Self-driving vehicle escape method and computer equipment

Abstract

The invention provides an automatic driving vehicle escape method and computer equipment, and the method comprises the steps: carrying out the accident judgment of a vehicle according to the speed change of the vehicle, i.e., determining that an accident does not occur if the acceleration error between the acceleration at the current moment and the acceleration at the last moment is smaller than the lower limit value of a set threshold range; if the acceleration error is greater than or equal to the upper limit value of the threshold range and the driving speed does not exist, determining that a serious accident occurs; if the acceleration error is within the threshold range and the driving speed exists, determining that a slight accident occurs; determining a steering strategy corresponding to the current accident degree; wherein the steering strategy is used for indicating main wheels, auxiliary wheels and wheel control information; controlling and executing wheel steering operation according to the steering strategy until the vehicle is out of trouble. According to the method, different steering strategies can be intelligently provided to improve the autonomous escape ability of the autonomous vehicle when the autonomous vehicle is trapped in an accident, a secondary accident is avoided in the escape process, and the safety performance of automatic driving is improved.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and in particular to an autonomous driving vehicle escape method and computer equipment. Background Art

[0002] As an important application in the current field of artificial intelligence, autonomous driving technology, especially unmanned driving, has attracted extensive research and development. In the autonomous driving system, vehicle escape is a complex process. When an autonomous driving vehicle is trapped in an accident, it is often difficult for them to escape from danger quickly and effectively without human intervention, which not only increases the risk of secondary accidents, but may also cause more serious damage.

[0003] Therefore, there is an urgent need for a solution to quickly and effectively free an autonomous vehicle when it is trapped in an accident, so as to minimize potential losses. Summary of the invention

[0004] In view of this, one of the purposes of the present invention is to provide an autonomous driving vehicle escape method and computer equipment, which are used to improve the autonomous escape capability of the autonomous driving vehicle when it is trapped in an accident, while avoiding the problem of secondary accidents during the escape process and improving the safety performance of autonomous driving.

[0005] In a first aspect, the present invention provides a method for an autonomous driving vehicle to escape from an accident, the method comprising: making an accident judgment on the vehicle according to a change in the speed of the vehicle, including: obtaining an acceleration error between the acceleration at a current moment and the acceleration at a previous moment; if the acceleration error is less than a lower limit value of a set threshold range, determining that the vehicle has not had an accident; if the acceleration error is greater than or equal to an upper limit value of the threshold range and there is no driving speed, determining that the vehicle has had a serious accident; if the acceleration error is within the threshold range and there is a driving speed, determining that the vehicle has had a minor accident; determining a steering strategy corresponding to the current degree of the accident; wherein the steering strategy is used to indicate the dominant wheel, auxiliary wheel and wheel control information; and controlling the execution of wheel steering operations according to the steering strategy until the vehicle escapes from the accident.

[0006] In an optional embodiment, the steering strategy corresponding to the current accident severity is determined, including: if it is a minor accident, determining that the wheel closest to the accident location is an auxiliary wheel, and using the wheel at a diagonal position of the auxiliary wheel as the dominant wheel to generate the wheel control information.

[0007] In an optional embodiment, the wheel steering operation is performed according to the steering strategy control until the vehicle is out of trouble, including: according to the wheel control information, the dominant wheel is controlled to steer in a direction away from the accident location, and according to the steering of the dominant wheel and the dynamic response of the vehicle, the steering of the auxiliary wheel is controlled and adjusted.

[0008] In an optional embodiment, determining the steering strategy corresponding to the current accident severity also includes: if it is a serious accident, determining whether the wheel can execute a steering command; if the steering command cannot be executed, generating wheel control information for the trapped wheel when the state of the trapped wheel meets a preset condition; wherein the preset condition is: there is only one trapped wheel, or the trapped wheels are two wheels located on the same side of the vehicle; if the steering command can be executed, determining the wheel farthest from the accident location as the dominant wheel, and the remaining wheels as auxiliary wheels, and generating wheel control information.

