Navigation method and apparatus, device and medium

Abstract

The present disclosure provides a navigation method and device, equipment and medium, relates to the technical field of map, and particularly relates to the technical field of map navigation, intelligent cockpit and automatic driving. The implementation scheme is: in response to determining that a vehicle has a tire burst, determining tire deformation information of the tire burst wheel based on sensor data of the tire burst wheel, wherein the tire deformation information indicates size information of the tire burst wheel after the tire burst; determining position information of a target lane line and an adjustment direction of the target lane line in a target map used for navigation of the vehicle based on a current driving lane of the vehicle and a position of the tire burst wheel in the vehicle; determining an adjustment amount of the target lane line based on the tire deformation information; adjusting the position information of the target lane line based on the adjustment direction and the adjustment amount; determining a virtual lane line for the vehicle after the tire burst based on an adjustment result of the position information of the target lane line; and using the target map containing the virtual lane line to navigate the vehicle.

Description

Technical Field

[0001] This disclosure relates to the field of map technology, and more particularly to the fields of map navigation, smart cockpit and autonomous driving technology, specifically to a navigation method, device, electronic device, computer-readable storage medium and computer program product. Background Technology

[0002] A tire blowout is an extremely dangerous emergency while a vehicle is in motion. A blowout causes a change in the wheel diameter, which in turn affects the vehicle's trajectory and handling.

[0003] The methods described in this section are not necessarily methods that had been previously conceived or adopted. Unless otherwise specified, no method described in this section should be assumed to be prior art simply because it is included in this section. Similarly, unless otherwise specified, the issues mentioned in this section should not be considered to be accepted in any prior art. Summary of the Invention

[0004] This disclosure provides a navigation method, apparatus, electronic device, computer-readable storage medium, and computer program product.

[0005] According to one aspect of this disclosure, a navigation method is provided, comprising: in response to determining that a vehicle has experienced a tire blowout, determining tire deformation information of the blown-out wheel based on sensing data of the blown-out wheel, wherein the tire deformation information indicates the size information of the blown-out wheel after the blowout; determining position information of a target lane line and an adjustment direction for the target lane line in a target map for navigating the vehicle based on the vehicle's current driving lane and the position of the blown-out wheel in the vehicle; determining an adjustment amount for the target lane line based on the tire deformation information; adjusting the position information of the target lane line based on the adjustment direction and the adjustment amount; determining a virtual lane line for the vehicle after the tire blowout based on the adjustment result of the position information of the target lane line; and navigating the vehicle using a target map including the virtual lane line.

[0006] According to one aspect of this disclosure, a trajectory planning method for a vehicle is provided, comprising: determining a target map for navigating the vehicle using the navigation method described above; and planning the trajectory of the vehicle based on the target map.

[0007] According to one aspect of this disclosure, a navigation device is provided, comprising: a first determining unit configured to, in response to determining that a vehicle has experienced a tire blowout, determine tire deformation information of the blown-out wheel based on sensing data of the blown-out wheel, wherein the tire deformation information indicates the dimensional information of the blown-out wheel after the blowout; a second determining unit configured to, based on the vehicle's current driving lane and the position of the blown-out wheel in the vehicle, determine position information of a target lane line and an adjustment direction for the target lane line in a target map for navigating the vehicle; a third determining unit configured to determine an adjustment amount for the target lane line based on the tire deformation information; an adjustment unit configured to adjust the position information of the target lane line based on the adjustment direction and the adjustment amount; a fourth determining unit configured to determine a virtual lane line for the vehicle after the tire blowout based on the adjustment result of the position information of the target lane line; and a navigation unit configured to navigate the vehicle using a target map including the virtual lane line.

[0008] According to one aspect of this disclosure, a trajectory planning device for a vehicle is provided, configured to plan the trajectory of the vehicle based on a target map, wherein the target map for navigating the vehicle is determined using the aforementioned navigation device.

[0009] According to one aspect of this disclosure, an electronic device is provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the navigation method described above.

[0010] According to one aspect of this disclosure, an electronic device is provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the above-described trajectory planning method for a vehicle.

[0011] According to one aspect of this disclosure, an autonomous vehicle is provided, including the aforementioned electronic device capable of implementing the aforementioned trajectory planning method for the vehicle.

[0012] According to one aspect of this disclosure, a non-transitory computer-readable storage medium is provided storing computer instructions, wherein the computer instructions are used to cause the computer to perform the above-described navigation method or a trajectory planning method for a vehicle.

[0013] According to one aspect of this disclosure, a computer program product is provided, including a computer program, wherein the computer program, when executed by a processor, is capable of implementing the above-described navigation method or trajectory planning method for a vehicle.

[0014] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this disclosure, nor is it intended to limit the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0015] The accompanying drawings exemplify embodiments and form part of the specification, serving together with the textual description to explain exemplary implementations of the embodiments. The illustrated embodiments are for illustrative purposes only and do not limit the scope of the claims. Throughout the drawings, the same reference numerals refer to similar but not necessarily identical elements.

