Method and device for assisting vehicle in getting out of trouble

Abstract

According to the embodiment of the invention, the invention provides a method and a device for assisting a vehicle in getting out of trouble. The method includes receiving an assistance request from a vehicle, the assistance request indicating a query associated with a trapped scene of the vehicle; presenting a group of controls corresponding to the inquiry indicated by the assistance request; and sending an assistance message to the vehicle based on a selection for a first control of the set of controls, the assistance message including a reply corresponding to the query. Therefore, according to the embodiment of the invention, the vehicle can be more efficiently assisted to escape, and the assistance cost is reduced.

Description

Technical Field

[0001] Example embodiments of the present disclosure generally relate to the field of computers, and in particular, to methods, devices, equipment, computer-readable storage media, and computer program products for assisting a vehicle to get out of trouble. Background Art

[0002] Autopilot is a technology that uses a computer to replace a human driver or assist a human driver to perceive the surrounding environment of a vehicle, plan the vehicle's movement trajectory, and control the vehicle to reach a specified destination.

[0003] During the driving process of an autonomous vehicle, due to some sudden factors, the autonomous vehicle may be in a trapped state and may not be able to get out of such a trapped state independently. In this case, how to efficiently help the autonomous vehicle get out of trouble is an important link in improving driving safety and reliability. Summary of the Invention

[0004] In a first aspect of the present disclosure, a method for assisting a vehicle to get out of trouble is provided. The method includes: receiving an assistance request from the vehicle, the assistance request indicating an inquiry associated with the trapped scenario of the vehicle; presenting a set of controls corresponding to the inquiry indicated by the assistance request; and based on a selection of a first control in the set of controls, sending an assistance message to the vehicle, the assistance message including a reply corresponding to the inquiry.

[0005] In a second aspect of the present disclosure, a method for getting out of trouble is provided. The method includes: determining whether the trapped scenario of the vehicle matches a set of preset scenarios; in response to the trapped scenario matching the set of preset scenarios, sending a first assistance request to a remote device, the first assistance request indicating an inquiry associated with the trapped scenario of the vehicle; and receiving a first assistance message for guiding the vehicle to get out of trouble from the remote device, the first assistance message including a reply corresponding to the inquiry.

[0006] In a third aspect of the present disclosure, a device for assisting a vehicle to get out of trouble is provided. The device includes: a first receiving module configured to receive an assistance request from the vehicle, the assistance request indicating an inquiry associated with the trapped scenario of the vehicle; a control presenting module configured to present a set of controls corresponding to the inquiry indicated by the assistance request; and a first sending module configured to, based on a selection of a first control in the set of controls, send an assistance message to the vehicle, the assistance message including a reply corresponding to the inquiry.

[0007] In a fourth aspect of the present disclosure, a device for escaping from a distress is provided. The device comprises: a scene matching module configured to determine whether the distress scene of the vehicle matches a set of preset scenes; a second sending module configured to send a first assistance request to a remote device in response to the distress scene matching the set of preset scenes, the first assistance request indicating an inquiry associated with the distress scene of the vehicle; and a second receiving module configured to receive a first assistance message for guiding the vehicle to escape from distress from the remote device, the first assistance message including a reply corresponding to the inquiry.

[0008] In a fifth aspect of the present disclosure, an electronic device is provided. The device includes at least one processing unit; and at least one memory, the at least one memory is coupled to the at least one processing unit and stores instructions for execution by the at least one processing unit. When the instructions are executed by the at least one processing unit, the device executes the method of the first aspect or the second aspect.

[0009] In a sixth aspect of the present disclosure, a computer-readable storage medium is provided, wherein a computer program is stored on the computer-readable storage medium, and the computer program can be executed by a processor to implement the method of the first aspect or the second aspect.

[0010] In a seventh aspect of the present disclosure, a computer program product is provided, which includes computer executable instructions, and when the computer executable instructions are executed by a processor, the method of the first aspect or the second aspect is implemented.

[0011] It should be understood that the contents described in the summary of the present invention are not intended to limit the key features or important features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The above and other features, advantages and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. In the accompanying drawings, the same or similar reference numerals represent the same or similar elements, wherein:

[0013] Figure 1 A schematic diagram showing an example environment in which embodiments of the present disclosure can be implemented;

[0014] Figure 2 A schematic diagram showing a process of assisting a vehicle to escape from distress according to some embodiments of the present disclosure;

[0015] Figures 3A to 3F An example interface for assisting a vehicle to escape from distress according to some embodiments of the present disclosure is shown;

[0016] Figure 4A flowchart showing an example process for assisting a vehicle to get out of trouble according to some embodiments of the present disclosure;

[0017] Figure 5 A flowchart showing an example process for getting out of trouble according to some embodiments of the present disclosure;

[0018] Figure 6 A schematic structural block diagram showing a device for assisting a vehicle to get out of trouble according to certain embodiments of the present disclosure;

[0019] Figure 7 A schematic structural block diagram showing a device for getting out of trouble according to certain embodiments of the present disclosure; and

[0020] Figure 8 A block diagram of a device capable of implementing multiple embodiments of the present disclosure. Detailed Description of Specific Embodiments

[0021] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. On the contrary, these embodiments are provided to more thoroughly and completely understand the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not intended to limit the scope of protection of the present disclosure.

[0022] It should be noted that the titles of any sections / subsections provided herein are not restrictive. Various embodiments are described throughout this document, and any type of embodiment can be included under any section / subsection. In addition, the embodiments described in any section / subsection can be combined with any other embodiments described in the same section / subsection and / or different sections / subsections in any manner.

[0023] In the description of the embodiments of the present disclosure, the term "including" and its like should be understood as an open inclusion, that is, "including but not limited to". The term "based on" should be understood as "at least partially based on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The term "some embodiments" should be understood as "at least some embodiments". There may also be other explicit and implicit definitions hereinafter. The terms "first", "second", etc. may refer to different or the same objects. There may also be other explicit and implicit definitions hereinafter.