[0009] In an optional embodiment, the wheel steering operation is executed according to the steering strategy control until the vehicle is out of trouble, including: if the steering command cannot be executed, adjusting the steering angle of the trapped wheel according to the wheel control information so that the trapped wheel is at the optimal escape angle.

[0010] In an optional embodiment, the wheel steering operation is executed according to the steering strategy control until the vehicle is out of trouble, and also includes: if the steering command can be executed, the dominant wheel is controlled to steer in a direction away from the accident location according to the wheel control information, and the steering of the remaining wheels is adjusted according to the steering of the dominant wheel and the dynamic response control of the vehicle.

[0011] In an optional implementation, determining the steering strategy corresponding to the current accident severity further includes: when the state of the trapped wheel does not satisfy a preset condition, determining that the vehicle cannot escape and outputting an alarm message.

[0012] In an optional embodiment, before determining whether the wheels can execute a steering command, the method further includes: activating an emergency escape mode; if it is detected that the vehicle has a steering failure or a drive failure, or if it is detected that the vehicle does not have escape conditions, exiting the emergency escape mode and outputting an alarm message.

[0013] In a second aspect, the present invention provides a computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the computer program is executed by the processor, the method for getting an autonomous driving vehicle out of trouble as described in any of the aforementioned embodiments is implemented.

[0014] An automatic driving vehicle escape method and computer device provided by an embodiment of the present invention monitors the change of vehicle speed in real time. If the acceleration error between the acceleration at the current moment and the acceleration at the previous moment is less than the lower limit of the set threshold range, it is determined that no accident has occurred; if the acceleration error is greater than or equal to the upper limit of the threshold range and there is no driving speed, it is determined that a serious accident has occurred; if the acceleration error is within the threshold range and there is a driving speed, it is determined that a minor accident has occurred, so that it can quickly identify whether the vehicle has an accident and the severity of the accident, so as to start the corresponding safety measures in the first time. Once the severity of the vehicle accident is determined, a steering strategy that matches the degree of the accident will be intelligently selected. The steering strategy not only clearly indicates which wheels should be used as the dominant steering and which wheels should be used as the follow-up steering, but also provides accurate navigation for the vehicle's autonomous escape, ensuring that the vehicle can continue to follow the established strategy until it is completely out of trouble. This intelligent strategy selection can improve the autonomous escape capability of the automatic driving vehicle when it is trapped in an accident. Through precise steering control and strategy implementation, it can also avoid the problem of secondary accidents during the escape process, thereby improving the safety performance of automatic driving.

[0015] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0017] Figure 1 A schematic flow chart of a method for escaping an autonomous driving vehicle provided by an embodiment of the present invention; Figure 2 This is an example diagram of a vehicle escaping from a minor scratch provided by an embodiment of the present invention; Figure 3 An example diagram of a vehicle escaping from a severe collision provided by an embodiment of the present invention; Figure 4 This is an example diagram of a vehicle getting out of trouble when it is stuck, provided by an embodiment of the present invention; Figure 5 An example diagram of a process of an autonomous driving vehicle getting out of trouble provided by an embodiment of the present invention; Figure 6 A structural block diagram of a computer device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions 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. The components of the embodiments of the present invention generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present invention.

[0019] Considering that when an autonomous driving vehicle is trapped in an accident, it is often difficult to escape from danger quickly and effectively without human intervention. Based on this, an embodiment of the present invention provides an autonomous driving wheel escape method and vehicle, which are described below through embodiments.

[0020] It should be noted that the so-called "trapped" in the embodiments of the present invention can cover two situations: a serious accident occurs to the vehicle and the vehicle cannot move; a minor accident occurs to the vehicle, resulting in a deterioration of the vehicle's driving environment, but the vehicle can still continue to drive.