[0016] Figure 1 A schematic diagram of an exemplary system in which various methods described herein may be implemented, according to exemplary embodiments of the present disclosure; Figure 2 A flowchart of a navigation method according to an exemplary embodiment of the present disclosure is shown; Figure 3 A schematic diagram of a target map according to an exemplary embodiment of the present disclosure is shown; Figure 4 A structural block diagram of a navigation device according to an exemplary embodiment of the present disclosure is shown; Figure 5 A structural block diagram of an exemplary electronic device that can be used to implement embodiments of the present disclosure is shown. Detailed Implementation

[0017] The exemplary embodiments of this disclosure are described below with reference to the accompanying drawings, including various details of the embodiments to aid understanding, and should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope of this disclosure. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0018] In this disclosure, unless otherwise stated, the use of terms such as "first," "second," etc., to describe various elements is not intended to limit the positional, temporal, or importance relationships of these elements; such terms are merely used to distinguish one element from another. In some examples, the first element and the second element may refer to the same instance of that element, while in other cases, based on the context, they may refer to different instances.

[0019] The terminology used in the description of the various examples described in this disclosure is for the purpose of describing particular examples only and is not intended to be limiting. Unless the context explicitly indicates otherwise, an element may be one or more unless the number of elements is specifically limited. Furthermore, the term "and / or" as used in this disclosure covers any one of the listed items and all possible combinations thereof.

[0020] The embodiments of this disclosure will now be described in detail with reference to the accompanying drawings.

[0021] Figure 1 A schematic diagram of an exemplary system 100 in which the various methods and apparatus described herein can be implemented according to embodiments of this disclosure is shown. Reference Figure 1 The system 100 includes a motor vehicle 110, a server 120, and one or more communication networks 130 that couple the motor vehicle 110 to the server 120.

[0022] In embodiments of this disclosure, the motor vehicle 110 may include a computing device according to embodiments of this disclosure and / or be configured to perform a method according to embodiments of this disclosure.

[0023] Server 120 may run one or more services or software applications, such as navigation methods or trajectory planning methods for vehicles. In some embodiments, server 120 may also provide other services or software applications, which may include non-virtual environments and virtual environments. Figure 1 In the configuration shown, server 120 may include one or more components that implement the functions performed by server 120. These components may include software components, hardware components, or combinations thereof that can be executed by one or more processors. A user of motor vehicle 110 may sequentially interact with server 120 using one or more client applications to utilize the services provided by these components. It should be understood that various different system configurations are possible and may differ from system 100. Therefore, Figure 1 This is an example of a system used to implement the various methods described herein, and is not intended to be limiting.

[0024] Server 120 may include one or more general-purpose computers, special-purpose server computers (e.g., PC (personal computer) servers, UNIX servers, mid-range servers), blade servers, mainframe computers, server clusters, or any other suitable arrangement and / or combination. Server 120 may include one or more virtual machines running a virtual operating system, or other computing architectures involving virtualization (e.g., one or more flexible pools of logical storage devices that can be virtualized to maintain virtual storage devices for servers). In various embodiments, server 120 may run one or more services or software applications that provide the functionality described below.

[0025] The computing unit in server 120 can run one or more operating systems, including any of the aforementioned operating systems and any commercially available server operating system. Server 120 can also run any of a variety of additional server applications and / or middleware applications, including HTTP servers, FTP servers, CGI servers, JAVA servers, database servers, etc.

[0026] In some implementations, server 120 may include one or more applications to analyze and merge data feeds and / or event updates received from vehicle 110. Server 120 may also include one or more applications to display data feeds and / or real-time events via one or more display devices of vehicle 110.

[0027] Network 130 can be any type of network well known to those skilled in the art, and can use any of a variety of available protocols (including, but not limited to, TCP / IP, SNA, IPX, etc.) to support data communication. By way of example only, one or more networks 130 can be satellite communication networks, local area networks (LANs), Ethernet-based networks, token ring networks, wide area networks (WANs), the Internet, virtual networks, virtual private networks (VPNs), intranets, extranets, blockchain networks, public switched telephone networks (PSTNs), infrared networks, wireless networks (including, for example, Bluetooth, WiFi), and / or any combination of these with other networks.

[0028] System 100 may also include one or more databases 150. In some embodiments, these databases may be used to store data and other information. For example, one or more of the databases 150 may be used to store information such as audio files and video files. The data repository 150 may reside in various locations. For example, a data repository used by server 120 may be local to server 120, or it may be located away from server 120 and may communicate with server 120 via a network-based or dedicated connection. The data repository 150 may be of different types. In some embodiments, the data repository used by server 120 may be a database, such as a relational database. One or more of these databases may store, update, and retrieve data from and from the database in response to commands.

[0029] In some embodiments, one or more of the databases 150 may also be used by an application to store application data. The databases used by the application may be of different types, such as key-value stores, object stores, or regular stores supported by a file system.

[0030] Motor vehicle 110 may include sensors 111 for sensing the surrounding environment. Sensors 111 may include one or more of the following sensors: a visual camera, an infrared camera, an ultrasonic sensor, a millimeter-wave radar, and a lidar (LiDAR). Different sensors can provide different detection accuracy and range. Cameras may be mounted in front of, behind, or at other locations on the vehicle. Visual cameras can capture the situation inside and outside the vehicle in real time and present it to the driver and / or passengers. In addition, by analyzing the images captured by the visual cameras, information such as traffic light indications, intersection conditions, and the operating status of other vehicles can be obtained. Infrared cameras can capture objects in night vision conditions. Ultrasonic sensors may be mounted around the vehicle to measure the distance of objects outside the vehicle using the strong directionality of ultrasound. Millimeter-wave radar may be mounted in front of, behind, or at other locations on the vehicle to measure the distance of objects outside the vehicle using the characteristics of electromagnetic waves. LiDAR may be mounted in front of, behind, or at other locations on the vehicle to detect the edges and shape information of objects, thereby performing object recognition and tracking. Due to the Doppler effect, the radar device can also measure the speed changes of the vehicle and moving objects.

