set of preset scenarios, for example. Accordingly, the electronic device 150 may send an assistance request to the remote device 120. Such an assistance request may correspond to a generic distress scenario, for example, in which the vehicle 101 may not be able to determine the reason for its distress.

[0044] Different from the general distress scenario, the assistance request for the above preset scenario may indicate an inquiry associated with the specific distress scenario to obtain a response to the inquiry from the remote device 120. In contrast, for the general distress scenario, the electronic device 150 may not restrict the message feedback of the remote device 120.

[0045] Figure 3A An example traffic environment 300A is shown according to some embodiments of the present disclosure. Figure 3A As shown, traffic environment 300A may include vehicle 302 and obstacle 304. In this case, due to the limitation of obstacle 304 and lane line 306 (e.g., lane marking line prohibiting merging), vehicle 302 cannot plan a forward route through obstacle 304 in the current lane, and thus may send a request for assistance to remote device 120.

[0046] Continue to refer Figure 2 In box 220, the electronic device 150 receives an assistance message from the remote device 120, wherein the assistance message indicates an escape strategy for the vehicle, the escape strategy including a first strategy corresponding to a left bypass obstacle or a second strategy corresponding to a right bypass obstacle.

[0047] Further, for a general trapped scenario, after receiving a request for assistance, the remote device 120 may display the following Figure 3B Interface 300B shown. Figure 3B As shown, the interface 300B displays multiple elements associated with the vehicle 302, such as map elements, real-time images captured by the vehicle 302, a first element 312 corresponding to the vehicle 302, a second element 314 corresponding to the obstacle 304, a third element 316 corresponding to the lane line 306, and the like.

[0048] In some embodiments, Figure 3B As shown, the interface 300B may further include a plurality of interactive controls 318-1 to 318-6. The plurality of interactive controls 318-1 to 318-6 may correspond to different assistance instructions for the vehicle 101. For example, the interactive control 318-1 may correspond to instructing the vehicle 101 to creep forward (e.g., to advance at a speed lower than a predetermined speed), the interactive control 318-2 may correspond to instructing the vehicle 101 to bypass an obstacle to the left, the interactive control 318-3 may correspond to instructing the vehicle 101 to bypass an obstacle to the right, the interactive control 318-4 may correspond to instructing the vehicle 101 to reverse, the interactive control 318-5 may correspond to assisting in getting out of trouble by tapping, and the interactive control 318-6 may correspond to instructing the vehicle 101 to stop.

[0049] It can be seen that the interactive controls 318-2 and 318-3 can correspond to different escape strategies, i.e., a first strategy corresponding to a left bypass obstacle or a second strategy corresponding to a right bypass obstacle. Further, the assistant 110 can, for example, indicate the escape strategy corresponding to the vehicle 110 by selecting the interactive control 318-2 or the interactive control 318-3.

[0050] Accordingly, the remote device 120 may send a corresponding assistance message (also referred to as an assistance message) to the electronic device 150 or the vehicle 101 to indicate an escape strategy corresponding to the selected interactive control, for example, a first strategy corresponding to a left bypass obstacle or a second strategy corresponding to a right bypass obstacle.

[0051] Further, the electronic device 150 may guide the vehicle 101 to escape from the distress according to the escape strategy indicated in the second assistance message, for example, guiding a route planning module of the vehicle 101 to generate an escape route based on the escape strategy.

[0052] Therefore, the embodiments of the present disclosure can support the remote device to assist the vehicle in getting out of trouble by issuing simple instructions, thereby improving the efficiency of remote assistance.

[0053] Continue to refer Figure 2 In box 230, the electronic device 150 generates an escape route for the vehicle 101 based on the escape strategy control.

[0054] In some embodiments, the electronic device 150 may determine whether there are planning constraints associated with the escape strategy. Specifically, the electronic device 150 may determine the location and category of the obstacle 304 in front of the lane where the vehicle 302 is located, and may accordingly determine the boundaries and properties of the lane corresponding to the vehicle 302 (e.g., whether it can be crossed) and / or the boundaries and properties of the drivable area of ​​the vehicle 302.

[0055] Further, the electronic device 150 can determine whether there are one or more planning constraints associated with the escape strategy (e.g., left detour around an obstacle) based on the above information. In some embodiments, such planning constraints may include a first constraint associated with a marking line in the vehicle's traffic environment. Such marking lines may include, but are not limited to: lane lines such as solid lines and double yellow lines that vehicles are prohibited from crossing, or guide lines that prohibit vehicles from changing roads. Such planning constraints may indicate that the vehicle must not cross such marking lines when planning a route, or that the distance from such marking lines needs to be greater than a threshold.

