Method and device for vehicle escape
By determining the vehicle trapped scene and obtaining the lateral distance information of the obstacles of remote equipment, generating the escape route, the problem of autonomous driving vehicles being unable to drive due to obstacle blocking is solved, efficient escape assistance is achieved, the assistance cost is reduced and the system is improved reliability.
Patent Information
- Application Number
- CN202311622368.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-11-30
- Publication Date
- 2024-12-10
AI Technical Summary
During autonomous driving, the vehicle may be unable to plan its driving path due to obstacles or perception errors, resulting in stagnation or inability to continue driving, resulting in adverse traffic effects.
By determining the trapped scene of the vehicle, sending an assistance request to the remote device, receiving the lateral distance information of the obstacle, and generating a escape route based on this, the vehicle is automatically escaped.
Effective remote assistance vehicles to cope with narrow areas and other scenarios, improve the efficiency of escape, significantly reduce the assistance costs of assisting personnel, and improve the reliability of remote assistance systems.
Smart Images
Figure CN119105482A_ABST
Abstract
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 vehicle escape. Background Art
[0002] During the autonomous driving process, the vehicle will drive along the planned path. In some cases, the vehicle may be unable to plan a driving path locally due to obstacles or perception errors, causing the vehicle to stagnate or be unable to continue driving. Summary of the invention
[0003] In a first aspect of the present disclosure, a method for escaping a vehicle is provided. The method includes: determining a trapped scenario of the vehicle, the trapped scenario indicating that the vehicle cannot determine whether the lateral distance to a target obstacle in a traffic environment allows the vehicle to pass; sending an assistance request to a remote device, the assistance request at least indicating the identity of the target obstacle; receiving an assistance message from the remote device, the assistance message indicating that the lateral distance to the target obstacle allows the vehicle to pass; and based on the assistance message, controlling the generation of an escape route for the vehicle.
[0004] In a second aspect of the present disclosure, a device for vehicle escape is provided. The device includes: a determination module, configured to determine a trapped scenario of the vehicle, the trapped scenario indicating that the vehicle cannot determine whether the lateral distance to the target obstacle in the traffic environment allows the vehicle to pass; a sending module, configured to send an assistance request to a remote device, the assistance request at least indicating the identification of the target obstacle; a receiving module, configured to receive an assistance message from the remote device, the assistance message indicating that the lateral distance to the target obstacle allows the vehicle to pass; and a control module, configured to control the generation of an escape route for the vehicle based on the assistance message.
[0005] In a fifth 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.
[0006] 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.
[0007] 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.
[0008] 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
[0009] 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:
[0010] Figure 1 A schematic diagram showing an example environment in which embodiments of the present disclosure can be implemented;
[0011] Figure 2 A flowchart showing an example process for vehicle extrication according to some embodiments of the present disclosure is shown;
[0012] Figure 3A shows an example traffic environment according to some embodiments of the present disclosure;
[0013] Figure 3B An example interface for assisting a vehicle to escape from distress according to some embodiments of the present disclosure is shown;
[0014] Figure 4 A schematic structural block diagram of a device for escaping a vehicle according to certain embodiments of the present disclosure is shown; and
[0015] Figure 5 A block diagram of a device capable of implementing various embodiments of the present disclosure is shown. DETAILED DESCRIPTION
[0016] 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.
[0017] 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.
[0018] 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.
[0019] 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.
[0020] 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.
[0021] 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.
[0022] One of the modes of vehicle failure is called "stuck", which means that the autonomous vehicle cannot continue to drive the current route through autonomous driving and stops, which may cause the autonomous vehicle to be unable to continue the subsequent journey and may have a negative impact on traffic. For example, the vehicle may be stuck because it cannot determine whether it can pass safely in a narrow area.
[0023] The embodiments of the present disclosure propose a solution for vehicle escape. According to various embodiments of the present disclosure, a vehicle trapped scenario is determined, the trapped scenario indicates that the vehicle cannot determine whether the lateral distance to the target obstacle in the traffic environment allows the vehicle to pass; an assistance request is sent to a remote device, the assistance request at least indicates the identification of the target obstacle; an assistance message is received from the remote device, the assistance message indicates that the lateral distance to the target obstacle allows the vehicle to pass; and based on the assistance message, a vehicle escape route is generated.
