Method and device for intelligently getting out of trouble of vehicle in driving process

Abstract

The invention relates to the technical field of vehicle control, and particularly discloses a method and a device for intelligently escaping a vehicle in a driving process, and when the current state of the vehicle is monitored to meet a predetermined escaping condition, such as collision with an electronic fence and a wall, the vehicle is detrapped. The current real position of the vehicle and the historical real driving track of the vehicle with the current real position of the vehicle as the reference are obtained, and the target real position where the vehicle can be out of trouble is analyzed according to the current real position of the vehicle and the historical real driving track of the vehicle, so that the analysis accuracy of the out-of-trouble position can be improved; and then according to the target real position corresponding to the vehicle and the current real position of the vehicle, generating the escape path of the vehicle, so that the generation accuracy of the escape path of the vehicle can be improved, and the escape efficiency and success probability of the vehicle can be improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a method and device for intelligently escaping a vehicle in a driving process. Background Art

[0002] During the driving process, even experienced drivers will inevitably get into trouble. In order to get out of the trouble, the driver usually turns the steering wheel according to the driving path of the vehicle before getting into trouble.

[0003] However, practice has found that this method of getting out of trouble has low efficiency, or the vehicle cannot get out of trouble, and in serious cases, the vehicle may even fall into a more difficult situation, especially for drivers with little driving experience, such as those in driving training schools. Therefore, it is urgent to propose a technical solution to improve the efficiency of getting out of trouble. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a method and device for intelligently escaping a vehicle in the process of driving, which can improve the efficiency and success probability of the vehicle's escape.

[0005] In order to solve the above technical problems, the first aspect of the present invention discloses a method for intelligently escaping a vehicle in a driving process, the method comprising:

[0006] When it is monitored that the current state of the vehicle satisfies the predetermined escape condition, the current actual position of the vehicle and the historical actual driving trajectory of the vehicle based on the current actual position of the vehicle are obtained;

[0007] Analyzing the target actual position at which the vehicle can escape from the jam according to the current actual position of the vehicle and the historical actual driving trajectory of the vehicle;

[0008] An escape path for the vehicle is generated according to the target actual position corresponding to the vehicle and the current actual position of the vehicle, and the escape path for the vehicle is used as a basis for the vehicle to escape from the distress.

[0009] As an optional implementation, in the first aspect of the present invention, after generating the escape path of the vehicle according to the target actual position corresponding to the vehicle and the current actual position of the vehicle, the method further includes:

[0010] Determining whether the generated escape path of the vehicle meets the predetermined escape path requirement parameters of the vehicle;

[0011] When it is determined that the required parameters of the escape path of the vehicle are met, generating escape travel control parameters of the vehicle according to the escape path of the vehicle;

[0012] Controlling the vehicle to perform an escape operation according to the escape driving control parameters of the vehicle;

[0013] When it is determined that the required escape path parameters of the vehicle are not met, generating an escape correction parameter of the vehicle according to the required escape path parameters of the vehicle and the escape path of the vehicle;

[0014] According to the vehicle's escape correction parameters, the vehicle's escape path is corrected to obtain the corrected vehicle's escape path, and the operation of generating the vehicle's escape driving control parameters according to the vehicle's escape path is performed.

[0015] As an optional implementation manner, in the first aspect of the present invention, analyzing the target actual position where the vehicle can escape from trouble based on the current actual position of the vehicle and the historical actual driving trajectory of the vehicle includes:

[0016] Generate a current virtual position of the vehicle according to the current real position of the vehicle, and generate a historical virtual driving trajectory of the vehicle according to the historical real driving trajectory of the vehicle, wherein the current virtual position of the vehicle and the historical virtual driving trajectory of the vehicle correspond to the same virtual coordinate system;

[0017] According to the current virtual position of the vehicle, the target virtual position at which the vehicle can escape is determined from the historical virtual driving trajectory of the vehicle, and based on the virtual coordinate system, the target virtual position of the vehicle is converted into a real position as the target real position at which the vehicle can escape.

[0018] As an optional implementation, in the first aspect of the present invention, determining, based on the current virtual position of the vehicle, a target virtual position where the vehicle can escape from a historical virtual driving trajectory of the vehicle includes:

[0019] Selecting at least one first escape point from the historical virtual driving trajectory of the vehicle according to a preset point selection method;

[0020] For any of the first escape points, obtaining driving parameters of the vehicle at the first escape point and driving parameters of the current virtual position of the vehicle;

[0021] According to the driving parameters of all the first escape points and the driving parameters of the current virtual position of the vehicle, a target virtual position where the vehicle can escape is determined from the historical virtual driving trajectory of the vehicle.

[0022] As an optional implementation manner, in the first aspect of the present invention, determining the target virtual position where the vehicle can escape from the historical virtual driving trajectory of the vehicle based on the driving parameters of all the first escape points and the driving parameters of the current virtual position of the vehicle includes:

[0023] When the types of the driving parameters of the first escape point and the types of the driving parameters of the current virtual position of the vehicle are position coordinate types, for any of the first escape points, the escape distance between the first escape point and the current virtual position of the vehicle is calculated according to the driving position coordinates of the first escape point and the coordinates of the current virtual position of the vehicle, and according to the escape distances corresponding to all the first escape points, at least one second escape point whose escape distance is greater than or equal to the preset escape distance is selected from all the first escape points as the target virtual position where the vehicle can escape;

[0024] When the types of driving parameters of the first escape point and the types of driving parameters of the current virtual position of the vehicle are of time type, for any first escape point, the escape time difference between the first escape point and the current virtual position of the vehicle is calculated according to the driving time corresponding to the first escape point and the driving time corresponding to the current virtual position of the vehicle, and according to the escape time differences corresponding to all the first escape points, at least one second escape point whose escape time difference is within the preset escape time range is selected from all the first escape points as the target virtual position where the vehicle can escape.

[0025] As an optional embodiment, in the first aspect of the present invention, the method further comprises:

[0026] Collecting steering wheel data of the vehicle when the vehicle is at the current actual position of the vehicle, the steering wheel data of the vehicle including the steering direction of the steering wheel of the vehicle and the steering amplitude of the steering wheel;

[0027] Determine whether the steering amplitude of the vehicle on the steering wheel of the vehicle is greater than or equal to a preset steering amplitude, and when the determination result is no, trigger the execution of the operation of converting the target virtual position of the vehicle into a real position based on the virtual coordinate system as the target real position for the vehicle to achieve escape;

[0028] When the judgment result is yes, based on the steering wheel data of the vehicle, the target virtual position at which the vehicle can escape is corrected to obtain the corrected target virtual position at which the vehicle can escape, and the operation of converting the target virtual position of the vehicle into a real position based on the virtual coordinate system is triggered to achieve the target real position at which the vehicle can escape.