[0024] Embodiments of the present disclosure may involve user data, data acquisition and / or use, etc. All these aspects comply with the corresponding laws, regulations and related provisions. In the embodiments of the present disclosure, the collection, acquisition, processing, processing, forwarding, use, etc. of all data are carried out on the premise that the user is aware and confirms. Accordingly, when implementing the embodiments of the present disclosure, the types, usage scopes, usage scenarios, etc. of the data or information that may be involved should be informed to the user and the user's authorization should be obtained through appropriate means in accordance with relevant laws and regulations. The specific notification and / or authorization methods may vary according to the actual situation and application scenarios, and the scope of the present disclosure is not limited in this regard.

[0025] In the solutions described in this specification and the embodiments, if personal information processing is involved, it will be processed on the premise of having a legal basis (such as obtaining the consent of the personal information subject, or being necessary for performing a contract, etc.), and will only be processed within the specified or agreed scope. If the user refuses to process personal information other than the necessary information required for the basic functions, it will not affect the user's use of the basic functions.

[0026] As used herein, the term "model" can learn the association between the corresponding input and output from the training data, so that after the training is completed, for a given input, the corresponding output can be generated. The generation of the model can be based on machine learning techniques. Deep learning is a machine learning algorithm that processes the input and provides the corresponding output by using multiple processing units. In this article, "model" can also be referred to as "machine learning model", "machine learning network" or "network", and these terms can be used interchangeably in this article.

[0027] As briefly mentioned above, due to the rapid changes in the environment or the errors of the vehicle's environmental perception system, there may be obstacles on the planned path that the autonomous vehicle cannot accurately identify, resulting in the stagnation or inability of the autonomous vehicle to continue driving.

[0028] One of the failure modes of the vehicle is called "stuck", which means that the autonomous vehicle cannot continue to drive on the current path through autonomous driving and stops, which may cause the autonomous vehicle to be unable to continue the subsequent journey and may have an adverse impact on traffic.

[0029] Embodiments of the present disclosure propose a solution for assisting a vehicle to get out of trouble. According to various embodiments of the present disclosure, a assistance request is received from the vehicle, the assistance request indicating an inquiry associated with the stuck scenario of the vehicle; a set of controls corresponding to the inquiry indicated by the assistance request is presented; and based on the selection of the first control in the set of controls, a assistance message is sent to the vehicle, the assistance message including a reply corresponding to the inquiry.

[0030] The embodiments of the present disclosure also provide a solution for escaping from a jam. According to various embodiments of the present disclosure, it is determined whether the jam scenario of the vehicle matches a set of preset scenarios; in response to the jam scenario matching the set of preset scenarios, a first assistance request is sent to a remote device, the first assistance request indicates an inquiry associated with the jam scenario of the vehicle; and a first assistance message for guiding the vehicle to escape from a jam is received from the remote device, the first assistance message including a response corresponding to the inquiry.

[0031] In the embodiments of the present disclosure, the embodiments of the present disclosure can obtain remote escape assistance by providing a query related to the current trapped scene to a remote device by the vehicle. In this way, the embodiments of the present disclosure can improve the efficiency of escape assistance. Compared with the traditional point-by-point escape assistance, this can significantly reduce the assistance cost of the assisting personnel.

[0032] Example environment

[0033] Figure 1 A schematic diagram of an example environment 100 in which embodiments of the present disclosure can be implemented is shown. In the environment 100, an assisting person 110 can interact with a remote device 120 directly or with an attached device via the remote device 120. The remote device 120 can present a user interface 140 to the assisting person 110 for the assisting person 110 to view vehicle information or perform route planning and other operations.

[0034] The remote device 120 may include, for example, a cloud device or an edge computing device. In some embodiments, such a remote device 120 may be configured to provide the vehicle 101 with supplementary perception information about the traffic environment, and / or provide escape guidance for the trapped vehicle 101.

[0035] Environment 100 may include vehicle 101. In some embodiments, vehicle 101 may be any type of vehicle that can carry people and / or objects and move through a power system such as an engine, including but not limited to cars, trucks, buses, electric vehicles, RVs, etc. Vehicle 101 may be an autonomous driving vehicle (also called an autonomous vehicle) that integrates functions such as environmental perception, planning and decision-making, and multi-level assisted driving.

[0036] like Figure 1 As shown, the vehicle 101 is equipped with an electronic device 150, which can be connected to the remote device 120. For example, the electronic device 150 can communicate with the remote device 120 via an appropriate wireless communication method. The electronic device 150 can be any device with computing capabilities, and can generate a driving route for escape or execute corresponding instructions according to the path planning information sent by the remote device 120.

[0037] It should be understood that the structure and functionality of environment 100 are described for exemplary purposes only and does not imply any limitation on the scope of the present disclosure.

[0038] Remote assistance for getting out of trouble

[0039] Some example embodiments of the present disclosure will be described below with continued reference to the accompanying drawings. Figure 2 A schematic diagram 200 of an assisted extrication process according to some embodiments of the present disclosure is shown.

[0040] like Figure 2 As shown, at 205, the electronic device 150 can determine whether the trapped scene of the vehicle 101 matches a set of preset scenes. Specifically, when it is determined that the vehicle 101 is in a trapped state, the electronic device 150 can determine the reason why the vehicle 101 cannot plan a forward route.

[0041] In some embodiments, such a preset scenario may include a first trapped scenario. The first trapped scenario may be related to the type of target obstacle in the traffic environment of the vehicle 101. For example, the vehicle 101 may be in a trapped state because it cannot determine whether a specific obstacle in front of the lane is stationary.

[0042] In some embodiments, such a preset scenario may include a second trapped scenario. The second trapped scenario may be associated with the passability of a target area in the traffic environment of the vehicle 101. For example, when the vehicle 101 needs to pass through a narrow area, it may not be possible to determine whether the vehicle 101 can pass safely.