[0031] The motor vehicle 110 may also include a communication device 112. The communication device 112 may include a satellite positioning module capable of receiving satellite positioning signals (e.g., BeiDou, GPS, GLONASS, and GALILEO) from satellite 141 and generating coordinates based on these signals. The communication device 112 may also include a module for communicating with a mobile communication base station 142. The mobile communication network can implement any suitable communication technology, such as current or emerging wireless communication technologies (e.g., 5G technology) like GSM / GPRS, CDMA, and LTE. The communication device 112 may also have a vehicle-to-everything (V2X) module, configured to enable vehicle-to-the-world communication, for example, vehicle-to-vehicle (V2V) communication with other vehicles 143 and vehicle-to-infrastructure (V2I) communication with infrastructure 144. Furthermore, the communication device 112 may also have a module configured to communicate with a user terminal 145 (including but not limited to smartphones, tablets, or wearable devices such as watches) via, for example, a wireless local area network conforming to the IEEE 802.11 standard or Bluetooth. Using the communication device 112, the motor vehicle 110 can also access the server 120 via the network 130.

[0032] The motor vehicle 110 may also include a control unit 113. The control unit 113 may include a processor, such as a central processing unit (CPU) or a graphics processing unit (GPU), or other dedicated processors, that communicates with various types of computer-readable storage devices or media. The control unit 113 may include an autonomous driving system for automatically controlling various actuators in the vehicle. The autonomous driving system is configured to control the powertrain, steering system, and braking system of the motor vehicle 110 (not shown) via multiple actuators in response to inputs from multiple sensors 111 or other input devices to control acceleration, steering, and braking respectively, without human intervention or with limited human intervention. Some processing functions of the control unit 113 can be implemented via cloud computing. For example, some processing can be performed using an onboard processor while other processing can be performed using cloud computing resources. The control unit 113 may be configured to perform methods according to this disclosure. Furthermore, the control unit 113 may be implemented as an example of a computing device on the motor vehicle side (client) according to this disclosure.

[0033] Figure 1 The system 100 can be configured and operated in various ways to enable the application of the various methods and apparatus described in this disclosure.

[0034] A tire blowout is an extremely dangerous emergency while a vehicle is in motion. A blowout changes the wheel diameter, affecting the vehicle's trajectory and handling. If the driver continues to follow the lane markings on the map, misjudgment can easily lead to a traffic accident.

[0035] In related technologies, in-vehicle maps primarily provide conventional road navigation information, including fixed lane markings, road names, and traffic rules. However, when a vehicle experiences an emergency such as a tire blowout, the map cannot adjust key navigation information like lane markings in real time based on the vehicle's actual condition, relying solely on the driver's experience for judgment and operation. After a tire blowout, if the driver continues to drive according to fixed lane markings, accidents are easily caused by changes in vehicle handling and misjudgments of lane markings.

[0036] Based on this, this disclosure provides a navigation method that, after a tire blowout, adjusts the lane lines of the vehicle's current driving lane based on the tire deformation information of the blowout wheel to generate virtual lane lines adapted to the blowout vehicle, so that users can drive based on the virtual lane lines in the navigation map, thereby improving the safety of vehicle driving.

[0037] Figure 2 A flowchart of a navigation method 200 according to an exemplary embodiment of the present disclosure is shown. Figure 2 As shown, method 200 includes: Step S201: In response to determining that a tire blowout has occurred, the tire deformation information of the blowout wheel is determined based on the sensor data of the blowout wheel, wherein the tire deformation information indicates the size information of the blowout wheel after the blowout. Step S202: Based on the vehicle's current driving lane and the position of the blown tire wheel in the vehicle, determine the position information of the target lane line and the adjustment direction for the target lane line in the target map used for navigation of the vehicle; Step S203: Determine the adjustment amount for the target lane line based on the tire deformation information; Step S204: Adjust the position information of the target lane line based on the adjustment direction and the adjustment amount; Step S205: Determine the virtual lane line for the vehicle after the tire blowout based on the adjustment result of the target lane line position information; and Step S206: Navigate the vehicle using a target map containing the virtual lane lines.

[0038] By applying the above method 200, the lane lines of the vehicle's current driving lane can be adjusted in a targeted manner based on the tire deformation information of the blown tire after a tire blowout, so as to generate virtual lane lines adapted to the blown tire vehicle, so that users can drive based on virtual lane lines in the navigation map, thereby improving the safety of vehicle driving.

[0039] In some examples, the sensing data for a blown-out tire may include wheel speed sensing data, tire pressure monitoring data, and temperature monitoring data. In one example, each wheel of the vehicle can be equipped with a Hall effect wheel speed sensor, and each tire valve can be equipped with a pressure sensor, resulting in a Tire Pressure Monitoring System (TPMS). Specific monitoring parameters such as the sampling frequency, data transmission method, and monitoring data format of the Hall effect wheel speed sensor and the TPMS can be selected or set according to the needs of the actual application scenario. For example, a Hall effect wheel speed sensor with a sampling frequency of 100Hz, outputting pulse signals (60 pulses per revolution), and transmitting binary data via a CAN bus can be used to transmit wheel speed sensing data to the vehicle's central controller. As another example, a pressure sensor with a sampling frequency of 1Hz, a detection range of 0-1000kPa, an accuracy of ±2kPa, and transmitting monitoring data via a 433MHz radio frequency signal can be used to transmit tire pressure monitoring data to the vehicle's receiver. In one example, the pressure sensor installed on the tire valve can also integrate the function of collecting the internal temperature of the tire for more comprehensive monitoring of the tire condition of each wheel.