[0029] As an optional implementation manner, in the first aspect of the present invention, the determining whether the generated escape path of the vehicle meets the predetermined escape path requirement parameters of the vehicle includes:

[0030] Calculating a target turning value of the escape path, and determining whether the target turning value of the escape path is greater than or equal to a predetermined turning value corresponding to the vehicle;

[0031] When it is determined that the target turning value of the escape path is greater than or equal to the predetermined turning value corresponding to the vehicle, it is determined whether the vehicle will not hit any obstacles along the road or on the road during the vehicle's travel along the escape path;

[0032] When the result of the judgment is yes, it is determined that the generated escape path of the vehicle meets the predetermined escape path requirement parameters of the vehicle.

[0033] The second aspect of the present invention discloses a device for intelligently escaping a vehicle in a driving process, the device comprising:

[0034] An acquisition module, for acquiring the current actual position of the vehicle and the historical actual driving trajectory of the vehicle based on the current actual position of the vehicle when it is monitored that the current state of the vehicle satisfies the predetermined escape condition;

[0035] An analysis module, used for analyzing a target actual position where the vehicle can escape from trouble according to the current actual position of the vehicle and the historical actual driving trajectory of the vehicle;

[0036] A generation module is used to generate an escape path for the vehicle according to the target actual position corresponding to the vehicle and the current actual position of the vehicle, and the escape path for the vehicle is used as a basis for the vehicle to escape from the distress.

[0037] As an optional implementation, in the second aspect of the present invention, the device further includes:

[0038] A first judgment module is used to judge whether the generated escape path of the vehicle meets the predetermined escape path requirement parameters of the vehicle after the generation module generates the escape path of the vehicle according to the target actual position corresponding to the vehicle and the current actual position of the vehicle;

[0039] The generating module is further configured to generate escape travel control parameters for the vehicle according to the escape path of the vehicle when it is determined that the escape path requirement parameters of the vehicle are met;

[0040] A control module, used for controlling the vehicle to perform an escape operation according to the escape driving control parameters of the vehicle;

[0041] The generating module is further configured to generate an escape correction parameter for the vehicle according to the escape path requirement parameters of the vehicle and the escape path of the vehicle when it is determined that the escape path requirement parameters of the vehicle are not met;

[0042] The first correction module is used to correct the escape path of the vehicle according to the escape correction parameters of the vehicle, obtain the corrected escape path of the vehicle, and trigger the generation module to execute the operation of generating the escape driving control parameters of the vehicle according to the escape path of the vehicle.

[0043] As an optional implementation, in the second aspect of the present invention, the specific manner in which the analysis module analyzes the target actual position at which the vehicle can escape from the distress based on the current actual position of the vehicle and the historical actual driving trajectory of the vehicle includes:

[0044] Generate a current virtual position of the vehicle according to the current real position of the vehicle, and generate a historical virtual driving trajectory of the vehicle according to the historical real driving trajectory of the vehicle, wherein the current virtual position of the vehicle and the historical virtual driving trajectory of the vehicle correspond to the same virtual coordinate system;

[0045] According to the current virtual position of the vehicle, the target virtual position at which the vehicle can escape is determined from the historical virtual driving trajectory of the vehicle, and based on the virtual coordinate system, the target virtual position of the vehicle is converted into a real position as the target real position at which the vehicle can escape.

[0046] As an optional implementation, in the second aspect of the present invention, the specific manner in which the analysis module determines the target virtual position where the vehicle can escape from the historical virtual driving trajectory of the vehicle according to the current virtual position of the vehicle includes:

[0047] Selecting at least one first escape point from the historical virtual driving trajectory of the vehicle according to a preset point selection method;

[0048] For any of the first escape points, obtaining driving parameters of the vehicle at the first escape point and driving parameters of the current virtual position of the vehicle;

[0049] According to the driving parameters of all the first escape points and the driving parameters of the current virtual position of the vehicle, a target virtual position where the vehicle can escape is determined from the historical virtual driving trajectory of the vehicle.

[0050] As an optional implementation, in the second aspect of the present invention, the specific manner in which the generating module determines the target virtual position where the vehicle can escape from the historical virtual driving trajectory of the vehicle according to the driving parameters of all the first escape points and the driving parameters of the current virtual position of the vehicle includes:

[0051] When the types of the driving parameters of the first escape point and the types of the driving parameters of the current virtual position of the vehicle are position coordinate types, for any of the first escape points, the escape distance between the first escape point and the current virtual position of the vehicle is calculated according to the driving position coordinates of the first escape point and the coordinates of the current virtual position of the vehicle, and according to the escape distances corresponding to all the first escape points, at least one second escape point whose escape distance is greater than or equal to the preset escape distance is selected from all the first escape points as the target virtual position where the vehicle can escape;

[0052] When the types of driving parameters of the first escape point and the types of driving parameters of the current virtual position of the vehicle are of time type, for any first escape point, the escape time difference between the first escape point and the current virtual position of the vehicle is calculated according to the driving time corresponding to the first escape point and the driving time corresponding to the current virtual position of the vehicle, and according to the escape time differences corresponding to all the first escape points, at least one second escape point whose escape time difference is within the preset escape time range is selected from all the first escape points as the target virtual position where the vehicle can escape.

[0053] As an optional implementation, in the second aspect of the present invention, the device further includes:

[0054] A collection module, used for collecting steering wheel data of the vehicle when the vehicle is at the current actual position of the vehicle, wherein the steering wheel data of the vehicle includes the steering direction of the steering wheel of the vehicle and the steering amplitude of the steering wheel;

[0055] A second judgment module is used to judge whether the steering amplitude of the vehicle on the steering wheel of the vehicle is greater than or equal to a preset steering amplitude, and when the judgment result is no, trigger the analysis module to execute the operation of converting the target virtual position of the vehicle into a real position based on the virtual coordinate system as the target real position for the vehicle to escape;

[0056] The second correction module is used to correct the target virtual position at which the vehicle can escape based on the steering wheel data of the vehicle when the judgment result is yes, to obtain the corrected target virtual position at which the vehicle can escape, and to trigger the analysis module to execute the operation of converting the target virtual position of the vehicle into a real position based on the virtual coordinate system as the target real position at which the vehicle can escape.

[0057] As an optional implementation, in the second aspect of the present invention, the specific manner in which the first judgment module judges whether the generated escape path of the vehicle meets the predetermined escape path requirement parameters of the vehicle includes:

[0058] Calculating a target turning value of the escape path, and determining whether the target turning value of the escape path is greater than or equal to a predetermined turning value corresponding to the vehicle;

[0059] When it is determined that the target turning value of the escape path is greater than or equal to the predetermined turning value corresponding to the vehicle, it is determined whether the vehicle will not hit any obstacles along the road or on the road during the vehicle's travel along the escape path;

[0060] When the result of the judgment is yes, it is determined that the generated escape path of the vehicle meets the predetermined escape path requirement parameters of the vehicle.