[0043] In some embodiments, such a preset scenario may include a third trapped scenario. The third trapped scenario indicates that the vehicle is trapped because it cannot move forward to bypass an obstacle. For example, the vehicle 101 may be too close to the obstacle, resulting in the vehicle 101 being unable to plan a route around the obstacle.

[0044] In some embodiments, such a preset scenario may include a fourth trapped scenario. The fourth trapped scenario may be associated with the state of a traffic light in a traffic environment. For example, when the traffic light corresponding to the vehicle where the vehicle 101 is located is damaged (e.g., cannot be displayed normally), this will cause the vehicle 101 to be unable to plan a route and become trapped.

[0045] Continue to refer Figure 2 At 210, upon determining that the distress scenario of the vehicle 101 matches the set of preset scenarios, the electronic device 150 may send an assistance request (also referred to as a first assistance request) to the remote device 120. The first assistance request may indicate a query associated with the distress scenario of the vehicle 101.

[0046] Accordingly, at 215, the remote device 120 may present a set of controls corresponding to the inquiry indicated by the assistance request. The following will refer to Figures 3A to 3D describe different controls corresponding to different trapped scenarios. Figures 3A to 3D FIGS. 300A to 300D illustrate example interfaces for assisting a vehicle out of trouble according to some embodiments of the present disclosure. Such interfaces 300A to 300D may be provided by the remote device 120 to support the assisting person 110 in assisting the vehicle 101 out of trouble via the interfaces 300A to 300D.

[0047] In the case where the trapped scenario of the vehicle 101 is the first trapped scenario, the remote device 120 may, for example, display the interface 300A as shown in Figure 3A As shown in Figure 3A As shown, the interface 300A may display a plurality of elements associated with the vehicle 101, for example, a map element, a real-time image captured by the vehicle 101, a first element 302 corresponding to the vehicle 101, and a second element 304 corresponding to the obstacle 304, etc.

[0048] In some embodiments, the assistance request may indicate an inquiry regarding the type of the obstacle. Taking Figure 3A as an example, the vehicle 101 may, for example, be unable to determine the type of the obstacle in front (for example, corresponding to the second element 304). Such an obstacle may, for example, include traffic participants in the traffic environment of the vehicle 101, such as other vehicles, bicycles, pedestrians, etc.

[0049] Accordingly, the interface 300A may include an interaction component 306, and the interaction component 306 may present information related to the inquiry, for example, "Is it a parked vehicle?". Accordingly, the interaction component 306 may include a set of controls 308-1 and 308-2 (also referred to as tabs) for answering the inquiry.

[0050] As Figure 2 shown, at 220, the remote device 120 may receive a selection of a target control in the set of controls by the assisting person 110. Further, at 230, the remote device 120 may send an assistance message to the electronic device 150 (or the vehicle 101), and the assistance message includes a reply corresponding to the inquiry.

[0051] Continuing with Figure 3A as an example, the assisting person 110 may, for example, determine the type of the obstacle according to the real-time image information of the vehicle 101, etc., for example, whether it is a parked vehicle. Further, the assisting person 110 may select the control 308-1 or the control 308-2 to indicate the type of the obstacle corresponding to the second element 304, for example, whether it is a parked vehicle.

[0052] Exemplarily, upon receiving the selection of the control 308-1 by the assistant 110, the remote device 120 may generate and send a corresponding assistance message to the vehicle 101 to indicate that the vehicle is a parked vehicle.

[0053] In the case where the trapped scenario of the vehicle 101 is the second trapped scenario, the remote device 120 may, for example, display an interface 300B as shown in Figure 3B As shown. As Figure 3B shown, the interface 300B may display a plurality of elements associated with the vehicle 101, for example, a map element, a real-time image captured by the vehicle 101, a first element 312 corresponding to the vehicle 101, and a third element 314 corresponding to the target area, etc. The target area may correspond to an area where the vehicle 101 cannot determine whether it can pass through.

[0054] In some embodiments, the assistance request may indicate an inquiry regarding the passability of the target area. For Figure 3B example, the vehicle 101 may, for example, be unable to determine the passability of the area ahead (e.g., corresponding to the third element 314).

[0055] Accordingly, the interface 300B may include an interaction component 316, and the interaction component 316 may present information related to the inquiry, for example, "Is the narrow space passable?". Accordingly, the interaction component 316 may include a set of controls 318-1 and 318-2 (also referred to as tabs) for answering the inquiry.

[0056] The assistant 110 may, for example, determine whether the target area 314 is passable for the vehicle 101 based on map information, real-time image information of the vehicle 101, other sensing information of the vehicle 101 (e.g., distance to an obstacle, etc.). Further, the assistant 110 may, for example, select the control 318-1 or the control 318-2 to indicate the passability of the target area corresponding to the third element 314, for example, whether it is a parked vehicle.

[0057] Exemplarily, upon receiving the selection of the control 318-1 by the assistant 110, the remote device 120 may generate and send a corresponding assistance message to the vehicle 101 to indicate that the vehicle 101 can safely pass through the target area.

[0058] In the case where the trapped scenario of the vehicle 101 is the third trapped scenario, the remote device 120 may, for example, display an interface 300C as shown in Figure 3C As shown. As Figure 3CAs shown, the interface 300C may display multiple elements associated with the vehicle 101 , for example, a map element, a real-time image captured by the vehicle 101 , a first element 322 corresponding to the vehicle 101 , and a fourth element 324 corresponding to other traffic participants.

[0059] In some embodiments, the assistance request may indicate an inquiry as to whether the vehicle 101 can reverse. Figure 3C As an example, the vehicle 101 may be unable to generate a route to proceed around an obstacle corresponding to the fourth element 324 , for example.