[0021] See also Figure 1 , Figure 1 A schematic flowchart of a method for getting an autonomous driving vehicle out of trouble provided by an embodiment of the present invention, the method may be implemented by a computer device.

[0022] Optionally, the vehicle involved in the embodiment of the present invention may be, but is not limited to, an unmanned vehicle. The vehicle may be a three-wheeled vehicle or a four-wheeled vehicle. The embodiment of the present invention preferentially applies the method for getting out of trouble for an autonomous driving vehicle to a four-wheeled vehicle.

[0023] like Figure 1 As shown, the method mainly includes steps S101 to S103, which are described as follows: S101: Determine an accident of the vehicle according to the speed change of the vehicle, including: obtaining an acceleration error between the acceleration at the current moment and the acceleration at the previous moment; if the acceleration error is less than the lower limit of the set threshold range, it is determined that the vehicle has not had an accident; if the acceleration error is greater than or equal to the upper limit of the threshold range and there is no driving speed, it is determined that the vehicle has had a serious accident; if the acceleration error is within the threshold range and there is a driving speed, it is determined that the vehicle has had a minor accident; S102: Determine a steering strategy corresponding to the current accident severity; The steering strategy is used to indicate the dominant wheel, auxiliary wheel and wheel control information; S103: Execute wheel steering operation according to the steering strategy control until the vehicle is out of trouble.

[0024] The above-mentioned automatic driving vehicle escape method provided by the embodiment of the present invention determines the accident of the vehicle by monitoring the speed change of the vehicle, specifically including: obtaining the acceleration error between the acceleration at the current moment and the acceleration at the previous moment; if the acceleration error is less than the lower limit of the set threshold range, it is determined that the vehicle has not had an accident; if the acceleration error is greater than or equal to the upper limit of the threshold range and there is no driving speed, it is determined that the vehicle has had a serious accident; if the acceleration error is within the threshold range and there is a driving speed, it is determined that the vehicle has had a minor accident, so that the device can identify whether the vehicle has encountered an accident and the severity of the accident in the first time, and then quickly trigger the corresponding safety measures. When the system determines the degree of the accident, it will determine a steering strategy corresponding to the current degree of the accident, which means that different degrees of accidents require different steering strategies, and the steering strategy can indicate which vehicles are in the leading steering and which wheels are in the following steering, providing precise guidance for the vehicle to escape autonomously, ensuring that the vehicle can continue to act according to the established strategy until it is completely out of trouble. This intelligent strategy selection can improve the autonomous driving vehicle's ability to escape from an accident. Through precise steering control and strategy implementation, it can also avoid secondary accidents during the escape process, thereby improving the safety performance of autonomous driving.

[0025] Next, the embodiment of the present invention will introduce and illustrate the above steps S101 to S103 in detail with reference to the relevant drawings.

[0026] In step S101, the embodiment of the present invention uses speed changes to determine whether the vehicle is currently in an accident and the severity of the accident. It is easy to understand that the vehicle driving data can be obtained during the driving process.

[0027] Among them, the vehicle driving data can be data collected by various sensors on the vehicle during the driving process, such as but not limited to driving speed, wheel angle, surrounding obstacles, etc. The type and quantity of vehicle driving data obtained can be set according to actual conditions, and no specific limitation is made here.

[0028] Optionally, according to the data type required by the accident severity, the vehicle driving data corresponding to the above data type can be read from the vehicle data storage or CAN bus. The accident severity determination can be based on comparing the acquired vehicle speed information with the corresponding threshold data, so as to determine whether the vehicle is currently in an accident or the severity of the accident.

[0029] In the embodiment of the present invention, when the speed change is used to determine the current accident degree of the vehicle, the vehicle's driving speed and acceleration are obtained. The vehicle's driving speed can be the actual speed of the vehicle during the driving process, which can be read from the vehicle's dashboard. The acceleration mainly includes the acceleration at the current moment and the acceleration at the previous moment. The acceleration can be obtained by an acceleration sensor installed on the vehicle.