[0024] Therefore, the embodiments of the present disclosure can effectively remotely assist the vehicle in coping with scenarios such as narrow areas, thereby efficiently assisting the vehicle in getting out of trouble.
[0025] Example Environment
[0026] 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.
[0027] 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.
[0028] 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.
[0029] 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.
[0030] It should be understood that the structure and functionality of environment 100 are described for exemplary purposes only and do not imply any limitation on the scope of the present disclosure.
[0031] Remote assistance to escape distress
[0032] 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.
[0033] like Figure 2 As shown, in box 210, the electronic device 150 determines a trapped scenario of the vehicle 101, where the trapped scenario 101 indicates that the vehicle cannot determine whether the lateral distance to a target obstacle in the traffic environment allows the vehicle to pass.
[0034] The following will refer to Figure 3A The process of block 210 is described below. Figure 3A An example traffic environment 300A is shown in accordance with some embodiments of the present disclosure.
[0035] like Figure 3A As shown, traffic environment 300A may include vehicle 302 and one or more obstacles perceived by vehicle 302 , such as obstacle 304 - 1 , obstacle 304 - 2 , and obstacle 304 - 3 .
[0036] Further, vehicle 302 may not be able to determine whether it can proceed through the area defined by obstacle 304 - 1 and obstacle 304 - 2 due to obstacle 304 - 1 and obstacle 304 - 2 .
[0037] In some embodiments, the vehicle 302 may include a route planning module, which may be unable to plan a corresponding forward route because it cannot confirm whether the lateral distance to the obstacle 304-1 and / or the lateral distance to the obstacle 304-2 allows the vehicle 302 to pass. As a result, the vehicle 302 will be in a trapped state.
[0038] In some embodiments, vehicle 302 may also be stuck due to the lateral distance to a single obstacle, for example, the left side of vehicle 302 may be a solid lane that cannot be merged, and vehicle 302 may not be able to determine whether the distance to obstacle 304-2 is sufficient to allow vehicle 302 to pass safely.
[0039] Continue to refer Figure 2 At block 220 , the electronic device 150 sends an assistance request to the remote device 120 , where the assistance request at least indicates an identification of the target obstacle.
[0040] For example, when the route planning module of the vehicle 302 cannot determine whether the lateral distance to the obstacles (eg, obstacle 304 - 1 and obstacle 304 - 2 ) allows the vehicle 302 to pass safely, the route planning module may send an assistance request to the remote device 150 .
[0041] In some embodiments, such an assistance request may indicate the identification of a target obstacle corresponding to the trapped scene of the vehicle 302. For example, the electronic device 150 may send the identification of the obstacle 304-1 and the obstacle 304-2 to the remote device 120 to facilitate the remote device 150 to determine whether such obstacles affect the passage of the vehicle 302.
[0042] In some embodiments, such an assistance request may, for example, indicate an inquiry about whether the lateral distance to the target obstacle corresponding to the identifier allows the vehicle to pass. For example, such an inquiry request may be associated with the current trapped scene of the vehicle 302. That is, the electronic device 120 may request information from the remote device 150 about whether such an obstacle affects the passage of the vehicle 302.
[0043] Further, upon receiving the assistance request, the remote device 120 may present the following information to the assistance personnel 110: Figure 3B Interface 300B shown. Figure 3B As shown, the interface 300B may display a plurality of elements associated with the vehicle 302, for example, a map element, a real-time image captured by the vehicle 302, and a first element 312 corresponding to the vehicle 302. Additionally, the interface 300B may also display a second element corresponding to the target obstacle, for example, an element 314-1 corresponding to the obstacle 304-1 and an element 314-2 corresponding to the obstacle 304-2.
[0044] Furthermore, the remote device 120 may also highlight a second element corresponding to the target obstacle in the interface 300B based on the identifier of the target obstacle indicated in the assistance request.
[0045] Continue with Figure 3B As an example, the remote device 120 may display elements corresponding to multiple obstacles in the traffic environment 300A, such as an element 314 - 1 corresponding to the obstacle 304 - 1 , an element 314 - 2 corresponding to the obstacle 304 - 2 , and an element 314 - 3 corresponding to the obstacle 303 - 2 .