[0060] Accordingly, the interface 300C may include a plurality of interactive controls 326-1 to 326-6. The plurality of interactive controls 326-1 to 326-6 may correspond to different assistance instructions for the vehicle 101. For example, the interactive control 326-1 may correspond to instructing the vehicle 101 to creep forward, the interactive control 326-2 may correspond to instructing the vehicle 101 to go around the obstacle to the left, the interactive control 326-3 may correspond to instructing the vehicle 101 to go around the obstacle to the right, the interactive control 326-4 may correspond to instructing the vehicle 101 to reverse, the interactive control 326-5 may correspond to assisting in getting out of trouble by tapping, and the interactive control 326-6 may correspond to instructing the vehicle 101 to stop.

[0061] Accordingly, when the trapped scene of the vehicle 101 is the fourth trapped scene, the remote device 120 may, for example, highlight the interactive control 326-4 to indicate that the vehicle 101 is asking whether it is possible to escape by reversing. For example, the remote device 120 may change the display style of the interactive control 326-4 (e.g., highlight its border, flash the display, etc.) to indicate the inquiry of the vehicle 101.

[0062] Further, the assisting person 110 can determine whether the vehicle 101 can get out of trouble by reversing, for example, based on the map information, the real-time image information of the vehicle 101, and other sensing information of the vehicle 101 (e.g., the distance to the obstacle, etc.). Further, the assisting person 110 can select the interactive control 326-4 to indicate that the vehicle 101 can get out of trouble by reversing, for example.

[0063] For example, upon receiving the selection of the control 326 - 4 by the assisting person 110 , the remote device 120 may generate and send a corresponding assist message to the vehicle 101 to indicate that the vehicle 101 may escape by reversing.

[0064] In the case where the trapped scene of the vehicle 101 is the fourth trapped scene, the remote device 120 may display, for example, Figure 3D The interface 300D shown. Figure 3DAs shown, the interface 300D may display multiple elements associated with the vehicle 101 , such as a map element, a real-time image captured by the vehicle 101 , a first element 332 corresponding to the vehicle 101 , and a signal light status 334 indicated based on real-time map data.

[0065] In some embodiments, the assistance request may indicate whether the signal light corresponding to the lane where the vehicle 101 is located is broken. Figure 3D As an example, the vehicle 101 may be unable to determine whether one or more signal lights corresponding to the lane (eg, the through lane) where the vehicle 101 is located are broken lights.

[0066] Accordingly, the interface 300D may include an interactive component 336 that may present information related to the query, such as, “Is it a bad light?” Accordingly, the interactive component 336 may include a set of controls 338-1 and 338-2 (also referred to as tabs) for answering the query.

[0067] The assistant 110 can, for example, determine whether the signal light is a broken light based on map information, real-time image information of the vehicle 101, and other sensing information of the vehicle 101 (e.g., distance to obstacles, etc.). Further, the assistant 110 can, for example, select control 338-1 or control 338-2 to indicate whether the corresponding one or more signal lights are broken lights.

[0068] For example, when the assistant 110 selects the control 338-1, the remote device 120 may generate and send a corresponding assistance message to the vehicle 101 to indicate that the corresponding signal light is a faulty light. When the assistant 110 selects the control 338-2, the remote device 120 may generate and send a corresponding assistance message to the vehicle 101 to indicate that the corresponding signal light is not a faulty light.

[0069] Continue to refer Figure 2 At 230 , after receiving the assistance message sent by the remote device 120 , the electronic device 150 may guide the vehicle 101 to escape from the distress based on the assistance message.

[0070] Specifically, the electronic device 150 may determine a response indicated in the assistance message to an inquiry associated with the trapped scenario of the vehicle, and may guide the route planning module of the vehicle 101 to generate an escape route based on the response.

[0071] Taking the first trapped scenario as an example, when the electronic device 150 determines that the vehicle ahead is a parked vehicle, the electronic device 150 may, for example, determine a strategy to bypass the obstacle instead of continuing to wait behind the vehicle.

[0072] In some embodiments, the electronic device 150 may also modify the constraint information associated with generating an escape route based on, for example, an assistance message received from the remote device 120. For example, taking a narrow area as an example, the electronic device 150 may modify the constraint of the lane lines for generating an escape route so that the vehicle 101 can generate an escape route for passing through the narrow area.

[0073] It should be understood that the route planning module of the vehicle 101 may use any appropriate current or future method to generate an escape route based on the response to the query in the assistance message. The present disclosure is not intended to limit the specific generation scheme of the escape route.

[0074] In this way, the embodiments of the present disclosure can obtain remote escape assistance by the vehicle providing a query related to the current trapped scenario to the remote device. Thereby, the embodiments of the present disclosure can improve the efficiency of escape assistance. Compared with the traditional dot assistance for escape, this can significantly reduce the assistance cost of the assistance personnel.

[0075] In some embodiments, the trapped scenario of the vehicle 101 may not match the set of preset scenarios. Accordingly, the electronic device 150 may send an assistance request (also referred to as a second assistance request) to the remote device 120. Such an assistance request may correspond to a general trapped scenario, where the vehicle 101 may not be able to determine the reason for its entrapment.

[0076] Further, for the general trapped scenario, after receiving the second assistance request, the remote device 120 may display the interface 300E as Figure 3E shown. As Figure 3E shown, the interface 300E may include a plurality of interaction controls 346-1 to 346-6. The plurality of interaction controls 346-1 to 346-6 may correspond to different assistance instructions for the vehicle 101. For example, the interaction control 346-1 may correspond to instructing the vehicle 101 to creep forward (e.g., move forward at a speed lower than a predetermined speed), the interaction control 346-2 may correspond to instructing the vehicle 101 to detour around an obstacle to the left, the interaction control 346-3 may correspond to instructing the vehicle 101 to detour around an obstacle to the right, the interaction control 346-4 may correspond to instructing the vehicle 101 to reverse, the interaction control 346-5 may correspond to assisting in escape by dotting, and the interaction control 346-6 may correspond to instructing the vehicle 101 to stop.