[0030] In the embodiment of the present invention, the threshold range includes an upper limit value and a lower limit value, which is expressed as [a, b]. The driver can flexibly set the threshold range according to actual needs, which is not limited here.

[0031] For example, as an example, the threshold range can be set to [0.1, 0.3). Under this setting, if the acceleration error is lower than 0.1, it will be determined that the vehicle has not encountered an accident, so the current driving plan can be maintained and the vehicle can continue to move forward. On the contrary, if the acceleration error is greater than or equal to 0.3 and the vehicle's driving speed drops to zero, this indicates that the vehicle may have a serious accident, such as a collision, and is currently trapped; when the acceleration error falls within the interval [0.1, 0.3) and the vehicle's driving speed is not zero, it is considered that the vehicle may have a minor accident, such as a minor scratch.

[0032] In other implementations, the device may also combine the vehicle's GPS data and the image information from the vehicle-mounted camera to make an accident determination. For details, please refer to the prior art and will not be described in detail here.

[0033] The threshold setting and acceleration error analysis provided by the above-mentioned implementation method can accurately and timely identify the accident and the severity of the accident, and then corresponding steering measures can be taken according to the judgment result to ensure that the vehicle can escape in time.

[0034] In step S101, if it is determined that the vehicle has not had an accident, for example, no scratches or collisions have occurred, then subsequent steps may not be performed and the vehicle continues to travel. If it is determined that the vehicle has had an accident, step S102 may be performed.

[0035] In step S102, the embodiment of the present invention can formulate corresponding steering strategies for different accident degrees. The steering strategy is used to indicate the leading wheel, the auxiliary wheel and the steering control information for the leading wheel. This can be understood as follows: after an accident occurs, the leading wheel will first perform a steering operation according to the steering control information, and the auxiliary wheel will follow; the role of the steering control information is to keep the leading wheel away from the accident location during the steering process.

[0036] In the first application scenario of the embodiment of the present invention, a minor accident such as a minor scratch is considered. In this case, the steering strategy designed by the embodiment of the present invention is to determine the wheel closest to the accident location as the auxiliary wheel, and the wheel at the diagonal position of the auxiliary wheel as the dominant wheel, and generate wheel control information to ensure that the vehicle can safely and effectively move away from the accident location.

[0037] Optionally, the steering control information of the dominant wheel can be determined based on a series of comprehensive parameters, including the current angle of the wheel, vehicle speed information, and the driving state of the vehicle. These information work together to provide the dominant wheel with steering instructions such as precise steering direction and target steering angle.

[0038] Based on the above steering strategy, in an embodiment of the present invention, step S103 can be implemented in the following manner: according to the wheel control information, the dominant wheel is controlled to steer in a direction away from the accident location, and the steering of the auxiliary wheel is synchronously adjusted according to the steering of the dominant wheel and the dynamic response of the vehicle. Such a collaborative control strategy ensures the stability and consistency of the vehicle during the steering process. The vehicle can not only autonomously and quickly escape from a minor accident, but also minimize secondary damage during the escape process.

[0039] For ease of understanding, the following example assumes a minor scratch. Figure 2 , Figure 2 This is an example diagram of a vehicle escaping from a minor scratch provided by an embodiment of the present invention. It should be understood that Figure 2 A four-wheeled vehicle is used as an example for explanation, but this is not a limitation on the vehicles to which this solution can be applied.

[0040] exist Figure 2 In the process, the vehicle can first identify the location of the scratch, and then determine that the theoretical scratch position is closest to the left front wheel. Then the wheel farthest away is the right rear wheel at the diagonal position of the left front wheel. Different steering controls are performed on the left front wheel and the right rear wheel respectively, which has the highest efficiency in getting out of trouble. In addition, the steering dominated by the farthest wheel is safer, less restricted, and less likely to cause secondary scratches.