[0040] According to some embodiments, the information regarding whether a vehicle has experienced a tire blowout is determined using the following method: acquiring vehicle sensor data, wherein the vehicle sensor data includes wheel speeds of multiple wheels, tire pressure sensor data of multiple wheels, and vehicle body motion sensor data; and determining whether a tire blowout has occurred in response to the vehicle sensor data meeting blowout determination conditions, wherein the blowout determination conditions include: an abnormal wheel speed determination condition indicating the presence of a wheel with an abnormal wheel speed among the multiple wheels; an abnormal tire pressure determination condition indicating a drop in tire pressure of the wheel with the abnormal wheel speed; and an abnormal vehicle body motion determination condition indicating vehicle body deviation or deceleration. Therefore, by combining multi-dimensional vehicle sensor data and vehicle blowout determination conditions, vehicle blowout information can be determined more accurately, thereby providing more accurate navigation information for the vehicle driver.

[0041] In some examples, vehicle sensing data can be obtained based on the wheel speed sensors, tire pressure monitoring systems, and vehicle body inertial measurement units described above. In one example, the vehicle body inertial measurement unit may include accelerometers and gyroscopes mounted on the vehicle body, such as a 3-axis accelerometer and 3-axis gyroscope mounted at the vehicle's center of gravity, to capture the sudden change in vehicle attitude at the moment of a tire blowout.

[0042] In some examples, abnormal wheel speed determination conditions, abnormal tire pressure determination conditions, and abnormal vehicle body movement determination conditions may include multiple sub-determination conditions. For example, abnormal wheel speed determination conditions may include determination conditions for wheel speed deviation rate and determination conditions for wheel speed change rate.

[0043] In one example, the deviation rate of each wheel relative to a reference wheel speed can be calculated in real time based on the wheel speed sensor data of each wheel of the vehicle. When the output signal of the wheel speed sensor is a pulse signal corresponding to 60 pulses per revolution, the rotational speed n of each wheel can be obtained based on the formula n = pulse frequency × 60 / number of pulses / wheel diameter. Then, the wheel speed deviation rate δ = (n_i - n_ref) / n_ref × 100% can be used to calculate the wheel speed deviation rate n_i of each wheel relative to the reference wheel speed n_ref. In the formula, the reference wheel speed n_ref is determined based on the wheel speeds of other wheels, such as the average wheel speed of non-punctured wheels on the same side, or the average wheel speed of diagonally opposite wheels.

[0044] In this example, when the wheel speed deviation rate δ exceeds the preset wheel speed deviation rate threshold and the duration exceeds the preset duration threshold, it indicates a tire condition where the vehicle has blown out, the wheel diameter has suddenly decreased, and the wheel speed has surged. At the same time, by detecting the duration of the abnormal wheel speed deviation rate, it can eliminate instantaneous fluctuations caused by road bumps, so as to more accurately identify blown-out wheels.

[0045] In one example, wheel speed sensor data for each wheel of the vehicle is sampled and transmitted at regular intervals (e.g., wheel speed information for each wheel can be collected every second). The wheel speed change rate can then be calculated based on the wheel speed information obtained from two adjacent sampling times. As mentioned earlier, when a tire blows out, the blown wheel experiences a sudden decrease in wheel diameter, leading to a surge in wheel speed. This results in the blown wheel's wheel speed change rate being significantly greater than that of a normal wheel. In this example, a baseline wheel speed change rate can be determined based on the wheel speed change rates of each wheel in the vehicle (e.g., the average wheel speed change rate can be calculated). The difference between the wheel speed change rate of each wheel and the baseline wheel speed change rate can then be used to determine if there are wheels with abnormal wheel speed change rates, thereby identifying whether a blown-out wheel exists.

[0046] In one example, abnormal tire pressure detection criteria may include criteria for tire pressure and criteria for tire temperature. For instance, if the tire pressure drops by more than a preset tire pressure change threshold (e.g., 30%) within one second and the tire temperature rises by more than a preset temperature change threshold (e.g., 5°C) within a certain period of time, it indicates a tire blowout, a sudden drop in tire pressure, and a sudden increase in temperature due to increased tire-road friction, thus more accurately identifying blowout tires.

[0047] In real-world applications, a tire blowout may damage the pressure sensor. In such cases, when the TPMS signal is lost, the abnormal tire pressure determination step can be skipped, and tire blowout can be detected based on other criteria.

[0048] In one example, the abnormal vehicle body motion detection criteria include criteria for vehicle acceleration in the vertical direction, yaw rate, and acceleration in the driving direction. For instance, when the peak vertical acceleration of the vehicle body on the blown-out side exceeds a preset vertical acceleration threshold and is accompanied by high-frequency vibrations of the vehicle body due to tire out-of-roundness, the criteria for vertical acceleration are met. When the vehicle deviates towards the blown-out side and the yaw rate exceeds a preset yaw rate threshold, the criteria for yaw rate are met. When the vehicle's deceleration acceleration in the driving direction exceeds a preset driving direction acceleration threshold, the criteria for driving direction acceleration are met. By combining these abnormal vehicle body motion detection criteria across various dimensions, blown-out tires can be identified more accurately.