[0056] As another example, such planning constraints may also include a second constraint associated with a drivable area of ​​the vehicle. For example, the original second constraint may indicate that the vehicle can only be driven in a road area and must not be driven to a non-road area such as a roadside grass area.

[0057] by Figure 3A As an example, when determining that the escape strategy is to bypass the obstacle to the left, the electronic device 150 may determine that there is a planning constraint associated with the lane line 306, that is, the lane line 306 must not be crossed. Further, the electronic device 150 may release the planning constraint and generate an escape route for the vehicle when the planning constraint is released (for example, allowing the vehicle 302 to cross the lane line 306 laterally).

[0058] In some embodiments, the electronic device 150 may include a route planning module, which may generate a new escape route based on the released planning constraints, or may re-evaluate the generated planned route (e.g., calculate its cost) to determine whether there is an escape route.

[0059] Based on this approach, the embodiments of the present disclosure can plan a route for the vehicle to escape based on a simple detour instruction obtained from a remote device, thereby improving the efficiency of the vehicle's escape.

[0060] In some embodiments, the electronic device 150 may also release the planning constraint within a target distance range. In one example, the target distance range may be determined based on the first position of the vehicle. For example, when planning an escape route, the electronic device 150 may release the planning constraint within a preset distance (e.g., 30 meters) ahead of the current position of the vehicle, and continue to maintain the planning constraint after exceeding the distance range.

[0061] In another example, the target distance range may also be determined based on the second position of the obstacle to be bypassed. For example, when planning an escape route, the electronic device 150 may remove the planning constraint within a preset distance (e.g., 30 meters) ahead of the obstacle 304, and continue to maintain the planning constraint after exceeding the distance range.

[0062] Based on this approach, the embodiments of the present disclosure can avoid affecting other traffic participants in the traffic environment and improve the reliability of the escape route.

[0063] In some embodiments, the route planning module may return a signal indicating whether the escape route is successfully generated. If the route planning module successfully generates the escape route, the electronic device 150 may further control the vehicle 302 to bypass the obstacle 304 to the left according to the escape route.

[0064] Thus, the embodiments of the present disclosure can execute the detour of the vehicle based on the left detour instruction or the right detour instruction issued by the remote device. Based on this approach, the embodiments of the present disclosure can reduce the operating cost of remote assistance, thereby being able to assist the vehicle to escape from distress more efficiently.

[0065] In some embodiments, if the route planning module cannot generate an escape route based on the assistance message, the electronic device 150 may also obtain at least one waypoint from the remote device 120 to determine an escape route for the vehicle based on the at least one waypoint.

[0066] For example, the remote device 120 may determine that the vehicle 101 has failed to escape based on the vehicle 101 not moving within a predetermined time period. Alternatively, when the route planning module determines that an escape route cannot be generated, the electronic device 150 may also send a message about the escape failure to the remote device 120.

[0067] Accordingly, the remote device 120 may automatically enter the waypoint assistance mode, or may enter the waypoint assistance mode based on the interaction of the assistant (e.g., Figure 3BThe remote device 120 may enter the waypoint assistance mode by selecting the interactive control 318-5 shown in the figure. In the waypoint assistance mode, the remote device 120 may receive at least one waypoint input by the assistant 110, for example, to guide the vehicle 101 to generate an escape route based on the at least one waypoint. The present disclosure is not intended to limit the waypoint input method and the process of the vehicle executing an escape route based on the waypoint.

[0068] Based on this approach, the embodiments of the present disclosure can further provide the capability of waypoint escape when lightweight remote assistance cannot effectively help the vehicle escape, thereby improving the reliability of the remote assistance system.

[0069] Example devices and equipment

[0070] Figure 4 A schematic structural block diagram of an apparatus 400 for detour escape according to some embodiments of the present disclosure is shown. The apparatus 400 may be implemented as or included in the electronic device 150. Each module / component in the apparatus 400 may be implemented by hardware, software, firmware or any combination thereof.

[0071] As shown in the figure, the device 400 includes a sending module 410, which is configured to send an assistance request to a remote device in response to determining that the vehicle is in a trapped state; a receiving module 420, which is configured to receive an assistance message from the remote device, the assistance message indicating the vehicle's escape strategy, the escape strategy including a first strategy corresponding to a left bypass obstacle or a second strategy corresponding to a right bypass obstacle; and a control module 430, which is configured to control the generation of an escape route for the vehicle based on the escape strategy.

[0072] In some embodiments, the control module 430 is further configured to: determine whether there are planning constraints associated with the escape strategy; in response to the existence of constraints, release the planning constraints; and generate an escape route for the vehicle when the planning constraints are released.