[0041] Through the above implementation, when a minor accident occurs to the vehicle, the steering response of the vehicle is optimized through precise wheel control, and the coordinated work of the leading wheels and the auxiliary wheels enables the vehicle to adjust its direction quickly and smoothly after a minor accident to avoid further damage.

[0042] It can be seen from the above embodiments that after determining that the vehicle has a minor accident, the vehicle can first determine the accident location, and then determine which wheels serve as leading wheels and which serve as auxiliary wheels.

[0043] Optionally, the vehicle can utilize the equipped vision sensor to identify the accident location through visual recognition technology.

[0044] Through the above implementation, the vehicle can use the wheel that is farthest away to dominate the steering, and the wheel at the accident location can follow, so as to get away from the scratched surface as quickly as possible to avoid expanding the damaged area.

[0045] In the second application scenario of the embodiment of the present invention, a serious accident of the vehicle is considered, such as a collision causing the vehicle to stop. In this case, the embodiment of the present invention formulates a steering strategy based on whether the wheel can execute the steering command.

[0046] First, the embodiment of the present invention considers that the wheels can execute steering commands. In this case, the steering strategy designed by the embodiment of the present invention is: the wheel farthest from the accident location is determined as the dominant wheel, and the remaining wheels are auxiliary wheels, and wheel control information is generated.

[0047] Based on this steering strategy, in an embodiment of the present invention, step S103 can be implemented in the following manner: according to the wheel control information, the dominant wheel is controlled to steer in a direction away from the accident location, and according to the steering of the dominant wheel and the dynamic response of the vehicle, the steering of the remaining wheels is synchronously controlled and adjusted, so that the vehicle can move away from the accident location as quickly as possible, and the remaining wheels can also assist the vehicle in getting out of trouble by following the steering.

[0048] For an intuitive understanding, see Figure 3 , Figure 3 An example diagram of a vehicle escaping from a severe collision provided by an embodiment of the present invention. Figure 3 In the process, the vehicle can first identify the collision position, and then determine that the left rear wheel is the farthest from the collision position, then perform steering control on the left rear wheel, and the remaining wheels follow, to assist the vehicle to quickly escape.

[0049] The above implementation method optimizes the steering control of the wheels to guide the vehicle safely out of the accident location. The selection of the leading wheels ensures the stability and controllability of the vehicle during steering, while the coordinated action of the auxiliary wheels further enhances the maneuverability and flexibility of the vehicle.

[0050] Secondly, the embodiment of the present invention considers that the wheel cannot execute the steering command. In this case, the embodiment of the present invention will formulate a steering strategy based on the state of the trapped wheel.

[0051] On the one hand, if the state of the trapped wheel meets the preset conditions, the steering strategy provided by the embodiment of the present invention is to generate wheel control information of the trapped wheel. At this time, the trapped wheel is the dominant wheel, and the auxiliary wheel is not designated. The preset conditions designed in the embodiment of the present invention are: there is only one trapped wheel or the trapped wheels are two wheels located on the same side of the vehicle.

[0052] During the escape process, the vehicle can adjust the steering angle of the trapped wheel according to the control information of the trapped vehicle, so that the trapped wheel is at the best escape angle. The "best escape angle" is defined as the angle at which the trapped wheel has the largest contact area with the edge of the road when the vehicle is moving forward. This design can maximize friction and effectively assist the vehicle in getting out of trouble.

[0053] On the other hand, if the state of the trapped wheel fails to meet the above-mentioned preset conditions, it indicates that the vehicle may not be able to complete the escape process independently. In this case, the embodiment of the present invention will promptly trigger the alarm mechanism and output a warning message to remind the driver to intervene and take manual intervention measures to help the vehicle escape from the predicament.