[0061] The third aspect of the present invention discloses another device for intelligently escaping a vehicle in a driving process, the device comprising:

[0062] A memory storing executable program code;

[0063] a processor coupled to the memory;

[0064] The processor calls the executable program code stored in the memory to execute the method for intelligently escaping a vehicle in a driving process disclosed in the first aspect of the present invention.

[0065] The fourth aspect of the present invention discloses a computer-readable storage medium, which stores computer instructions. When the computer instructions are called, they are used to execute the method for intelligently escaping a vehicle in a driving process disclosed in the first aspect of the present invention.

[0066] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0067] In an embodiment of the present invention, when it is monitored that the current state of the vehicle satisfies a predetermined escape condition, such as hitting an electronic fence, hitting a wall, etc., the current actual position of the vehicle and the historical actual driving trajectory of the vehicle based on the current actual position of the vehicle are obtained, and the target actual position at which the vehicle can escape is analyzed based on the current actual position of the vehicle and the historical actual driving trajectory of the vehicle, which can improve the accuracy of the analysis of the escape position, and then the escape path of the vehicle is generated based on the target actual position corresponding to the vehicle and the current actual position of the vehicle, which can improve the accuracy of the generation of the vehicle's escape path, thereby helping to improve the vehicle's escape efficiency and success probability. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0069] Figure 1 It is a flow chart of a method for intelligently escaping a vehicle in a driving process disclosed in an embodiment of the present invention;

[0070] Figure 2 It is a schematic diagram of planning an escape route disclosed in an embodiment of the present invention;

[0071] Figure 3 It is a flow chart of another method for intelligently escaping a vehicle in a driving process disclosed in an embodiment of the present invention;

[0072] Figure 4 It is a structural schematic diagram of a device for intelligently escaping a vehicle in a driving process disclosed in an embodiment of the present invention;

[0073] Figure 5 It is a structural schematic diagram of another device for intelligently escaping a vehicle in a driving process disclosed in an embodiment of the present invention;

[0074] Figure 6 It is a structural schematic diagram of another device for intelligently escaping a vehicle in motion disclosed in an embodiment of the present invention. DETAILED DESCRIPTION

[0075] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0076] The terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish different objects rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, device, product or end including a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units inherent to these processes, methods, products or ends.

[0077] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0078] The present invention discloses a method and device for intelligently escaping a vehicle in the process of driving. When it is monitored that the current state of the vehicle meets the predetermined escape conditions, such as hitting an electronic fence or a wall, the current actual position of the vehicle and the historical actual driving trajectory of the vehicle based on the current actual position of the vehicle are obtained, and the target actual position of the vehicle that can be escaped is analyzed based on the current actual position of the vehicle and the historical actual driving trajectory of the vehicle, which can improve the analysis accuracy of the escape position, and then the escape path of the vehicle is generated based on the target actual position corresponding to the vehicle and the current actual position of the vehicle, which can improve the generation accuracy of the escape path of the vehicle, thereby facilitating the improvement of the escape efficiency and success probability of the vehicle. The following are detailed descriptions.

[0079] Embodiment 1

[0080] See also Figure 1 , Figure 1 The following is a flow chart of a method for intelligently escaping a vehicle in motion disclosed in an embodiment of the present invention. Figure 1The method for intelligently escaping a vehicle in motion can be applied to any vehicle control scenario that requires escaping, such as a driving training scenario or a non-driving training scenario. Figure 1 As shown, the method for intelligently escaping a vehicle in a driving process may include the following operations:

[0081] 101. When it is monitored that the current state of the vehicle satisfies a predetermined escape condition, the current actual position of the vehicle and the historical actual driving trajectory of the vehicle based on the current actual position of the vehicle are obtained.

[0082] In an embodiment of the present invention, optionally, when it is monitored that the vehicle hits an electronic fence, a wall, an obstacle, a non-obstacle object, etc., it means that the current state of the vehicle is monitored to meet the predetermined escape condition.

[0083] In the embodiment of the present invention, optionally, the current actual position of the vehicle can be located by the vehicle's own GPS positioning system, or determined based on images collected by an image collector of the vehicle's current actual position, or located by a terminal device of a user in the vehicle, or any other means capable of positioning, which is not limited by the embodiment of the present invention. Further optionally, the vehicle's historical actual driving trajectory can be recorded by the vehicle's GPS system, or drawn based on the located actual position, or determined based on images collected by an image collector of the vehicle's current actual position, or located by a terminal device of a user in the vehicle. , or any other means capable of positioning, which is not limited by the embodiment of the present invention.

[0084] 102. Based on the current actual position of the vehicle and the historical actual driving trajectory of the vehicle, analyze the target actual position at which the vehicle can escape.

[0085] 103. Generate an escape path for the vehicle according to the target actual position corresponding to the vehicle and the current actual position of the vehicle, and the escape path for the vehicle is used as a basis for the vehicle to escape from the distress.

[0086] In an embodiment of the present invention, optionally, a polynomial path analysis operation of a preset number of escape plans is performed on the current actual position of the vehicle and the target actual position of the vehicle to obtain an escape path for the vehicle. The preset number of escape plans may be predetermined, such as 3 times, or may be determined based on the corresponding distance value and the corresponding time difference between the current actual position of the vehicle and the target actual position, which is not limited in the embodiment of the present invention. The time difference is used to represent the difference between the time when the vehicle travels to the current actual position and the time when it travels to the target actual position.

[0087] It can be seen that when the present invention is implemented and it is monitored that the current state of the vehicle meets the predetermined escape conditions, such as hitting an electronic fence, hitting a wall, etc., the current actual position of the vehicle and the historical actual driving trajectory of the vehicle based on the current actual position of the vehicle are obtained, and the target actual position at which the vehicle can escape is analyzed based on the current actual position of the vehicle and the historical actual driving trajectory of the vehicle, which can improve the accuracy of the analysis of the escape position, and then the escape path of the vehicle is generated based on the target actual position corresponding to the vehicle and the current actual position of the vehicle, which can improve the accuracy of the generation of the vehicle's escape path, thereby helping to improve the vehicle's escape efficiency and success probability.

[0088] In the embodiment of the present invention, optionally, analyzing the target actual position where the vehicle can escape from the difficulty based on the current actual position of the vehicle and the historical actual driving trajectory of the vehicle includes:

[0089] Generate the current virtual position of the vehicle according to the current real position of the vehicle, and generate the historical virtual driving trajectory of the vehicle according to the historical real driving trajectory of the vehicle, the current virtual position of the vehicle and the historical virtual driving trajectory of the vehicle corresponding to the same virtual coordinate system;

[0090] According to the current virtual position of the vehicle, the target virtual position at which the vehicle can escape is determined from the historical virtual driving trajectory of the vehicle, and based on the virtual coordinate system, the target virtual position of the vehicle is converted into a real position as the target real position at which the vehicle can escape.