[0073] In some embodiments, the planning constraint includes at least one of the following: a first constraint associated with a marking line in a traffic environment of the vehicle, and a second constraint associated with a drivable area of ​​the vehicle.

[0074] In some embodiments, the control module 430 is further configured to: release the planning constraint within a target distance range, wherein the target distance range is determined based on the first position of the vehicle and / or the second position of the obstacle to be circumvented.

[0075] In some embodiments, the remote device is configured to present a set of controls including a first control corresponding to the first policy and a second control corresponding to the second policy.

[0076] In some embodiments, the apparatus 400 further includes a waypoint escape module configured to: if an escape route cannot be generated based on the assistance message, obtain at least one waypoint from a remote device to determine an escape route for the vehicle based on the at least one waypoint.

[0077] In some embodiments, the sending module 410 is further configured to: in response to determining that the vehicle is in a trapped state, determine a trapped scenario of the vehicle; and in response to the trapped scenario not matching a set of preset scenarios, send an assistance request to a remote device.

[0078] In some embodiments, a set of preset scenarios includes at least one of the following: a first trapped scenario, the first trapped scenario is related to the type of target obstacle in the traffic environment; a second trapped scenario indication is associated with the passability of the target area in the traffic environment; a third trapped scenario, the third trapped scenario indicates that the vehicle is trapped because it cannot move forward to bypass the obstacle; a fourth trapped scenario, the fourth trapped scenario is associated with the state of the traffic light in the traffic environment.

[0079] Figure 5 A block diagram illustrating a computing device 500 in which one or more embodiments of the present disclosure may be implemented is shown. It should be understood that Figure 5 The computing device 500 shown is merely exemplary and should not constitute any limitation on the functionality and scope of the embodiments described herein. Figure 5 The computing device 500 shown may be used to implement Figure 1 remote device 120 or electronic device 150.

[0080] like Figure 5 As shown, computing device 500 is in the form of a general-purpose computing device. Components of computing device 500 may include, but are not limited to, one or more processors or processing units 510, memory 520, storage device 530, one or more communication units 540, one or more input devices 550, and one or more output devices 560. Processing unit 510 may be an actual or virtual processor and is capable of performing various processes according to a program stored in memory 520. In a multi-processor system, multiple processing units execute computer executable instructions in parallel to increase the parallel processing capabilities of computing device 500.

[0081] The computing device 500 typically includes a plurality of computer storage media. Such media may be any accessible media that is accessible to the computing device 500, including but not limited to volatile and non-volatile media, removable and non-removable media. The memory 520 may be a volatile memory (e.g., registers, caches, random access memory (RAM)), a non-volatile memory (e.g., a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), flash memory), or some combination thereof. The storage device 530 may be a removable or non-removable medium, and may include a machine-readable medium, such as a flash drive, a disk, or any other medium, which may be capable of being used to store information and / or data (e.g., training data for training) and may be accessed within the computing device 500.

[0082] The computing device 500 may further include additional removable / non-removable, volatile / non-volatile storage media. Figure 5 As shown in , a disk drive for reading or writing from a removable, non-volatile disk (e.g., a "floppy disk") and an optical drive for reading or writing from a removable, non-volatile optical disk may be provided. In these cases, each drive may be connected to the bus (not shown) by one or more data media interfaces. The memory 520 may include a computer program product 525 having one or more program modules that are configured to perform various methods or actions of various embodiments of the present disclosure.

[0083] The communication unit 540 enables communication with other computing devices via a communication medium. Additionally, the functions of the components of the computing device 500 can be implemented in a single computing cluster or multiple computing machines that can communicate via a communication connection. Therefore, the computing device 500 can operate in a networked environment using a logical connection with one or more other servers, a network personal computer (PC), or another network node.

[0084] Input device 550 may be one or more input devices, such as a mouse, keyboard, trackball, etc. Output device 560 may be one or more output devices, such as a display, speaker, printer, etc. Computing device 500 may also communicate with one or more external devices (not shown) through communication unit 540 as needed, such as storage devices, display devices, etc., communicate with one or more devices that allow a user to interact with computing device 500, or communicate with any device that allows computing device 500 to communicate with one or more other computing devices (e.g., a network card, a modem, etc.). Such communication may be performed via an input / output (I / O) interface (not shown).

[0085] According to an exemplary implementation of the present disclosure, a computer-readable storage medium is provided, on which computer-executable instructions are stored, wherein the computer-executable instructions are executed by a processor to implement the method described above. According to an exemplary implementation of the present disclosure, a computer program product is also provided, which is tangibly stored on a non-transitory computer-readable medium and includes computer-executable instructions, and the computer-executable instructions are executed by a processor to implement the method described above.