[0049] In practical applications, the above-mentioned criteria can be combined with actual needs to determine whether a tire blowout has occurred and the specific location of the blown-out wheel. For example, a tire blowout can be determined when the abnormal wheel speed criterion, one sub-condition of the abnormal tire pressure criterion, and two sub-conditions of the abnormal vehicle body movement criterion are met, thus more accurately identifying the tire blowout information and the specific location of the blown-out wheel.

[0050] In one example, when a vehicle is traveling on a relatively smooth road (such as an urban arterial road or a highway), road bumps have a relatively small impact on the vehicle's driving condition. In this case, anomalies in the vehicle's sensor data are more likely caused by a tire blowout. Therefore, a tire blowout can be identified by combining the previously described criteria for determining wheel speed deviation rate, tire pressure, tire temperature, and vehicle acceleration in the vertical direction.

[0051] In one example, when a vehicle is traveling on an uneven or muddy road, the bumps may cause the vehicle body to shake or the wheels to slip. In this situation, the criteria for determining the rate of change of wheel speed, tire pressure, and acceleration of the vehicle along the direction of travel described above can be combined to identify a tire blowout. This eliminates false identifications caused by fluctuations in wheel speed or vehicle body undulations due to road conditions, thus more accurately identifying tire blowout information.

[0052] In some examples, the aforementioned road surface condition information can be determined based on road type information on a map or weather information during vehicle travel. For instance, when a vehicle is traveling on a highway, it can be determined that the road surface is well-maintained and relatively smooth. When a vehicle is traveling on a field road in rainy or snowy weather, it can be determined that the road surface may be bumpy or muddy and slippery. Based on this, the vehicle's driving scenario can be determined more accurately, thereby more accurately identifying tire blowout information.

[0053] According to some embodiments, the vehicle sensing data also includes vehicle handling information. Determining whether a tire blowout has occurred based on the vehicle sensing data includes: determining whether the vehicle sensing data meets the abnormal vehicle movement judgment criteria based on the wheel handling information and the vehicle body motion sensing data. Therefore, combining vehicle handling information can more accurately determine abnormal vehicle body motion information, thus eliminating the influence of the driver's active control behavior on vehicle body motion.

[0054] In some examples, vehicle handling information can be obtained using a steering wheel angle sensor and a brake pressure sensor mounted on the brake master cylinder. Steering angle data is transmitted via a LIN bus to eliminate interference from wheel speed differences caused by active steering. The brake pressure sensor can be used to distinguish between deceleration caused by a tire blowout and deceleration caused by active braking.

[0055] According to some embodiments, step S201, determining the tire deformation information of the blown-out wheel based on sensor data for the blown-out wheel, includes: determining the effective wheel diameter of the blown-out wheel after the blowout based on wheel speed sensor data of the blown-out wheel and the vehicle's driving speed; and determining the tire deformation rate of the blown-out wheel based on the original wheel diameter, the effective wheel diameter, and tire pressure sensor data for the blown-out wheel. Therefore, the tire deformation rate can be determined more accurately based on wheel diameter information and tire pressure monitoring information before and after the blowout, ensuring that the virtual lane lines match the tire size after the blowout and guaranteeing vehicle driving safety.

[0056] According to some embodiments, method 200 further includes: determining wheel speed difference information of the multiple wheels based on their wheel speeds; and correcting the wheel speed sensing data of the blown-out wheel based on the wheel speed difference information; wherein, determining the effective wheel diameter of the blown-out wheel after the blown-out tire based on the wheel speed sensing data of the blown-out wheel and the vehicle's driving speed includes: determining the effective wheel diameter of the blown-out wheel after the blown-out tire based on the corrected wheel speed sensing data of the blown-out wheel and the vehicle's driving speed. Therefore, the wheel speed of the blown-out wheel can be corrected based on the wheel speed difference information of different wheels to compensate for wheel speed errors caused by excessive wheel speed differences between different vehicles after a tire blowout, thereby more accurately determining tire deformation information and more accurately determining virtual lane lines adapted to the blown-out wheel.

[0057] In one example, the process of determining tire information includes the following steps: Step 1: Obtain the real-time rotational speed of each wheel in the vehicle, and determine whether the wheel speed information of the blown-out wheel needs to be corrected.

[0058] When |N_tire - N_avg| > 20% × N_avg, the wheel speed information is corrected based on N_corrected = N_tire × (1 - k1 × ΔN). In this formula, N_avg is the average wheel speed, N_tire is the speed of the wheel with the blown tire, ΔN is the percentage difference in speed (ΔN = |N_tire - N_avg| / N_avg), k1 is a pre-set wheel speed compensation coefficient, and N_corrected is the corrected wheel speed of the wheel with the blown tire.

[0059] Step 2: Perform a secondary correction on the corrected wheel speed information of the blown tire wheel based on the vehicle's yaw rate and the vehicle's acceleration along the driving direction.

[0060] When the vehicle's yaw rate or acceleration along the driving direction exceeds a preset threshold, the wheel speed information is corrected a second time based on N_final = N_corrected × (1 + k2×(ω + |a|)). In this formula, ω is the vehicle's yaw rate, a is the vehicle's acceleration along the driving direction, k2 is a preset secondary compensation coefficient, and N_final is the wheel speed after secondary correction for the blown tire.

[0061] Step 3: Calculate the effective wheel diameter after the tire blowout.