[0054] For an intuitive understanding, see Figure 4 , Figure 4 This is an example diagram of a vehicle getting out of a jam provided by an embodiment of the present invention. Figure 4 in Figure 4 In the scenario shown, the system first recognizes that the right front wheel and right rear wheel of the vehicle are stuck. Then, the system will synchronously adjust the steering angles of these two wheels to achieve the best escape angle, thereby assisting the vehicle to escape smoothly.

[0055] Through the above implementation, the embodiment of the present invention can formulate different steering strategies for minor accidents and serious accidents respectively, so that the vehicle can escape from trouble autonomously and quickly according to the steering strategy, and can avoid secondary injuries during the escape process.

[0056] In one embodiment of the present invention, if a serious accident occurs, before formulating a steering strategy, the following implementation methods may also be performed: Step a1: Activate emergency escape mode; Step a2: If a steering fault or a driving fault is detected in the vehicle, or if it is detected that the vehicle does not have the conditions for escaping, the emergency escape mode is exited and an alarm message is output.

[0057] In the embodiment of the present invention, when the emergency escape mode is activated, it is detected whether the vehicle has the ability to steer and drive. If the vehicle loses the ability to steer or drive, it means that the vehicle is currently unable to escape by itself. In this case, the system will exit the emergency escape mode and prompt the driver to intervene in time to manually help the vehicle escape. If the vehicle is confirmed to have the ability to steer and drive, the system will further collect vehicle status information to more accurately determine whether the vehicle meets the escape conditions.

[0058] In the embodiment of the present invention, the so-called escape conditions include but are not limited to: the vehicle's drive shaft is not broken, the motor is running normally, the wheels are not all stuck, the vehicle body is not trapped, etc. If any of these conditions is not met, it means that the vehicle lacks the escape conditions, and the system will also exit the emergency escape mode, requiring the driver's timely intervention.

[0059] Once the system determines that the vehicle is ready for escape, it will collect information about the vehicle's gear position, speed, and other driving information that may be helpful in escaping the situation. Using this information, the system will plan an escape route. To avoid a secondary accident, the escape route will be planned in a direction away from the accident site.

[0060] In order to facilitate the overall understanding of the embodiments of the present invention, the escape process provided by the embodiments of the present invention is described again in the following two scenarios: a minor scratch and a serious collision. Figure 5 , Figure 5 An example diagram of a process of an autonomous driving vehicle getting out of trouble provided by an embodiment of the present invention, the main process includes: The accelerations at the current moment and the previous moment are obtained and the acceleration error is calculated to determine whether the acceleration error is less than 0.1. If so, it means that the vehicle has not had an accident and continues to drive; if not, continue to determine whether the acceleration error is less than 0.3. If so, it means that the vehicle has had a slight scratch, identify the scratch position, and let the wheel farthest from the position take the lead in steering, and the vehicle closest to the position follows until it is far away from the scratch position; if the acceleration error is greater than or equal to 0.3, first determine whether the wheel can execute the steering command. If the steering command can be executed, it means that the vehicle has had a serious collision, and the wheel farthest from the collision position will take the lead in steering, and the other wheels will follow until they are far away from the collision position; if the steering command cannot be executed, determine whether the number of stuck vehicles is 1 or two wheels on the same side. If not, it means that the vehicle cannot get out of trouble, and turn on the double flash alarm; if so, adjust the turning angle of the stuck vehicle to achieve the best escape angle to assist the vehicle in getting out of trouble.

[0061] Through the above-mentioned implementation modes, the embodiments of the present invention not only improve the self-rescue efficiency of the vehicle in an emergency situation, but also minimize the secondary damage in the process of getting out of trouble, improve the safety and autonomy of the autonomous driving vehicle, and provide technical support for the vehicle's driving in complex road conditions.