[0077] It can be seen that the interaction controls 346-1 to 346-4 may correspond to different escape strategies, namely creep escape, left detour escape, right detour escape, and reverse escape. The assistance personnel 110 may, for example, indicate the corresponding escape strategy of the vehicle 110 by selecting a specific interaction control (e.g., the interaction control 346-2) among the interaction controls 346-1 to 346-4.

[0078] Accordingly, the remote device 120 may send a corresponding assistance message (also referred to as a second assistance message) to the electronic device 150 or the vehicle 101 to indicate an escape strategy corresponding to the selected interactive control, for example, escaping by making a left detour.

[0079] Further, the electronic device 150 may guide the vehicle 101 to escape from the distress according to the escape strategy indicated in the second assistance message, for example, guiding a route planning module of the vehicle 101 to generate an escape route based on the escape strategy.

[0080] Therefore, the embodiments of the present disclosure can support the remote device to assist the vehicle in getting out of trouble by issuing simple instructions, thereby improving the efficiency of remote assistance.

[0081] Furthermore, if Figure 3F As shown, when the vehicle 101 generates a corresponding escape route based on the first assistance message or the second assistance message, the remote device 120 can display the escape route planned by the vehicle 101 in the interface 300F. Additionally or alternatively, the remote device 120 can also display the status information of the vehicle 101, such as the position, speed, acceleration, direction, turning angle, captured real-time images, etc.

[0082] Continue to refer Figure 2 In some embodiments, the vehicle 101 may not be able to escape based on the first assistance message or the second assistance message. For example, at 235, the remote device 120 may determine that the vehicle 101 failed to escape based on the fact that the vehicle 101 remains stationary for a predetermined period of time. Alternatively, the remote device 120 may also determine that the vehicle 101 failed to escape based on a message received from the vehicle 101.

[0083] Accordingly, if the vehicle 101 fails to escape based on the assistance message, the remote device 120 may present a waypoint input interface configured to receive at least one waypoint for guiding the vehicle to escape.

[0084] For example, the remote device 120 may automatically enter the waypoint assistance mode or may enter the waypoint assistance mode based on the selection of a specific interactive control (eg, the interactive control 346 - 5 ) by the assisting personnel.

[0085] In the waypoint assistance mode, the remote device 120 can, for example, receive at least one waypoint input by the assisting person 110 to guide the vehicle 101 to generate an escape route based on the at least one waypoint. The present disclosure is not intended to limit the waypoint input method and the process of the vehicle executing an escape route based on the waypoint.

[0086] Based on this approach, the embodiments of the present disclosure can further provide the capability of waypoint escape when lightweight remote assistance cannot effectively help the vehicle escape, thereby improving the reliability of the remote assistance system.

[0087] Example process

[0088] Figure 4 FIG. 4 is a schematic diagram of a process 400 for assisting a vehicle to escape from distress according to some embodiments of the present disclosure. The process 400 may be implemented at the remote device 120. Figure 1 Process 400 is described.

[0089] At block 410 , the remote device 120 receives an assistance request from a vehicle, the assistance request indicating an inquiry associated with a distress scenario for the vehicle.

[0090] At block 420 , the remote device 120 presents a set of controls corresponding to the query indicated by the request for assistance.

[0091] At block 430 , the remote device 120 sends an assistance message to the vehicle based on the selection of a first control from the group of controls, the assistance message including a response corresponding to the query.

[0092] In some embodiments, the distress scenario includes a first distress scenario associated with a type of a target obstacle in the traffic environment, and wherein the assistance request indicates an inquiry about the type of the obstacle, and the response includes type information corresponding to the first control.

[0093] In some embodiments, the obstacle includes a traffic participant, and the request for assistance indicates an inquiry as to whether the traffic participant is stationary.

[0094] In some embodiments, the trapped scenario includes a second trapped scenario, the second trapped scenario indication is associated with the passability of a target area in a traffic environment, and wherein the assistance request indicates an inquiry regarding the passability of the target area, the response includes passability information corresponding to the first control, and the passability information indicates that the vehicle can pass through the target area.

[0095] In some embodiments, the stranded scenario includes a third stranded scenario indicating that the vehicle is stranded because it cannot move forward around an obstacle, and wherein the assistance request indicates an inquiry as to whether the vehicle can reverse, and the response indicates that the vehicle can reverse.

[0096] In some embodiments, the distress scenario includes a fourth distress scenario associated with a status of a signal light in a traffic environment, and wherein the assistance request indicates an inquiry regarding the status of the signal light, and the reply indicates whether the signal light is broken.

[0097] In some embodiments, the assistance request is a first assistance request from a first vehicle, the group of controls is a first group of controls, and the assistance message is a first assistance message, and process 400 includes: receiving a second assistance request from a second vehicle, the second assistance request indicating that the second vehicle is in a trapped state; presenting a second group of controls for assisting the second vehicle to escape from distress, the second group of controls being associated with a group of preset escape strategies; and sending a second assistance message to the vehicle based on a selection of a second control in the second group of controls, the second assistance message indicating a target escape strategy corresponding to the second control.

[0098] In some embodiments, a set of preset escape strategies includes at least one of the following: escape by creeping, escape by detouring to the left, escape by detouring to the right, and escape by reversing.

[0099] In some embodiments, process 400 further includes presenting an escape route determined by the vehicle based on the assistance message and / or status information of the vehicle.

[0100] In some embodiments, process 400 further includes: if the vehicle fails to escape based on the assistance message, presenting a waypoint input interface, the waypoint input interface being configured to receive at least one waypoint for guiding the vehicle to escape.

[0101] Figure 5 FIG. 5 is a schematic diagram of a process 500 for assisting a vehicle to escape from distress according to some embodiments of the present disclosure. The process 500 may be implemented at the electronic device 150. Figure 1 Process 500 is described.

[0102] At block 510 , the electronic device 150 determines whether the distress scenario of the vehicle matches a set of preset scenarios.