[0062] The effective wheel diameter after a tire blowout is calculated using the formula D = (V×1000×60) / (N_final×π). In this formula, V is the vehicle's speed (which can be calculated based on normal wheel speed: V=0.377×R×N_avg / 1000, where R is the standard wheel diameter), and D is the effective wheel diameter after the blowout.

[0063] Step 4: Calculate the initial deformation rate λ_base based on λ_base = (D0 - D) / D0×100%. Where D0 is the standard wheel diameter before the tire blowout.

[0064] Step 5: When the tire pressure or tire temperature exceeds the preset threshold, the initial deformation rate is corrected based on λ_temp = λ_base × (1 + k3×(P0 - P) / P0 + k4×(T - T0) / T0).

[0065] In the formula, P is the real-time tire pressure obtained by the tire pressure sensor, T is the tire temperature, k3 is the preset tire pressure influence coefficient, and k4 is the preset temperature influence coefficient.

[0066] Step 6: Perform a secondary correction on the tire deformation rate based on λ_final = λ_temp × (1 + 0.1×(0.8 - μ)). Where μ is the pre-stored road adhesion coefficient. In this example, the road type can be determined by combining map information and the vehicle's current location, thereby obtaining the corresponding road adhesion coefficient (e.g., asphalt 0.8, cement 0.75, gravel 0.6, ice and snow 0.3).

[0067] By applying the above steps, tire deformation information can be determined more accurately, and based on this, virtual lane lines adapted to a blown-out tire can be determined more accurately.

[0068] According to some embodiments, step S202, based on the vehicle's current driving lane and the position of the blown tire within the vehicle, determines a target lane line and an adjustment direction for the target lane line in a target map used for vehicle navigation. This includes: determining the lane line on the same side of the current driving lane as the target lane line; and determining the direction from the target lane line towards the vehicle as the adjustment direction. Therefore, it is possible to determine the lane line to be adjusted based on the location of the tire blowout, adjusting the lane line on the blown side towards the vehicle body, thereby narrowing the lane and improving vehicle driving safety.

[0069] In some examples, when the tire blows out on the left wheel, the target lane line is the left lane line of the vehicle's current driving lane; when the tire blows out on the right wheel, the target lane line is the right lane line of the vehicle's current driving lane. This can narrow the current driving lane. When the driver drives along the narrowed lane line, the vehicle has a greater safety margin, thereby improving driving safety.

[0070] In some examples, step S202 may also determine the target lane line and the adjustment direction for the target lane line based on other methods. For example, both lane lines of the vehicle's current driving lane may be used as target lane lines and adjusted towards the vehicle body to improve the safety of vehicle driving by narrowing the lane.

[0071] According to some embodiments, method 200 further includes: in response to determining that the adjusted target lane line does not meet safety conditions, reducing the adjustment amount; and readjusting the target lane line based on the reduced adjustment amount, wherein the safety conditions include: the distance between the adjusted target lane line and the road edge does not exceed a first distance threshold; or the distance between the adjusted target lane line and the opposite lane line does not exceed a second distance threshold. Thus, the distance between the adjusted lane line and the roadside or other lanes can be detected based on preset safety conditions, ensuring safety.

[0072] In some examples, the first and second distance thresholds are pre-set manually to meet the needs of real-world application scenarios.

[0073] In some examples, the first distance threshold can be dynamically adjusted based on the actual road conditions. For instance, when the vehicle with the blown tire is traveling in a curve, the first distance threshold can be increased; when the vehicle with the blown tire is traveling in a straight road, the first distance threshold can be decreased to improve driving safety. As another example, when the edge of the road in the vehicle with the blown tire's current lane is equipped with a guardrail or a hard curb, the first distance threshold can be increased; when the edge of the road in the vehicle with the blown tire's current lane is not equipped with a hard object (e.g., the edge of the road corresponds to road markings), the first distance threshold can be decreased to improve driving safety.

[0074] In some examples, the second distance threshold can be dynamically adjusted according to actual road conditions. For example, when there is an oncoming vehicle in the opposite lane while the vehicle with the tire blowout is driving, the second distance threshold can be increased, and when there is no vehicle in the opposite lane, the second distance threshold can be decreased to improve the safety of vehicle driving.

[0075] According to some embodiments, method 200 further includes: repeatedly performing the operation of reducing the adjustment amount and the operation of readjusting the target lane line based on the reduced adjustment amount, until the following conditions are met: the adjustment amount is less than or equal to a minimum adjustment amount threshold; and the adjusted target lane line does not meet the safety condition, wherein the minimum adjustment amount threshold is determined based on the original wheel diameter of the vehicle or the width of the current driving lane. Thus, the termination condition for reducing the adjustment amount can be limited based on the minimum adjustment amount threshold, ensuring that even if the adjusted target lane line does not meet the safety condition, the lane line adaptation adjustment for a blown tire corresponds to a certain minimum amplitude (i.e., the minimum adjustment amount threshold), thus guaranteeing vehicle driving safety.

[0076] In one example, when the vehicle's current lane width is large, the minimum adjustment threshold for the target lane line can be determined based on the product of the current lane width and a preset ratio. When the vehicle's current lane width is narrow, the minimum adjustment threshold for the target lane line can be determined based on the vehicle's original wheel diameter. This allows for effective lane line adjustment for tire blowouts, ensuring vehicle driving safety while also considering the compatibility of the adjusted lane line with the current road conditions.