[0091] In an embodiment of the present invention, specifically, a map corresponding to the current real position of the vehicle is obtained, and based on the map, the current real position of the vehicle and the historical real driving trajectory of the vehicle are converted to the map to obtain the corresponding current virtual position and historical virtual driving trajectory. Figure 2 is a schematic diagram of a planning of an escape path disclosed in an embodiment of the present invention, such as Figure 2 As shown, point a is the current virtual position of the vehicle, and point b is the target virtual position on the historical actual driving trajectory.

[0092] It can be seen that this embodiment obtains the vehicle's escape position by converting the vehicle's current real position and the historical real driving trajectory into actual and virtual positions, which can improve the accuracy and reliability of determining the vehicle's escape position, thereby helping to improve the accuracy and reliability of determining the vehicle's escape path, and further helping to improve the vehicle's escape efficiency and success probability.

[0093] In the embodiment of the present invention, further optionally, according to the current virtual position of the vehicle, a target virtual position where the vehicle can escape is determined from the historical virtual driving trajectory of the vehicle, including:

[0094] According to a preset point selection method, at least one first escape point is selected from the historical virtual driving trajectory of the vehicle;

[0095] For any first escape point, obtaining the driving parameters of the vehicle at the first escape point and the driving parameters of the vehicle at the current virtual position;

[0096] According to the driving parameters of all the first escape points and the driving parameters of the current virtual position of the vehicle, a target virtual position where the vehicle can escape is determined from the historical virtual driving trajectory of the vehicle.

[0097] In the embodiment of the present invention, optionally, the first escape position may be an escape point selected sequentially on a historical virtual driving trajectory with the current virtual position of the vehicle as a reference point.

[0098] In the embodiment of the present invention, further optionally, according to the driving parameters of all the first escape points and the driving parameters of the current virtual position of the vehicle, the target virtual position where the vehicle can escape is determined from the historical virtual driving trajectory of the vehicle, including:

[0099] When the types of the driving parameters of the first escape point and the types of the driving parameters of the current virtual position of the vehicle are position coordinate types, for any first escape point, the escape distance between the first escape point and the current virtual position of the vehicle is calculated according to the driving position coordinates of the first escape point and the coordinates of the current virtual position of the vehicle, and according to the escape distances corresponding to all the first escape points, at least one second escape point whose escape distance is greater than or equal to a preset escape distance (such as 50 cm) is selected from all the first escape points as the target virtual position where the vehicle can escape;

[0100] When the types of driving parameters of the first escape point and the types of driving parameters of the current virtual position of the vehicle are of time type, for any first escape point, the escape time difference between the first escape point and the current virtual position of the vehicle is calculated according to the driving time corresponding to the first escape point and the driving time corresponding to the current virtual position of the vehicle, and according to the escape time differences corresponding to all first escape points, at least one second escape point whose escape time difference is within a preset escape time range (such as 5s-10s) is selected from all the first escape points as the target virtual position where the vehicle can escape.

[0101] It can be seen that the embodiment of the present invention can also select a corresponding method according to the driving parameters of the selected first escape point as time type and / or position coordinate type, to determine the virtual position at which the vehicle can escape, thereby improving the accuracy of determining the virtual escape position, which is beneficial to improving the accuracy of determining the actual position of the vehicle escape, and further beneficial to improving the accuracy of generating the vehicle's escape path, further improving the vehicle's escape efficiency and success probability and safety reliability.

[0102] In the embodiment of the present invention, further optionally, when the number of the screened out second escape points is equal to 1, the second escape point is directly used as the target virtual position from which the vehicle can escape; when the number of the screened out second escape points is greater than 1, the mean of the driving parameters corresponding to all the second escape points is calculated, and the second escape point closest to the mean of the driving parameters is screened out from all the second escape points as the target virtual position from which the vehicle can escape.

[0103] In an optional embodiment, the method may further include the following steps:

[0104] Collecting the steering wheel data of the vehicle at the current actual position of the vehicle, the steering wheel data of the vehicle including the steering direction of the steering wheel of the vehicle and the steering amplitude of the steering wheel;

[0105] Determine whether the steering amplitude of the vehicle on the steering wheel of the vehicle is greater than or equal to a preset steering amplitude, and when the determination result is no, trigger the execution of the above-mentioned operation of converting the target virtual position of the vehicle into a real position based on the virtual coordinate system as the target real position for the vehicle to achieve escape;

[0106] When the judgment result is yes, the target virtual position at which the vehicle can escape is corrected based on the vehicle's steering wheel data to obtain the corrected target virtual position at which the vehicle can escape, and the above-mentioned operation based on the virtual coordinate system is triggered to convert the vehicle's target virtual position into a real position as the target real position at which the vehicle can escape.

[0107] In this optional embodiment, it should be noted that the target real position that can achieve escape can also be corrected based on the steering wheel data. The specific correction idea is: calculate the amplitude difference between the steering amplitude of the steering wheel and the preset steering amplitude, and correct the target virtual position or the target real position based on the amplitude difference.

[0108] It can be seen that this optional embodiment compares the steering amplitude of the vehicle's steering wheel with the preset steering amplitude. If it is smaller, the subsequent escape path analysis operation continues to be performed; if it is larger, the target virtual position or the target real position is corrected based on the amplitude difference to improve the analysis accuracy and reliability of the vehicle's ability to achieve an escape position, thereby improving the analysis accuracy and reliability of the vehicle's escape trajectory, which is beneficial to further improve the vehicle's escape efficiency, success probability and safety.

[0109] In another optional embodiment, the method may further include the following steps:

[0110] When the target virtual position and the target actual position are simultaneously corrected based on the amplitude difference, the target actual position obtained based on the corrected target virtual position and the position average based on the corrected target actual position are calculated as the target actual position at which the vehicle can escape.

[0111] It can be seen that this optional embodiment can obtain a more accurate position where the vehicle can escape by comparing the target actual position obtained from the corrected target virtual position with the target actual position based on the corrected target virtual position.

[0112] In yet another optional embodiment, the method may further include the following steps:

[0113] According to the current actual position of the vehicle, the environmental data of the vehicle in the actual environment is collected, wherein the environmental data of the vehicle in the actual environment includes all environmental data such as the ground, fences, and vehicles;

[0114] Collect the vehicle's head data at the current real position, and use the current real position as the coordinate origin, and calculate the vehicle's head direction and the angle of the head direction according to the head data;

[0115] Analyze the escape direction of the vehicle according to the environmental data of the vehicle in the actual environment and the front direction of the vehicle, wherein the escape direction at least includes the escape direction of the vehicle at the start of the vehicle;

[0116] Taking the current actual position as the coordinate origin, calculating the escape direction angle between a certain coordinate axis (such as the Y axis or the X axis) in the coordinate system of the coordinate origin, and calculating the steering wheel direction angle between a certain coordinate axis (the same as the coordinate axis used above) in the coordinate system of the coordinate origin;

[0117] Calculating the angle difference between the escape direction angle and the steering wheel direction angle, and determining whether the angle difference is less than or equal to a preset angle difference, and when the determination result is yes, triggering the execution of the above-mentioned operation of determining whether the steering amplitude of the vehicle on the steering wheel of the vehicle is greater than or equal to the preset steering amplitude;

[0118] When it is judged that the angle difference is greater than the preset angle difference, the target angle difference between the preset angle difference and the angle difference is calculated, and based on the target angle difference, environmental data and the direction of the vehicle head, the target virtual position at which the vehicle can escape is corrected, or the target actual position at which the vehicle can escape is corrected.