[0103] At block 520 , in response to the distress scenario matching a set of preset scenarios, the electronic device 150 sends a first assistance request to a remote device, the first assistance request indicating an inquiry associated with the distress scenario of the vehicle.

[0104] In block 530 , the electronic device 150 receives a first assistance message for guiding the vehicle to escape from distress from a remote device, wherein the first assistance message includes a response corresponding to the inquiry.

[0105] In some embodiments, process 500 also includes: in response to the distress scenario not matching a set of preset scenarios, sending a second assistance request to the remote device, the first assistance request indicating an inquiry associated with the distress scenario of the vehicle; and receiving a second assistance message from the remote device for guiding the vehicle out of distress, the second assistance message indicating a target escape strategy selected from a set of preset escape strategies.

[0106] In some embodiments, a set of preset escape strategies includes at least one of the following: escape by creeping, escape by detouring to the left, escape by detouring to the right, and escape by reversing.

[0107] In some embodiments, process 500 further includes: in response to the vehicle failing to escape based on the first assistance message, acquiring at least one waypoint from a remote device to determine an escape route for the vehicle based on the at least one waypoint.

[0108] In some embodiments, a set of preset scenarios includes at least one of the following: a first trapped scenario, the first trapped scenario is related to the type of target obstacle in the traffic environment; a second trapped scenario indication is associated with the passability of the target area in the traffic environment; a third trapped scenario, the third trapped scenario indicates that the vehicle is trapped because it cannot move forward to bypass the obstacle; a fourth trapped scenario, the fourth trapped scenario is associated with the state of the traffic light in the traffic environment.

[0109] Example device and equipment

[0110] Figure 6 A schematic structural block diagram of an apparatus 600 for assisting a vehicle to escape from distress according to certain embodiments of the present disclosure is shown. The apparatus 600 may be implemented as or included in a remote device 120. Each module / component in the apparatus 600 may be implemented by hardware, software, firmware, or any combination thereof.

[0111] As shown in the figure, the device 600 includes a first receiving module 610, which is configured to receive an assistance request from a vehicle, wherein the assistance request indicates an inquiry associated with a trapped scenario of the vehicle; a control presentation module 620, which is configured to present a group of controls corresponding to the inquiry indicated by the assistance request; and a first sending module 630, which is configured to send an assistance message to the vehicle based on a selection of a first control in the group of controls, wherein the assistance message includes a reply corresponding to the inquiry.

[0112] In some embodiments, the distress scenario includes a first distress scenario associated with a type of a target obstacle in the traffic environment, and wherein the assistance request indicates an inquiry about the type of the obstacle, and the response includes type information corresponding to the first control.

[0113] In some embodiments, the obstacle includes a traffic participant, and the request for assistance indicates an inquiry as to whether the traffic participant is stationary.

[0114] In some embodiments, the trapped scenario includes a second trapped scenario, the second trapped scenario indication is associated with the passability of a target area in a traffic environment, and wherein the assistance request indicates an inquiry regarding the passability of the target area, the response includes passability information corresponding to the first control, and the passability information indicates that the vehicle can pass through the target area.

[0115] In some embodiments, the stranded scenario includes a third stranded scenario indicating that the vehicle is stranded because it cannot move forward around an obstacle, and wherein the assistance request indicates an inquiry as to whether the vehicle can reverse, and the response indicates that the vehicle can reverse.

[0116] In some embodiments, the distress scenario includes a fourth distress scenario associated with a status of a signal light in a traffic environment, and wherein the assistance request indicates an inquiry regarding the status of the signal light, and the reply indicates whether the signal light is broken.

[0117] In some embodiments, the assistance request is a first assistance request from a first vehicle, a group of controls is a first group of controls, and the assistance message is a first assistance message. The device 600 also includes a first assistance module, which is configured to: receive a second assistance request from a second vehicle, the second assistance request indicating that the second vehicle is in a trapped state; present a second group of controls for assisting the second vehicle to escape from trouble, the second group of controls being associated with a group of preset escape strategies; and based on a selection of a second control in the second group of controls, send a second assistance message to the vehicle, the second assistance message indicating a target escape strategy corresponding to the second control.

[0118] In some embodiments, a set of preset escape strategies includes at least one of the following: escape by creeping, escape by detouring to the left, escape by detouring to the right, and escape by reversing.

[0119] In some embodiments, the device 600 further includes an information presentation module configured to present an escape route determined by the vehicle based on the assistance message and / or status information of the vehicle.

[0120] In some embodiments, the device 600 further includes a second assistance module configured to present a waypoint input interface if the vehicle fails to escape based on the assistance message, wherein the waypoint input interface is configured to receive at least one waypoint for guiding the vehicle to escape.

[0121] Figure 7 1 is a schematic structural block diagram of an apparatus 700 for escaping from distress according to some embodiments of the present disclosure. The apparatus 700 may be implemented as or included in the electronic device 150. Each module / component in the apparatus 700 may be implemented by hardware, software, firmware, or any combination thereof.

[0122] As shown in the figure, the device 700 includes a scene matching module 710, which is configured to determine whether the trapped scene of the vehicle matches a set of preset scenes; a second sending module 720, which is configured to send a first assistance request to a remote device in response to the trapped scene matching a set of preset scenes, and the first assistance request indicates an inquiry associated with the trapped scene of the vehicle; and a second receiving module 730, which is configured to receive a first assistance message from the remote device for guiding the vehicle to escape from the distress, and the first assistance message includes a reply corresponding to the inquiry.

[0123] In some embodiments, the device 700 also includes a first escape module, which is configured to: send a second assistance request to a remote device in response to the distress scenario not matching a set of preset scenarios, the first assistance request indicating an inquiry associated with the distress scenario of the vehicle; and receive a second assistance message from the remote device for guiding the vehicle to escape, the second assistance message indicating a target escape strategy selected from a set of preset escape strategies.