[0086] Various aspects of the present disclosure are described herein with reference to the flowcharts and / or block diagrams of the methods, devices, equipment, and computer program products implemented according to the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer-readable program instructions.

[0087] These computer-readable program instructions can be provided to a processing unit of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processing unit of the computer or other programmable data processing device, a device that implements the functions / actions specified in one or more boxes in the flowchart and / or block diagram is generated. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause the computer, programmable data processing device, and / or other equipment to work in a specific manner, so that the computer-readable medium storing the instructions includes a manufactured product, which includes instructions for implementing various aspects of the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0088] Computer-readable program instructions can be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operational steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, so that the instructions executed on the computer, other programmable data processing apparatus, or other device implement the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0089] The flow chart and block diagram in the accompanying drawings show the possible architecture, function and operation of the system, method and computer program product according to multiple implementations of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a part of a module, program segment or instruction, and a part of a module, program segment or instruction includes one or more executable instructions for realizing the logical function of the specification. In some implementations as replacements, the function marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two continuous square boxes can actually be executed substantially in parallel, and they can sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be realized by a special hardware-based system that performs the function or action of the specification, or can be realized by a combination of special hardware and computer instructions.

[0090] The above descriptions of various implementations of the present disclosure are exemplary, non-exhaustive, and not limited to the disclosed implementations. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described implementations. The selection of terms used herein is intended to best explain the principles of the implementations, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the various implementations disclosed herein.

Claims

1. A method for escaping from a predicament by detouring, comprising: In response to determining that the vehicle is in a distressed state, sending a request for assistance to a remote device; receiving an assistance message from the remote device, the assistance message indicating an escape strategy of the vehicle, the escape strategy comprising a first strategy corresponding to a left bypass obstacle or a second strategy corresponding to a right bypass obstacle; as well as Based on the escape strategy, control is performed to generate an escape route for the vehicle.

2. The method according to claim 1, wherein generating an escape route for the vehicle based on the escape strategy control comprises: determining whether there are planning constraints associated with the escape strategy; In response to the existence of the constraint, releasing the planning constraint; as well as When the planning constraints are released, an escape route for the vehicle is generated.

3. The method according to claim 2, wherein the planning constraints include at least one of the following: a first constraint associated with a marking line in a traffic environment of the vehicle, A second constraint is associated with a drivable area of ​​the vehicle.

4. The method according to claim 2, wherein releasing the planning constraints comprises: The planning constraint is released within a target distance range, wherein the target distance range is determined based on a first position of the vehicle and / or a second position of an obstacle to be circumvented. 5 . The method of claim 1 , wherein the remote device is configured to present a set of controls including a first control corresponding to the first policy and a second control corresponding to the second policy.

6. The method according to claim 1, further comprising: If an escape route cannot be generated based on the assistance message, at least one waypoint is obtained from the remote device to determine an escape route for the vehicle based on the at least one waypoint.

7. The method of claim 1 , wherein sending a request for assistance to a remote device in response to determining that the vehicle is in a distressed state comprises: In response to determining that the vehicle is in the trapped state, determining a trapped scenario of the vehicle; as well as In response to the distress scenario not matching a set of preset scenarios, the assistance request is sent to the remote device.

8. The method according to claim 7, wherein the set of preset scenarios comprises at least one of the following: A first trapped scenario, wherein the first trapped scenario is related to a type of target obstacle in a traffic environment; a second trapped scenario, wherein the second trapped scenario indication is associated with passability of a target area in a traffic environment; a third trapped scenario, the third trapped scenario indicating that the vehicle is trapped because it cannot move forward and around an obstacle; A fourth trapped scenario is associated with a state of a traffic light in a traffic environment.

9. A device for escaping from a difficult situation, comprising: a sending module configured to send an assistance request to a remote device in response to determining that the vehicle is in a trapped state; a receiving module configured to receive an assistance message from the remote device, wherein the assistance message indicates an escape strategy for the vehicle, wherein the escape strategy includes a first strategy corresponding to a left bypass obstacle or a second strategy corresponding to a right bypass obstacle; as well as The control module is configured to control the generation of an escape route for the vehicle based on the escape strategy.

10. An electronic device, comprising: at least one processing unit; as well as At least one memory, the at least one memory being coupled to the at least one processing unit and storing instructions for execution by the at least one processing unit, the instructions causing the electronic device to perform the method according to any one of claims 1 to 8 when executed by the at least one processing unit.

11. A computer-readable storage medium having a computer program stored thereon, wherein the computer program can be executed by a processor to implement the method according to any one of claims 1 to 8.

12. A computer program product comprising computer executable instructions, wherein the computer executable instructions, when executed by a processor, implement the method according to any one of claims 1 to 8.

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