[0119] It can be seen that this optional embodiment can improve the accuracy and reliability of the execution of the operation by comparing the analyzed direction of escape of the vehicle with the direction of the steering wheel, and continuing to perform subsequent operations in combination with the steering amplitude of the steering wheel to analyze the virtual position or real position at which the vehicle can escape when the two are not much different. If the two are very different, the virtual position or real position at which the vehicle can escape is corrected based on the difference value, environmental data and the direction of the front of the vehicle, further ensuring the accuracy and reliability of the analysis of the virtual position or real position at which the vehicle can escape, which is conducive to further improving the efficiency and safety of the vehicle's escape; and analyzing the direction of escape of the vehicle through the steering of the front of the vehicle and data of multiple dimensions of the vehicle's environment, improving the accuracy of the analysis of the escape direction, which is conducive to further improving the accuracy and reliability of the analysis or correction of the virtual position or real position at which the vehicle can escape.

[0120] Embodiment 2

[0121] See also Figure 3 , Figure 3 1 is a flow chart of another method for intelligently escaping a vehicle in motion disclosed in an embodiment of the present invention. Figure 1 The method for intelligently escaping a vehicle in motion can be applied to any vehicle control scenario that requires escaping, such as a driving training scenario or a non-driving training scenario. Figure 1 As shown, the method for intelligently escaping a vehicle in a driving process may include the following operations:

[0122] 201. When it is monitored that the current state of the vehicle satisfies a predetermined escape condition, the current actual position of the vehicle and the historical actual driving trajectory of the vehicle based on the current actual position of the vehicle are obtained.

[0123] 202. Based on the current actual position of the vehicle and the historical actual driving trajectory of the vehicle, analyze the target actual position at which the vehicle can escape.

[0124] 203. Generate an escape path for the vehicle according to the target actual position corresponding to the vehicle and the current actual position of the vehicle, and the escape path for the vehicle is used as a basis for the vehicle to escape from the distress.

[0125] 204. Determine whether the generated vehicle escape path meets the vehicle escape path requirement parameters determined in advance; when it is determined that the vehicle escape path requirement parameters are met, execute step 205; when it is determined that the vehicle escape path requirement parameters are not met, execute step 207.

[0126] 205. Generate vehicle escape driving control parameters based on the vehicle's escape path.

[0127] 206. According to the escape driving control parameters of the vehicle, control the vehicle to execute an escape operation.

[0128] 207. Generate vehicle escape correction parameters according to the vehicle escape path requirement parameters and the vehicle escape path.

[0129] 208. According to the vehicle escape correction parameter, correct the vehicle escape path to obtain the corrected vehicle escape path, and execute step 205.

[0130] In the embodiment of the present invention, for other descriptions of steps 201-203, please refer to the detailed description of steps 101-103 in the first embodiment, which will not be repeated here.

[0131] It can be seen that the implementation Figure 2 The described method obtains the current actual position of the vehicle and the historical actual driving trajectory of the vehicle based on the current actual position of the vehicle when it is monitored that the current state of the vehicle meets the predetermined escape conditions, such as hitting an electronic fence or a wall, and analyzes the target actual position of the vehicle that can achieve escape based on the current actual position of the vehicle and the historical actual driving trajectory of the vehicle, which can improve the analysis accuracy of the escape position, and then generates an escape path for the vehicle based on the target actual position corresponding to the vehicle and the current actual position of the vehicle, which can improve the generation accuracy of the escape path for the vehicle, thereby helping to improve the escape efficiency and success probability of the vehicle. In addition, after generating the escape path, when it is further determined that the generated escape path meets the escape requirements, the corresponding escape driving control parameters are generated, which improves the generation accuracy of the escape driving control parameters, thereby further improving the efficiency of the vehicle's escape; if it is determined that the escape requirements are not met, the escape path is corrected, which improves the probability that the vehicle can successfully escape.

[0132] In the embodiment of the present invention, optionally, judging whether the generated escape path of the vehicle meets the predetermined escape path requirement parameters of the vehicle includes:

[0133] Calculating a target turning value of an escape path, and determining whether the target turning value of the escape path is greater than or equal to a predetermined turning value corresponding to the vehicle;

[0134] When it is determined that the target turning value of the escape path is greater than or equal to the predetermined turning value corresponding to the vehicle, it is determined whether the vehicle will not hit the road or obstacles during the process of driving along the escape path;

[0135] When the result of the determination is yes, it is determined that the generated vehicle escape path satisfies the vehicle escape path requirement parameters determined in advance.

[0136] In the embodiment of the present invention, the target turning value of the escape path is the minimum turning radius value between the current actual position and the target actual position, and correspondingly, the turning value corresponding to the vehicle is the minimum turning radius value corresponding to the vehicle.

[0137] In the embodiment of the present invention, optionally, when it is determined that the target turning value is less than the turning value corresponding to the vehicle determined in advance, it is determined that the required parameters of the escape path are not met, and the turning difference between the two is calculated as the escape correction parameter of the vehicle. Specifically, the sum of the turning difference and the target turning value of the escape path is calculated, and the escape path of the vehicle is corrected to obtain a corrected escape path of the vehicle; when it is determined that the vehicle will hit the road or an obstacle while driving along the escape path, the position and size of the obstacle or the position along the road are collected, and the escape trajectory is corrected based on the position and size of the obstacle or the position along the road to obtain a corrected escape path.

[0138] It can be seen that the embodiments of the present invention can also compare the turning value of the escape path with the preset turning value, and analyze the road surface and obstacles to determine whether the escape path generated above meets the corresponding escape requirement, thereby improving the accuracy and reliability of the analysis of whether the escape path meets the escape requirement, thereby facilitating improving the accuracy and reliability of the generation of the vehicle's escape trajectory; and when the escape requirement is not met, the escape path is corrected according to the difference between the escape requirement and the escape trajectory to increase the probability that the vehicle can successfully escape.

[0139] Embodiment 3

[0140] See also Figure 4 , Figure 4 1 is a schematic diagram of a structure of a device for intelligently escaping a vehicle in motion disclosed in an embodiment of the present invention. Figure 4 The device for intelligently escaping a vehicle in motion can be applied to any vehicle control scenario that requires escaping, such as a driving training scenario or a non-driving training scenario. Figure 4 As shown, the device for intelligently escaping a vehicle in a driving process may include:

[0141] The acquisition module 301 is used to acquire the current actual position of the vehicle and the historical actual driving trajectory of the vehicle based on the current actual position of the vehicle when it is monitored that the current state of the vehicle meets the predetermined escape condition;

[0142] An analysis module 302 is used to analyze a target actual position where the vehicle can escape from the jam according to the current actual position of the vehicle and the historical actual driving trajectory of the vehicle;

[0143] The generation module 303 is used to generate an escape path for the vehicle according to the target actual position corresponding to the vehicle and the current actual position of the vehicle. The escape path for the vehicle is used as a basis for the vehicle to escape from the distress.