[0124] In some embodiments, a set of preset escape strategies includes at least one of the following: escape by creeping, escape by detouring to the left, escape by detouring to the right, and escape by reversing.

[0125] In some embodiments, the apparatus 700 further includes a second escape module configured to: in response to the vehicle failing to escape based on the first assistance message, obtain at least one waypoint from a remote device to determine an escape route for the vehicle based on the at least one waypoint.

[0126] In some embodiments, a set of preset scenarios includes at least one of the following: a first trapped scenario, the first trapped scenario is related to the type of target obstacle in the traffic environment; a second trapped scenario indication is associated with the passability of the target area in the traffic environment; a third trapped scenario, the third trapped scenario indicates that the vehicle is trapped because it cannot move forward to bypass the obstacle; a fourth trapped scenario, the fourth trapped scenario is associated with the state of the traffic light in the traffic environment.

[0127] Figure 8 A block diagram illustrating a computing device 800 in which one or more embodiments of the present disclosure may be implemented is shown. It should be understood that Figure 8 The computing device 800 shown is merely exemplary and should not constitute any limitation on the functionality and scope of the embodiments described herein. Figure 8 The computing device 800 shown may be used to implement Figure 1 remote device 120 or electronic device 150.

[0128] like Figure 8As shown, computing device 800 is in the form of a general-purpose computing device. The components of computing device 800 may include, but are not limited to, one or more processors or processing units 810, a memory 820, a storage device 830, one or more communication units 840, one or more input devices 850, and one or more output devices 860. The processing unit 810 may be a physical or virtual processor and is capable of performing various processes according to programs stored in the memory 820. In a multi-processor system, multiple processing units execute computer-executable instructions in parallel to enhance the parallel processing ability of computing device 800.

[0129] Computing device 800 generally includes multiple computer storage media. Such media can be any accessible media that can be obtained by computing device 800, including but not limited to volatile and non-volatile media, removable and non-removable media. The memory 820 may be volatile memory (such as registers, caches, random access memory (RAM)), non-volatile memory (such as read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory), or some combination thereof. The storage device 830 may be removable or non-removable media and may include machine-readable media, such as a flash drive, a magnetic disk, or any other medium that can be used to store information and / or data (such as training data for training) and can be accessed within computing device 800.

[0130] Computing device 800 may further include additional removable / non-removable, volatile / non-volatile storage media. Although not shown in Figure 8 , a disk drive for reading from or writing to a removable, non-volatile magnetic disk (such as a "floppy disk") and an optical disk drive for reading from or writing to a removable, non-volatile optical disk may be provided. In these cases, each drive may be connected to a bus (not shown) by one or more data media interfaces. The memory 820 may include a computer program product 825 having one or more program modules configured to perform various methods or actions of the various embodiments of the present disclosure.

[0131] The communication unit 840 enables communication with other computing devices via a communication medium. Additionally, the functions of the components of computing device 800 may be implemented in a single computing cluster or multiple computer machines that are capable of communicating via a communication connection. Thus, computing device 800 may operate in a networked environment using a logical connection to one or more other servers, network personal computers (PCs), or another network node.

[0132] The input device 850 can be one or more input devices, such as a mouse, a keyboard, a trackball, etc. The output device 860 can be one or more output devices, such as a display, a speaker, a printer, etc. The computing device 800 can also communicate with one or more external devices (not shown) as needed through the communication unit 840. The external devices such as a storage device, a display device, etc., communicate with one or more devices that enable a user to interact with the computing device 800, or communicate with any device that enables the computing device 800 to communicate with one or more other computing devices (e.g., a network card, a modem, etc.). Such communication can be performed via an input / output (I / O) interface (not shown).

[0133] According to an exemplary implementation of the present disclosure, there is provided a computer-readable storage medium having computer-executable instructions stored thereon, wherein the computer-executable instructions are executed by a processor to implement the method described above. According to an exemplary implementation of the present disclosure, there is also provided a computer program product, the computer program product being tangibly stored on a non-transitory computer-readable medium and including computer-executable instructions, and the computer-executable instructions being executed by a processor to implement the method described above.

[0134] Aspects of the present disclosure are described herein with reference to the flowcharts and / or block diagrams of methods, apparatuses, devices, and computer program products according to the present disclosure. It should be understood that each block of the flowcharts and / or block diagrams, and the combinations of blocks in the flowcharts and / or block diagrams, can be implemented by computer-readable program instructions.

[0135] These computer-readable program instructions can be provided to a processing unit of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine such that when these instructions are executed by the processing unit of the computer or other programmable data processing device, a device is produced that implements the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause a computer, a programmable data processing device, and / or other devices to work in a specific manner. Thus, the computer-readable medium storing the instructions includes a manufacture, which includes instructions for implementing various aspects of the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0136] The computer-readable program instructions can be loaded onto a computer, other programmable data processing device, or other device, such that a series of operation steps are performed on the computer, other programmable data processing device, or other device to produce a computer-implemented process, so that the instructions executed on the computer, other programmable data processing device, or other device implement the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0137] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various implementations of the present disclosure. In this regard, each block in the flowchart or block diagram may represent a module, a segment of a program, or a portion of an instruction, which contains one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions noted in the blocks may occur in a different order than noted in the accompanying drawings. For example, two consecutive blocks may actually be executed substantially in parallel, or they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented by a dedicated hardware-based system that performs the specified functions or actions, or by a combination of dedicated hardware and computer instructions.

[0138] The various implementations of the present disclosure have been described above. The above description is exemplary, not exhaustive, and is not limited to the disclosed implementations. Many modifications and variations will be apparent to those of ordinary skill in the art in the field of this technology without departing from the scope and spirit of the described implementations. The choice of terms used herein is intended to best explain the principles of the implementations, the practical application, or the improvement of the technology in the market, or to enable other ordinary skilled persons in the field of this technology to understand the various implementation manners disclosed herein.