[0046] Further, the remote device 120 may highlight the elements 314-1 and 314-2 corresponding to the obstacles 304-1 and 304-2 in the interface 300B. It should be understood that the remote device 120 may highlight the elements 314-1 and 314-2 in appropriate ways such as thickening the border, highlighting the border, changing the color, etc. Thus, the remote device 120 may intuitively remind the assisting personnel 110 of the obstacles associated with the trapped scene of the vehicle 302.
[0047] Further, the interface 300B may display real-time image data 316 associated with the vehicle 302. Such image data 316 may be captured, for example, by an image acquisition device deployed at an appropriate location of the vehicle 302 to determine whether the lateral distance to obstacles (e.g., obstacle 304-1 and obstacle 304-2) allows the vehicle 302 to pass.
[0048] In some embodiments, the remote device 120 may also present an interactive component 316 in the interface 300B, which may correspond to a query indicated in the assistance request received from the vehicle 302 , such as “can you crawl through?”.
[0049] Furthermore, the interaction component 316 may also include a plurality of controls 318 - 1 and 318 - 2 , which respectively correspond to the lateral distance to the obstacle allowing the vehicle 302 to pass safely and not allowing the vehicle 302 to pass safely.
[0050] Continue to refer Figure 2 At block 230 , the electronic device 150 receives an assistance message from the remote device 120 , the assistance message indicating that the lateral distance to the target obstacle allows the vehicle to pass.
[0051] For example, the remote device 120 may receive the selection of the control 318-1 by the assisting person 110, and accordingly generate an assist message to the electronic device 150. Such an assist message may, for example, indicate that the distance to the target obstacle allows the vehicle to pass safely.
[0052] In some embodiments, the assisting personnel 110 may determine that the distance to the target obstacle allows the vehicle to pass safely based on the image data 316. Alternatively, the remote device 120 may also utilize appropriate image analysis technology to determine the distance to obstacles (e.g., obstacle 3014-1 and obstacle 304-2) based on the analysis of the image data 316, and automatically determine whether to allow the vehicle 312 to pass safely.
[0053] Continue to refer Figure 2 In box 240, the electronic device 150 controls the generation of an escape route for the vehicle based on the assistance message.
[0054] In some embodiments, the electronic device 150 may, for example, send a message to a route planning module of the vehicle to instruct the route planning module to update the distance constraint associated with the target obstacle.
[0055] Specifically, the route planning module can, for example, reduce the distance constraint to the target obstacle (e.g., obstacle 304-1 and obstacle 304-2) according to the received message. For example, such a distance constraint can indicate the minimum distance between the vehicle 302 and the obstacle during driving.
[0056] Furthermore, the electronic device 150 may, for example, shield the trapped state of the vehicle so that the route planning module can generate an escape route for the vehicle based on the updated distance constraint.
[0057] Exemplarily, the electronic device 150 may further include an assistance module for detecting whether the vehicle is in a trapped state. If the assistance module determines that the vehicle is in a trapped state, the route planning module may no longer perform corresponding route planning.
[0058] On the contrary, after receiving the assistance message from the remote device, the assistance module can, for example, shield the detection of the trapped state and allow the route planning module to plan an escape route based on the assistance message.
[0059] 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 101 to creep through (eg, pass at a speed lower than a predetermined speed) according to the escape route.
[0060] In this way, the embodiments of the present disclosure can obtain a clear indication from the remote device on whether the obstacle affects the passage of the vehicle by providing the identification of the obstacle related to the current trapped scene to the remote device by the vehicle. As a result, the embodiments of the present disclosure can improve the efficiency of escape assistance. Compared with the traditional point-to-point assistance escape, this can significantly reduce the assistance cost of the assisting personnel.
[0061] 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.
[0062] 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.
[0063] 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 assisting personnel. In the waypoint assistance mode, the remote device 120 may, for example, receive at least one waypoint input by the assisting personnel 110 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.
[0064] 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.