[0144] It can be seen that the implementation Figure 4 When the described device monitors that the current state of the vehicle satisfies predetermined escape conditions, such as hitting an electronic fence or a wall, etc., it obtains the current actual position of the vehicle and the historical actual driving trajectory of the vehicle based on the current actual position of the vehicle, and analyzes the target actual position at which the vehicle can escape based on the current actual position of the vehicle and the historical actual driving trajectory of the vehicle, which can improve the accuracy of the analysis of the escape position, and then generates an escape path for the vehicle based on the target actual position corresponding to the vehicle and the current actual position of the vehicle, which can improve the accuracy of the generation of the vehicle's escape path, thereby helping to improve the vehicle's escape efficiency and success probability.

[0145] In an optional embodiment, if Figure 5 As shown, Figure 5 is a schematic diagram of the structure of another device for intelligently escaping a vehicle in motion disclosed in an embodiment of the present invention, such as Figure 5 As shown, the device also includes:

[0146] The first judgment module 304 is used to judge whether the generated escape path of the vehicle meets the predetermined escape path requirement parameters of the vehicle after the generation module 303 generates the escape path of the vehicle according to the target actual position corresponding to the vehicle and the current actual position of the vehicle;

[0147] The generating module 303 is further used to generate the vehicle's escape travel control parameters according to the vehicle's escape path when it is determined that the vehicle's escape path requirement parameters are met;

[0148] The control module 305 is used to control the vehicle to perform an escape operation according to the escape driving control parameters of the vehicle;

[0149] The generating module 303 is further used to generate a vehicle escape correction parameter according to the vehicle escape path requirement parameters and the vehicle escape path when it is determined that the vehicle escape path requirement parameters are not met;

[0150] The first correction module 306 is used to correct the vehicle's escape path according to the vehicle's escape correction parameters to obtain the corrected vehicle's escape path, and trigger the generation module 303 to execute the above-mentioned operation of generating the vehicle's escape driving control parameters according to the vehicle's escape path.

[0151] It can be seen that the implementation Figure 5The described device can, after generating an escape path, further generate corresponding escape driving control parameters when it is determined that the generated escape path meets the escape requirements, thereby improving the accuracy of generating the escape driving control parameters, thereby further improving the efficiency of vehicle escape; if it is determined that the escape requirements are not met, the escape path is corrected, thereby increasing the probability that the vehicle can successfully escape.

[0152] In another optional embodiment, Figure 5 As shown, the specific method of analyzing the target actual position where the vehicle can escape from the jam, based on the current actual position of the vehicle and the historical actual driving trajectory of the vehicle, by the analysis module 303 includes:

[0153] Generate the current virtual position of the vehicle according to the current real position of the vehicle, and generate the historical virtual driving trajectory of the vehicle according to the historical real driving trajectory of the vehicle, the current virtual position of the vehicle and the historical virtual driving trajectory of the vehicle corresponding to the same virtual coordinate system;

[0154] According to the current virtual position of the vehicle, the target virtual position at which the vehicle can escape is determined from the historical virtual driving trajectory of the vehicle, and based on the virtual coordinate system, the target virtual position of the vehicle is converted into a real position as the target real position at which the vehicle can escape.

[0155] It can be seen that the implementation Figure 5 The described device can also convert the vehicle's current real position and historical real driving trajectory into actual and virtual positions to obtain the vehicle's escape position, which can improve the accuracy and reliability of determining the vehicle's escape position, thereby helping to improve the accuracy and reliability of determining the vehicle's escape path, and further helping to improve the vehicle's escape efficiency and success probability.

[0156] In this optional embodiment, optionally, the specific manner in which the analysis module 303 determines the target virtual position where the vehicle can escape from the historical virtual driving trajectory of the vehicle according to the current virtual position of the vehicle includes:

[0157] According to a preset point selection method, at least one first escape point is selected from the historical virtual driving trajectory of the vehicle;

[0158] For any first escape point, obtaining the driving parameters of the vehicle at the first escape point and the driving parameters of the vehicle at the current virtual position;

[0159] According to the driving parameters of all the first escape points and the driving parameters of the current virtual position of the vehicle, a target virtual position where the vehicle can escape is determined from the historical virtual driving trajectory of the vehicle.

[0160] In this optional embodiment, optionally, the generation module 303 determines the target virtual position where the vehicle can escape from the historical virtual driving trajectory of the vehicle according to the driving parameters of all the first escape points and the driving parameters of the current virtual position of the vehicle, and the specific method includes:

[0161] When the types of the driving parameters of the first escape point and the types of the driving parameters of the current virtual position of the vehicle are position coordinate types, for any first escape point, the escape distance between the first escape point and the current virtual position of the vehicle is calculated according to the driving position coordinates of the first escape point and the coordinates of the current virtual position of the vehicle, and according to the escape distances corresponding to all the first escape points, at least one second escape point whose escape distance is greater than or equal to a preset escape distance (such as 50 cm) is selected from all the first escape points as the target virtual position where the vehicle can escape;

[0162] When the types of driving parameters of the first escape point and the types of driving parameters of the current virtual position of the vehicle are of time type, for any first escape point, the escape time difference between the first escape point and the current virtual position of the vehicle is calculated according to the driving time corresponding to the first escape point and the driving time corresponding to the current virtual position of the vehicle, and according to the escape time differences corresponding to all first escape points, at least one second escape point whose escape time difference is within a preset escape time range (such as 5s-10s) is selected from all the first escape points as the target virtual position where the vehicle can escape.

[0163] It can be seen that the implementation Figure 5 The described device can also select a corresponding method according to the driving parameters of the selected first escape point as time type and / or position coordinate type, to determine the virtual position at which the vehicle can escape, thereby improving the accuracy of determining the virtual escape position, which is beneficial to improving the accuracy of determining the actual position of the vehicle escape, and further beneficial to improving the accuracy of generating the vehicle's escape path, further improving the vehicle's escape efficiency, success probability and safety reliability.