Claims

1. A method for assisting a vehicle to escape from distress, include: receiving an assistance request from a vehicle, the assistance request indicating an inquiry associated with a distress scenario for the vehicle; presenting a set of controls corresponding to the inquiry indicated by the request for assistance; as well as Based on a selection of a first control in the group of controls, an assistance message is sent to the vehicle, the assistance message including a reply corresponding to the inquiry.

2. The method according to claim 1, wherein the trapped scenario comprises a first trapped scenario, the first trapped scenario is associated with a type of target obstacle in the traffic environment, and The assistance request indicates an inquiry about the type of the obstacle, and the response includes type information corresponding to the first control. 3 . The method according to claim 2 , wherein the obstacle comprises a traffic participant and the assistance request indicates a query as to whether the traffic participant is stationary.

4. The method according to claim 1, wherein the trapped scenario includes a second trapped scenario, the second trapped scenario indication is associated with the passability of the target area in the traffic environment, and The assistance request indicates an inquiry about the passability of the target area, and the response includes passability information corresponding to the first control, wherein the passability information indicates that the vehicle can pass through the target area.

5. The method of claim 1, wherein the trapped scenario includes a third trapped scenario, the third trapped scenario indicating that the vehicle is trapped because it cannot move forward around an obstacle, and The assistance request indicates an inquiry as to whether the vehicle can reverse, and the response indicates that the vehicle can reverse.

6. The method according to claim 1, wherein the distress scenario comprises a fourth distress scenario, the fourth distress scenario being associated with a state of a signal light in a traffic environment, and The assistance request indicates an inquiry about the state of the signal light, and the reply indicates whether the signal light is a broken light.

7. The method of claim 1, wherein the assistance request is a first assistance request from a first vehicle, the group of controls is a first group of controls, the assistance message is a first assistance message, and the method further comprises: include: receiving a second assistance request from a second vehicle, the second assistance request indicating that the second vehicle is in a distressed condition; presenting a second set of controls for assisting the second vehicle in getting out of distress, the second set of controls being associated with a set of preset escape strategies; as well as Based on a selection of a second control in the second group of controls, a second assistance message is sent to the vehicle, the second assistance message indicating a target escape strategy corresponding to the second control.

8. The method according to claim 7, wherein the set of preset escape strategies includes at least one of the following: escape by creeping, escape by detouring to the left, escape by detouring to the right, and escape by reversing.

9. The method according to claim 1, further comprising: include: An escape route determined by the vehicle based on the assistance message and / or status information of the vehicle are presented.

10. The method according to claim 1, further comprising: include: If the vehicle fails to escape based on the assistance message, a waypoint input interface is presented, wherein the waypoint input interface is configured to receive at least one waypoint for guiding the vehicle to escape.

11. A method for escaping from distress, include: determining whether the vehicle's distress scenario matches a set of preset scenarios; In response to the distress scenario matching the set of preset scenarios, sending a first assistance request to a remote device, the first assistance request indicating a query associated with the distress scenario of the vehicle; as well as A first assistance message for guiding the vehicle to escape from distress is received from the remote device, wherein the first assistance message includes a reply corresponding to the inquiry.

12. The method according to claim 11, further comprising: include: In response to the distress scenario not matching the set of preset scenarios, sending a second assistance request to the remote device, the first assistance request indicating a query associated with the distress scenario of the vehicle; as well as A second assistance message for guiding the vehicle to escape is received from the remote device, the second assistance message indicating a target escape strategy selected from a group of preset escape strategies.

13. The method according to claim 12, wherein the set of preset escape strategies includes at least one of the following: escape by creeping, escape by detouring to the left, escape by detouring to the right, and escape by reversing.

14. The method according to claim 11, further comprising: include: In response to the vehicle failing to escape based on the first assistance message, obtaining at least one waypoint from the remote device to determine an escape route for the vehicle based on the at least one waypoint.

15. The method according to claim 11, wherein the set of preset scenarios comprises at least one of the following: A first trapped scenario, wherein the first trapped scenario is related to a type of target obstacle in a traffic environment; a second trapped scenario, wherein the second trapped scenario indication is associated with passability of a target area in a traffic environment; a third trapped scenario, the third trapped scenario indicating that the vehicle is trapped because it cannot move forward and around an obstacle; A fourth trapped scenario is associated with a state of a traffic light in a traffic environment.

16. A device for assisting a vehicle in getting out of trouble, include: a first receiving module configured to receive an assistance request from a vehicle, the assistance request indicating an inquiry associated with a distress scenario of the vehicle; a control presentation module configured to present a set of controls corresponding to the inquiry indicated by the assistance request; as well as The first sending module is configured to send an assistance message to the vehicle based on a selection of a first control in the group of controls, wherein the assistance message includes a reply corresponding to the inquiry.

17. A device for escaping from distress, include: a scene matching module configured to determine whether the trapped scene of the vehicle matches a set of preset scenes; a second sending module configured to send a first assistance request to a remote device in response to the distress scenario matching the set of preset scenarios, the first assistance request indicating an inquiry associated with the distress scenario of the vehicle; as well as A second receiving module, configured to receive, from the remote device, a first assistance message for guiding the vehicle out of trouble, the first assistance message including a reply corresponding to the inquiry.

18. An electronic device, comprising: at least one processing unit; and at least one memory, the at least one memory being coupled to the at least one processing unit and storing instructions for execution by the at least one processing unit, the instructions, when executed by the at least one processing unit, causing the electronic device to perform the method according to any one of claims 1 to 10 or 11 to 15.

19. A computer-readable storage medium, having stored thereon a computer program, the computer program being executable by a processor to implement the method according to any one of claims 1 to 10 or 11 to 15.

20. A computer program product, comprising computer-executable instructions, wherein the computer-executable instructions, when executed by a processor, implement the method according to any one of claims 1 to 10 or 11 to 15.

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