[0062] Based on the above analysis, it can be seen that the automatic driving vehicle escape method provided by the embodiment of the present invention can use the change of vehicle speed (including driving speed and acceleration) to monitor whether the vehicle has an accident and the severity of the accident, so as to ensure that the corresponding steering measures can be initiated in the first time. Secondly, for minor accidents, the embodiment of the present invention uses the two vehicles with the closest and farthest distances to perform different steering controls, which has the highest escape efficiency, and the farthest wheel is safer, less restricted, and less prone to secondary scratches. For serious accidents, the embodiment of the present invention can use the wheel farthest from the accident location to lead the steering when the wheel has the steering ability, and the remaining vehicles follow the steering to complete the escape together. For the situation where the wheel has lost the steering ability, the embodiment of the present invention can adjust the steering angle of the trapped wheel when the trapped wheel meets the conditions to complete the escape. The entire escape process can be completed autonomously by the vehicle, improving the autonomous escape ability of the automatic driving vehicle when it is trapped in an accident, and avoiding the problem of secondary accidents during the escape process, thereby improving the safety performance of automatic driving.

[0063] The embodiment of the present invention may also provide an autonomous driving vehicle escape device, which may be specific hardware on the vehicle or software or firmware installed on the vehicle. The autonomous driving vehicle escape device provided by the embodiment of the present invention has the same implementation principle and technical effects as those of the aforementioned method embodiment. For the sake of brief description, for matters not mentioned in the device embodiment, reference may be made to the corresponding contents in the aforementioned method embodiment. Those skilled in the art may clearly understand that, for the convenience and brevity of description, the specific working processes of the aforementioned systems, devices, and units may all refer to the corresponding processes in the aforementioned method embodiment, and will not be repeated here.

[0064] See also Figure 6 , Figure 6 The computer device 60 provided in the embodiment of the present invention includes a memory 601, a processor 602, and a communication interface 603. The memory 601, the processor 602, and the communication interface 603 are electrically connected to each other directly or indirectly to realize data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines.

[0065] Optionally, the bus can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0066] In the embodiment of the present invention, the processor 602 may be a general-purpose processor, a digital signal processor, an application-specific integrated circuit, a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component, and may implement or execute the methods, steps, and logic block diagrams disclosed in the embodiment of the present invention. A general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of the method disclosed in the embodiment of the present invention may be directly embodied as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor. The software module may be located in the memory 601, and the processor 602 reads the program instructions in the memory 601 and completes the steps of the above method in combination with its hardware.

[0067] In the embodiment of the present invention, the memory 601 may be a non-volatile memory, such as a hard disk (HDD) or a solid-state drive (SSD), etc., or a volatile memory (Volatile Memory), such as RAM. The memory may also be any other medium that can be used to carry or store the desired program executable code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory in the embodiment of the present invention may also be a circuit or any other device that can realize a storage function, for storing instructions and / or data.

[0068] The memory 601 can be used to store software programs and modules, such as the instructions / modules of the automatic driving vehicle escape device provided in the embodiment of the present invention, which can be stored in the memory 601 in the form of software or firmware (Firmware) or fixed in the operating system (OS) of the computer device 60. The processor 602 executes various functional applications and data processing by executing the software programs and modules stored in the memory 601. The communication interface 603 can be used to communicate signaling or data with other node devices.

[0069] Understandably, Figure 6 The structure shown is for illustration only. The computer device 60 may also include Figure 6 More or fewer components as shown, or with Figure 6 Different configurations are shown. Figure 6 The components shown may be implemented in hardware, software or a combination thereof.

[0070] Based on the above embodiments, the present invention further provides a storage medium, in which a computer program is stored. When the computer program is executed by a computer, the computer executes the automatic driving vehicle escape method provided in the above embodiments. For specific implementation, please refer to the method embodiment, which will not be repeated here.

[0071] Based on the above embodiments, the embodiments of the present invention further provide a computer program, which, when executed on a computer, enables the computer to execute the autonomous driving vehicle escape method provided in the above embodiments. The specific implementation can be found in the method embodiments, which will not be described in detail here.