[0164] In another optional embodiment, Figure 5 As shown, the device may also include:

[0165] The acquisition module 307 is used to acquire the steering wheel data of the vehicle when the vehicle is at the current actual position of the vehicle, the steering wheel data of the vehicle including the steering direction of the steering wheel of the vehicle and the steering amplitude of the steering wheel;

[0166] The second judgment module 308 is used to judge whether the steering amplitude of the vehicle on the steering wheel of the vehicle is greater than or equal to the preset steering amplitude. When the judgment result is no, the analysis module 303 is triggered to execute the above-mentioned operation of converting the target virtual position of the vehicle into a real position based on the virtual coordinate system as the target real position for the vehicle to escape from the predicament;

[0167] The second correction module 309 is used to correct the target virtual position at which the vehicle can escape based on the steering wheel data of the vehicle when the judgment result is yes, to obtain the corrected target virtual position at which the vehicle can escape, and to trigger the analysis module 303 to execute the above-mentioned operation based on the virtual coordinate system to convert the target virtual position of the vehicle into a real position as the target real position at which the vehicle can escape.

[0168] It can be seen that the implementation Figure 5 The described device can also compare the steering amplitude of the vehicle's steering wheel with a preset steering amplitude. If it is smaller, the subsequent escape path analysis operation will continue to be performed; if it is larger, the target virtual position or the target real position will be corrected based on the amplitude difference to improve the analysis accuracy and reliability of the vehicle's ability to achieve an escape position, thereby improving the analysis accuracy and reliability of the vehicle's escape trajectory, which will help to further improve the vehicle's escape efficiency, success probability and safety.

[0169] In yet another optional embodiment, Figure 5 As shown, the specific manner in which the first judgment module 304 judges whether the generated vehicle escape path meets the predetermined vehicle escape path requirement parameters includes:

[0170] Calculating a target turning value of an escape path, and determining whether the target turning value of the escape path is greater than or equal to a predetermined turning value corresponding to the vehicle;

[0171] When it is determined that the target turning value of the escape path is greater than or equal to the predetermined turning value corresponding to the vehicle, it is determined whether the vehicle will not hit the road or obstacles during the process of driving along the escape path;

[0172] When the result of the determination is yes, it is determined that the generated vehicle escape path satisfies the vehicle escape path requirement parameters determined in advance.

[0173] It can be seen that the implementation Figure 5 The described device can also judge whether the escape path generated above meets the corresponding escape requirements by comparing the turning value of the escape path with the preset turning value and analyzing the road surface and obstacles. This can improve the accuracy and reliability of the analysis of whether the escape path meets the escape requirements, thereby helping to improve the accuracy and reliability of the generation of the vehicle's escape trajectory.

[0174] In another optional embodiment, the analysis module 302 is also used to calculate the target actual position based on the corrected target virtual position and the position average based on the corrected target actual position as the target actual position at which the vehicle can escape when the target virtual position and the target actual position are simultaneously corrected based on the amplitude difference.

[0175] It can be seen that the implementation Figure 5 The described device can also obtain a more accurate position where the vehicle can escape by comparing the target actual position obtained by the corrected target virtual position with the target actual position based on the corrected target virtual position.

[0176] In yet another optional embodiment, Figure 5 As shown, the acquisition module 301 is also used to collect environmental data of the vehicle in the actual environment according to the current actual position of the vehicle, wherein the environmental data of the vehicle in the actual environment includes all environmental data such as the ground, fences, and vehicles; collect the head data of the vehicle at the current actual position;

[0177] The analysis module 302 is further used to calculate the vehicle head direction and the angle of the vehicle head direction according to the vehicle head data with the current actual position as the coordinate origin, and analyze the vehicle escape direction according to the environmental data of the vehicle in the actual environment and the vehicle head direction, wherein the escape direction at least includes the vehicle initial start escape direction;

[0178] The analysis module 302 is further used to calculate the escape direction angle between a certain coordinate axis (such as the Y axis or the X axis) of the escape direction in the coordinate system of the coordinate origin with the current actual position as the coordinate origin, and calculate the steering wheel direction angle between a certain coordinate axis (the same as the coordinate axis used above) of the steering wheel direction in the coordinate system of the coordinate origin;

[0179] The analysis module 302 is also used to calculate the angle difference between the escape direction angle and the steering wheel direction angle, and to determine whether the angle difference is less than or equal to a preset angle difference. When the judgment result is yes, the judgment module 308 is triggered to execute the above-mentioned operation of determining whether the steering amplitude of the vehicle on the steering wheel of the vehicle is greater than or equal to the preset steering amplitude; when it is judged that it is greater than the preset angle difference, the target angle difference between the preset angle difference and the angle difference is calculated, and according to the target angle difference, the environmental data and the direction of the front of the vehicle, the target virtual position where the vehicle can escape is corrected, or the target real position where the vehicle can escape is corrected.

[0180] It can be seen that the implementation Figure 5The described device can also compare the analyzed direction of escape of the vehicle with the direction of the steering wheel, and when the two are not much different, continue to perform subsequent operations in combination with the steering amplitude of the steering wheel to analyze the virtual position or real position at which the vehicle can escape, thereby improving the execution accuracy and reliability of the operation; if the two are greatly different, then based on the difference value, environmental data and the direction of the front of the vehicle, the virtual position or real position at which the vehicle can escape is corrected, further ensuring the accuracy and reliability of the analysis of the virtual position or real position at which the vehicle can escape, which is conducive to further improving the efficiency and safety of the vehicle's escape; and analyzing the direction of escape of the vehicle through the steering of the front of the vehicle and data of multiple dimensions of the vehicle's environment, improving the accuracy of the analysis of the escape direction, thereby helping to further improve the accuracy and reliability of the analysis or correction of the virtual position or real position at which the vehicle can escape.

[0181] Embodiment 3

[0182] See also Figure 6 , Figure 6 is a schematic diagram of the structure of another device for intelligently escaping a vehicle in motion disclosed in an embodiment of the present invention. The device can be applied to any vehicle control scenario that requires escaping, such as a driving training scenario or a non-driving training scenario. Figure 6 As shown, the device for intelligently escaping a vehicle in a driving process may include:

[0183] A memory 401 storing executable program codes;

[0184] a processor 402 coupled to the memory 401;

[0185] The processor 402 calls the executable program code stored in the memory 401 to execute the steps of the method for intelligently escaping a vehicle in the driving process described in the first or second embodiment of the present invention.

[0186] Embodiment 4

[0187] An embodiment of the present invention discloses a computer-readable storage medium, which stores computer instructions. When the computer instructions are called, they are used to execute the steps of the method for intelligently escaping a vehicle in a driving process described in Embodiment 1 or Embodiment 2 of the present invention.

[0188] Embodiment 5

[0189] An embodiment of the present invention discloses a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to enable a computer to execute the steps of the method for intelligently escaping a vehicle in a driving process described in Example 1 or Example 2.

[0190] The device embodiments described above are only illustrative, wherein the modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules, i.e., they may be located in one place, or they may be distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art may understand and implement it without creative work.