[0065] Example devices and equipment
[0066] Figure 4 A schematic structural block diagram of a device 400 for vehicle escape according to some embodiments of the present disclosure is shown. The device 400 may be implemented as or included in the electronic device 150. Each module / component in the device 400 may be implemented by hardware, software, firmware, or any combination thereof.
[0067] As shown in the figure, the device 400 includes a determination module 410, which is configured to determine a trapped scenario of the vehicle, where the trapped scenario indicates that the vehicle cannot determine whether the lateral distance to the target obstacle in the traffic environment allows the vehicle to pass; a sending module 420, which is configured to send an assistance request to a remote device, where the assistance request at least indicates the identification of the target obstacle; a receiving module 430, which is configured to receive an assistance message from the remote device, where the assistance message indicates that the lateral distance to the target obstacle allows the vehicle to pass; and a control module 440, which is configured to control the generation of an escape route for the vehicle based on the assistance message.
[0068] In some embodiments, the remote device is configured to present a set of controls corresponding to whether the lateral distance allows the vehicle to pass.
[0069] In some embodiments, the remote device is configured to present an assistance interface including a first element corresponding to the vehicle and a second element corresponding to the target obstacle, and the remote device is configured to highlight the second element corresponding to the target obstacle.
[0070] In some embodiments, the remote device is configured to present image data associated with the vehicle for use in determining whether the lateral distance allows the vehicle to pass.
[0071] In some embodiments, the control module 440 is further configured to: send a message to the route planning module of the vehicle to instruct the route planning module to update the distance constraint associated with the target obstacle; and mask the trapped state of the vehicle so that the route planning module generates an escape route for the vehicle based on the updated distance constraint.
[0072] 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.
[0073] In some embodiments, the assistance request also indicates an inquiry as to whether the lateral distance to the target obstacle corresponding to the identification allows the vehicle to pass.
[0074] In some embodiments, the target obstacle includes one or more obstacles.
[0075] 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.
[0076] 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.
[0077] 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.
[0078] 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.
[0079] 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.
[0080] 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).
[0081] 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.
[0082] 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.
[0083] 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.
[0084] 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.
[0085] 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.
[0086] 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 a vehicle, comprising: Determining a trapped scenario of the vehicle, the trapped scenario indicating that the vehicle is unable to determine whether a lateral distance to a target obstacle in a traffic environment allows the vehicle to pass; Sending an assistance request to a remote device, the assistance request at least indicating an identification of the target obstacle; receiving an assistance message from the remote device, the assistance message indicating that the lateral distance to the target obstacle allows the vehicle to pass; as well as Based on the assistance message, control generates an escape route for the vehicle. 2 . The method of claim 1 , wherein the remote device is configured to present a set of controls corresponding to whether the lateral distance allows the vehicle to pass.
3. The method according to claim 1, wherein the remote device is configured to present an assistance interface, the assistance interface including a first element corresponding to the vehicle and a second element corresponding to the target obstacle, and the remote device is configured to highlight the second element corresponding to the target obstacle. 4 . The method of claim 1 , wherein the remote device is configured to present image data associated with the vehicle for use in determining whether the lateral distance allows the vehicle to pass.
5. The method according to claim 1, wherein controlling the generation of an escape route for the vehicle based on the assistance message comprises: sending a message to a route planning module of the vehicle to instruct the route planning module to update a distance constraint associated with the target obstacle; as well as The trapped state of the vehicle is masked so that the route planning module generates the escape route of the vehicle based on the updated distance constraint.
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 according to claim 1 , wherein the assistance request further indicates an inquiry as to whether a lateral distance to the target obstacle corresponding to the identification allows the vehicle to pass. The method of claim 1 , wherein the target obstacle comprises one or more obstacles.
9. A device for escaping a vehicle, comprising: a determination module configured to determine a trapped scenario of the vehicle, wherein the trapped scenario indicates that the vehicle is unable to determine whether a lateral distance to a target obstacle in a traffic environment allows the vehicle to pass; a sending module, configured to send an assistance request to a remote device, wherein the assistance request at least indicates an identification of the target obstacle; a receiving module configured to receive an assistance message from the remote device, the assistance message indicating that the lateral distance to the target obstacle allows the vehicle to pass; as well as The control module is configured to control the generation of an escape route for the vehicle based on the assistance message.
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.