[0077] According to some embodiments, the location information of the target lane line in step S204 includes at least one positioning point included in the target lane line. Adjusting the location information of the target lane line based on the adjustment direction and the adjustment amount includes: moving the at least one positioning point based on the adjustment direction and the adjustment amount. Furthermore, determining the virtual lane line for the vehicle after a tire blowout based on the adjustment result of the target lane line location information in step S205 includes: obtaining the virtual lane line by connecting the moved at least one positioning point. Thus, it is possible to move the positioning points (endpoints used to locate the target lane line in the original map) based on the adjustment direction and the adjustment amount to obtain the virtual lane line quickly and easily.

[0078] In some examples, the location information of the target lane line includes the coordinates of the positioning points used to locate the target lane line in the map data of the target map (i.e., the coordinates of the endpoints of one or more line segments that make up the target lane line). If the blowout side is on the right (right front or right rear tire blowout), the offset direction is "right side inward of the vehicle's direction of travel" (i.e., inside the road), Δx = S×sinθ, Δy = -S×cosθ. If the blowout side is on the left (right front or right rear tire blowout), the offset direction is "left side inward of the vehicle's direction of travel", Δx = -S×sinθ, Δy = S×cosθ. In the formulas, Δx and Δy are the lateral and longitudinal offsets of the lane line segment endpoints, θ is the vehicle's direction of travel angle, and S is the adjustment amount. In some examples, S can be determined based on the location of the blowout wheel and a preset adjustment amount calculation formula. The adjustment amount calculation formulas for different blowout wheel locations are shown in the table below:

[0079] In the table, 20cm, 28cm, 3, and 5 correspond to pre-set linear adjustment coefficients, which can be flexibly adjusted according to requirements in practical applications. In some examples, the adjustment calculation formula can also be constructed based on other types of mathematical formulas, and this disclosure does not limit this.

[0080] Based on the obtained Δx and Δy, adjustments can be made to each endpoint of the original target lane line (e.g., L1(x1,y1)) to obtain the adjusted virtual endpoint coordinates: L1'=(x1+Δx, y1+Δy), L2'=(x2+Δx, y2+Δy). Virtual lane lines can then be easily and quickly generated by connecting the virtual endpoints (the moved positioning points).

[0081] According to some embodiments, method 200 further includes: displaying the virtual lane lines based on a first display mode; and displaying other content in the target map besides the virtual lane lines based on a second display mode different from the first display mode. Thus, virtual lane lines and other map content can be displayed based on different display modes, enabling drivers to drive based on virtual lane lines and improving vehicle driving safety.

[0082] In some examples, the navigation map display can also simultaneously show the driver a tire blowout warning, such as "Right rear tire blowout, lane lines have been adjusted, please drive carefully." At the same time, the in-vehicle voice system can issue voice prompts to remind the driver to pay attention to the tire blowout information and virtual lane lines, allowing for more precise vehicle control.

[0083] Figure 3 A schematic diagram of a target map according to an exemplary embodiment of the present disclosure is shown. Figure 3As shown, the target map includes lanes A, B, C, and D. The double solid lines and dashed lines in the figure show the original lane lines of the target map. When a vehicle experiences a left tire blowout in lane C, the aforementioned method 200 can be used to generate a virtual lane line adapted to the blown tire (shown as a dotted line in the figure). This narrows the current lane line. When the driver drives along the narrowed lane line, the vehicle has a greater safety margin, thereby improving driving safety.

[0084] According to one aspect of this disclosure, a trajectory planning method for a vehicle is also provided, comprising: determining a target map for navigating the vehicle using method 400; and planning the trajectory of the vehicle based on the target map. This enables the application of techniques for generating a tire-adapted design for a vehicle with a blown tire in autonomous driving scenarios, planning further trajectories for the blown tire based on adjusted lane markings, thereby improving the driving safety of autonomous vehicles.

[0085] According to one aspect of this disclosure, a navigation device is also provided. Figure 4 A structural block diagram of a navigation device 400 according to an exemplary embodiment of the present disclosure is shown. Figure 4 As shown, the device 400 includes: The first determining unit 401 is configured to determine tire deformation information of the blown-out wheel based on sensing data of the blown-out wheel in response to determining that a tire blowout has occurred in a vehicle. The tire deformation information indicates the size information of the blown-out wheel after the blowout. The second determining unit 402 is configured to determine the position information of a target lane line and the adjustment direction for the target lane line in a target map used for navigating the vehicle, based on the vehicle's current driving lane and the position of the blown tire wheel in the vehicle. The third determining unit 403 is configured to determine the adjustment amount for the target lane line based on the tire deformation information; Adjustment unit 404 is configured to adjust the position information of the target lane line based on the adjustment direction and the adjustment amount; The fourth determining unit 405 is configured to determine a virtual lane line for the vehicle after a tire blowout based on the adjustment result of the position information of the target lane line; and Navigation unit 406 is configured to navigate the vehicle using a target map that includes the virtual lane lines.

[0086] According to some embodiments, the second determining unit 402 includes: a first determining subunit configured to determine the lane line on the same side as the blown tire wheel in the current driving lane as the target lane line; and a second determining subunit configured to determine the direction from the target lane line to the vehicle as the adjustment direction.

[0087] According to some embodiments, the device 400 further includes: a reduction unit configured to reduce the adjustment amount in response to determining that the adjusted target lane line does not meet safety conditions, the adjustment unit 404 being further configured to readjust the target lane line based on the reduced adjustment amount, wherein the safety conditions include: the distance between the adjusted target lane line and the road edge does not exceed a first distance threshold; or the distance between the adjusted target lane line and the opposite lane line does not exceed a second distance threshold.