[0191] Through the specific description of the above embodiments, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the above technical solution can be essentially or partly contributed to the prior art in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, and the storage medium includes a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electronically erasable rewritable read-only memory (EEPROM), a compact disc (CD-ROM) or other optical disc storage, magnetic disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0192] Finally, it should be noted that the method and device for intelligently getting out of trouble for a vehicle in motion disclosed in the embodiment of the present invention only discloses the preferred embodiment of the present invention, which is only used to illustrate the technical solution of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments can still be modified, or some of the technical features therein can be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for intelligently escaping a vehicle in motion, characterized in that: The method comprises: When it is monitored that the current state of the vehicle satisfies the predetermined escape condition, the current actual position of the vehicle and the historical actual driving trajectory of the vehicle based on the current actual position of the vehicle are obtained; Analyzing the target actual position at which the vehicle can escape from the jam according to the current actual position of the vehicle and the historical actual driving trajectory of the vehicle; An escape path for the vehicle is generated according to the target actual position corresponding to the vehicle and the current actual position of the vehicle, and the escape path for the vehicle is used as a basis for the vehicle to escape from the distress.

2. The method for intelligently escaping a vehicle in motion according to claim 1, characterized in that: After generating an escape path for the vehicle according to the target actual position corresponding to the vehicle and the current actual position of the vehicle, the method further includes: Determining whether the generated escape path of the vehicle meets the predetermined escape path requirement parameters of the vehicle; When it is determined that the required parameters of the escape path of the vehicle are met, generating escape travel control parameters of the vehicle according to the escape path of the vehicle; Controlling the vehicle to perform an escape operation according to the escape driving control parameters of the vehicle; When it is determined that the required escape path parameters of the vehicle are not met, generating an escape correction parameter of the vehicle according to the required escape path parameters of the vehicle and the escape path of the vehicle; According to the vehicle's escape correction parameters, the vehicle's escape path is corrected to obtain the corrected vehicle's escape path, and the operation of generating the vehicle's escape driving control parameters according to the vehicle's escape path is performed.

3. The method for intelligently escaping a vehicle in motion according to claim 1 or 2, characterized in that: The step of analyzing the target actual position where the vehicle can escape from the jam according to the current actual position of the vehicle and the historical actual driving trajectory of the vehicle includes: Generate a current virtual position of the vehicle according to the current real position of the vehicle, and generate a historical virtual driving trajectory of the vehicle according to the historical real driving trajectory of the vehicle, wherein the current virtual position of the vehicle and the historical virtual driving trajectory of the vehicle correspond to the same virtual coordinate system; According to the current virtual position of the vehicle, the target virtual position at which the vehicle can escape is determined from the historical virtual driving trajectory of the vehicle, and based on the virtual coordinate system, the target virtual position of the vehicle is converted into a real position as the target real position at which the vehicle can escape.

4. The method for intelligently escaping a vehicle in motion according to claim 3, characterized in that: The step of determining a target virtual position where the vehicle can escape from a historical virtual driving trajectory of the vehicle based on the current virtual position of the vehicle includes: Selecting at least one first escape point from the historical virtual driving trajectory of the vehicle according to a preset point selection method; For any of the first escape points, obtaining driving parameters of the vehicle at the first escape point and driving parameters of the current virtual position of the vehicle; According to the driving parameters of all the first escape points and the driving parameters of the current virtual position of the vehicle, a target virtual position where the vehicle can escape is determined from the historical virtual driving trajectory of the vehicle.

5. The method for intelligently escaping a vehicle in motion according to claim 4, characterized in that: The step of determining a target virtual position where the vehicle can escape from a historical virtual driving trajectory of the vehicle based on the driving parameters of all the first escape points and the driving parameters of the current virtual position of the vehicle comprises: When the types of the driving parameters of the first escape point and the types of the driving parameters of the current virtual position of the vehicle are position coordinate types, for any of the first escape points, the escape distance between the first escape point and the current virtual position of the vehicle is calculated according to the driving position coordinates of the first escape point and the coordinates of the current virtual position of the vehicle, and according to the escape distances corresponding to all the first escape points, at least one second escape point whose escape distance is greater than or equal to the preset escape distance is selected from all the first escape points as the target virtual position where the vehicle can escape; When the types of driving parameters of the first escape point and the types of driving parameters of the current virtual position of the vehicle are of time type, for any first escape point, the escape time difference between the first escape point and the current virtual position of the vehicle is calculated according to the driving time corresponding to the first escape point and the driving time corresponding to the current virtual position of the vehicle, and according to the escape time differences corresponding to all the first escape points, at least one second escape point whose escape time difference is within the preset escape time range is selected from all the first escape points as the target virtual position where the vehicle can escape.

6. The method for intelligently escaping a vehicle in motion according to any one of claims 3 to 5, characterized in that: The method further comprises: Collecting steering wheel data of the vehicle when the vehicle is at the current actual position of the vehicle, the steering wheel data of the vehicle including the steering direction of the steering wheel of the vehicle and the steering amplitude of the steering wheel; Determine whether the steering amplitude of the vehicle on the steering wheel of the vehicle is greater than or equal to a preset steering amplitude, and when the determination result is no, trigger the execution of the operation of converting the target virtual position of the vehicle into a real position based on the virtual coordinate system as the target real position for the vehicle to achieve escape; When the judgment result is yes, based on the steering wheel data of the vehicle, the target virtual position at which the vehicle can escape is corrected to obtain the corrected target virtual position at which the vehicle can escape, and the operation of converting the target virtual position of the vehicle into a real position based on the virtual coordinate system is triggered to achieve the target real position at which the vehicle can escape.

7. The method for intelligently escaping a vehicle in motion according to any one of claims 2, 4 and 5, characterized in that: The determining whether the generated escape path of the vehicle meets the predetermined escape path requirement parameters of the vehicle includes: Calculating a target turning value of the escape path, and determining whether the target turning value of the escape path is greater than or equal to a predetermined turning value corresponding to the vehicle; When it is determined that the target turning value of the escape path is greater than or equal to the predetermined turning value corresponding to the vehicle, it is determined whether the vehicle will not hit any obstacles along the road or on the road during the vehicle's travel along the escape path; When the result of the judgment is yes, it is determined that the generated escape path of the vehicle meets the predetermined escape path requirement parameters of the vehicle.

8. A device for intelligently escaping a vehicle in motion, characterized in that: The device comprises: An acquisition module, for acquiring the current actual position of the vehicle and the historical actual driving trajectory of the vehicle based on the current actual position of the vehicle when it is monitored that the current state of the vehicle satisfies the predetermined escape condition; An analysis module, used for analyzing a target actual position where the vehicle can escape from the jam according to the current actual position of the vehicle and the historical actual driving trajectory of the vehicle; A generation module is used to generate an escape path for the vehicle according to the target actual position corresponding to the vehicle and the current actual position of the vehicle, and the escape path for the vehicle is used as a basis for the vehicle to escape from the distress.

9. A device for intelligently escaping a vehicle in motion, characterized in that: The device comprises: A memory storing executable program code; a processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the method for intelligently escaping a vehicle in a driving process as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, which, when called, are used to execute the method for intelligently escaping a vehicle in a driving process as described in any one of claims 1-7.

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