[0072] The present invention also provides a computer program product, including instructions, which, when executed on a computer, enable the computer to execute the automatic driving vehicle escape method provided in the above embodiment. The specific implementation can be found in the method embodiment, which will not be described in detail here.

[0073] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by instructions. These instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0074] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0075] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0076] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A method for escaping an autonomous driving vehicle, characterized in that: The method comprises: Determining an accident of the vehicle according to the speed change of the vehicle includes: obtaining an acceleration error between the acceleration at the current moment and the acceleration at the previous moment; if the acceleration error is less than a lower limit of a set threshold range, determining that the vehicle has not had an accident; if the acceleration error is greater than or equal to an upper limit of the threshold range and there is no driving speed, determining that the vehicle has had a serious accident; if the acceleration error is within the threshold range and there is a driving speed, determining that the vehicle has had a minor accident; Determine a steering strategy corresponding to the current accident severity; wherein the steering strategy is used to indicate the leading wheel, the auxiliary wheel, and wheel control information; The wheel steering operation is performed according to the steering strategy control until the vehicle is out of trouble.

2. The method for escaping an automatic driving vehicle according to claim 1, characterized in that: Determine the steering strategy corresponding to the current accident severity, including: If it is the minor accident, the wheel closest to the accident location is determined to be the auxiliary wheel, the wheel at the diagonal position of the auxiliary wheel is used as the dominant wheel, and the wheel control information is generated.

3. The method for escaping an automatic driving vehicle according to claim 2, characterized in that: The wheel steering operation is performed according to the steering strategy control until the vehicle is out of trouble, including: According to the wheel control information, the leading wheel is controlled to steer in a direction away from the accident location, and according to the steering of the leading wheel and the dynamic response of the vehicle, the steering of the auxiliary wheel is controlled and adjusted.

4. The method for escaping an automatic driving vehicle according to claim 1, characterized in that: Determine the steering strategy corresponding to the current accident severity, including: If it is the serious accident, determining whether the wheels can execute the steering command; If the steering command cannot be executed, the wheel control information of the trapped wheel is generated when the state of the trapped wheel meets the preset condition; wherein the preset condition is: there is only one trapped wheel, or the trapped wheels are two wheels located on the same side of the vehicle; If the steering command can be executed, the wheel farthest from the accident location is determined as the dominant wheel, and the remaining wheels are auxiliary wheels, and wheel control information is generated.

5. The method for escaping an automatic driving vehicle according to claim 4, characterized in that: The wheel steering operation is performed according to the steering strategy control until the vehicle is out of trouble, including: If the steering command cannot be executed, the turning angle of the trapped wheel is adjusted according to the wheel control information so that the trapped wheel is at the best escape angle.

6. The method for escaping an automatic driving vehicle according to claim 4, characterized in that: The wheel steering operation is performed according to the steering strategy control until the vehicle is out of trouble, and further includes: If the steering command can be executed, the dominant wheel is controlled to steer in a direction away from the accident location according to the wheel control information, and the steering of the remaining wheels is adjusted according to the steering of the dominant wheel and the dynamic response control of the vehicle.

7. The method for escaping an automatic driving vehicle according to claim 4, characterized in that: Determine the steering strategy corresponding to the current accident severity, including: When the state of the trapped wheel does not meet the preset conditions, it is determined that the vehicle cannot be freed and an alarm message is output.

8. The method for escaping an automatic driving vehicle according to any one of claims 4 to 6, characterized in that: Before determining whether the wheel can execute the steering command, the method further includes: Activate emergency escape mode; If it is detected that the vehicle has a steering fault or a driving fault, or if it is detected that the vehicle does not have an escape condition, the emergency escape mode is exited and an alarm message is output.

9. A computer device, characterized in that: The method comprises a memory, a processor and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, the method for escaping an autonomous driving vehicle as described in any one of claims 1 to 8 is implemented.

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