[0088] According to some embodiments, the reduction unit and the adjustment unit 404 are further configured to repeatedly perform the operation of reducing the adjustment amount and the operation of readjusting the target lane line based on the reduced adjustment amount until the following conditions are met: the adjustment amount is less than or equal to the minimum adjustment amount threshold; or the adjusted target lane line meets the safety conditions.

[0089] According to some embodiments, the location information of the target lane line includes at least one positioning point included in the target lane line, and the adjustment unit 404 includes: a moving subunit configured to move the at least one positioning point based on the adjustment direction and the adjustment amount, and wherein the fourth determining unit 405 is configured to: obtain the virtual lane line by connecting the moved at least one positioning point.

[0090] According to some embodiments, the first determining unit 401 includes: a third determining subunit configured to determine the effective wheel diameter of the blown-out wheel after the blown-out tire based on wheel speed sensing data of the blown-out wheel and the driving speed of the vehicle; and a fourth determining subunit configured to determine the tire deformation rate of the blown-out wheel based on the original wheel diameter of the blown-out wheel, the effective wheel diameter, and tire pressure sensing data for the blown-out wheel.

[0091] According to some embodiments, the device 400 further includes: a fifth determining unit configured to determine wheel speed difference information of the plurality of wheels based on the wheel speeds of the plurality of wheels included in the vehicle; and a correction unit configured to correct the wheel speed sensing data of the blown-out wheel based on the wheel speed difference information; wherein, the third determining subunit is configured to: determine the effective wheel diameter of the blown-out wheel after the blown-out tire based on the corrected wheel speed sensing data of the blown-out wheel and the driving speed of the vehicle.

[0092] According to some embodiments, information regarding whether a tire blowout has occurred is determined using the following units: an acquisition unit configured to acquire vehicle sensing data, wherein the vehicle sensing data includes wheel speeds of multiple wheels, tire pressure sensing data of multiple wheels, and vehicle body motion sensing data, and wherein the vehicle body motion sensing data includes at least one of the following: the vehicle's yaw rate, the vehicle's acceleration in the vertical direction, or the vehicle's acceleration in the direction of travel; and a sixth determination unit configured to determine whether a tire blowout has occurred in response to the vehicle sensing data satisfying a tire blowout determination condition, wherein the tire blowout determination condition includes: an abnormal wheel speed determination condition indicating the presence of a wheel with an abnormal wheel speed among the multiple wheels; an abnormal tire pressure determination condition indicating a decrease in tire pressure of the wheel with the abnormal wheel speed; and an abnormal vehicle body motion determination condition indicating vehicle body deviation or deceleration.

[0093] According to some embodiments, the vehicle sensing data also includes vehicle handling information, and the sixth determining unit is configured to determine whether the vehicle sensing data meets the abnormal vehicle movement determination conditions based on the wheel handling information and the vehicle body motion sensing data.

[0094] According to some embodiments, the device 400 further includes: a first display unit configured to display the virtual lane lines based on a first display mode; and a second display unit configured to display other content in the target map besides the virtual lane lines based on a second display mode different from the first display mode.

[0095] According to one aspect of this disclosure, a trajectory planning device for a vehicle is also provided, configured to plan the trajectory of the vehicle based on a target map, wherein the target map for navigating the vehicle is determined using the navigation device 400 described above.

[0096] According to one aspect of this disclosure, an electronic device is also provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the navigation method described above.

[0097] According to one aspect of this disclosure, an electronic device is also provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the above-described trajectory planning method for a vehicle.

[0098] According to one aspect of this disclosure, an autonomous vehicle is also provided, including the aforementioned electronic device capable of implementing the aforementioned trajectory planning method for the vehicle.

[0099] According to one aspect of this disclosure, a non-transitory computer-readable storage medium storing computer instructions is also provided, wherein the computer instructions are used to cause the computer to perform the navigation method described above or the trajectory planning method for a vehicle.

[0100] According to one aspect of this disclosure, a computer program product is also provided, comprising a computer program, wherein the computer program, when executed by a processor, implements the above-described navigation method or trajectory planning method for a vehicle.

[0101] refer to Figure 5 The present invention describes a structural block diagram of an electronic device 500 that can serve as a server or client of the present disclosure, which is an example of a hardware device that can be applied to various aspects of the present disclosure. The electronic device is intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0102] like Figure 5 As shown, device 500 includes a computing unit 501, which can perform various appropriate actions and processes based on a computer program stored in read-only memory (ROM) 502 or a computer program loaded from storage unit 508 into random access memory (RAM) 503. RAM 503 may also store various programs and data required for the operation of device 500. The computing unit 501, ROM 502, and RAM 503 are interconnected via bus 504. Input / output (I / O) interface 505 is also connected to bus 504.

[0103] Multiple components in device 500 are connected to I / O interface 505, including: input unit 506, output unit 507, storage unit 508, and communication unit 509. Input unit 506 can be any type of device capable of inputting information to device 500. Input unit 506 can receive input numerical or character information and generate key signal inputs related to user settings and / or function control of the electronic device, and may include, but is not limited to, a mouse, keyboard, touchscreen, trackpad, trackball, joystick, microphone, and / or remote control. Output unit 507 can be any type of device capable of presenting information, and may include, but is not limited to, a monitor, speaker, video / audio output terminal, vibrator, and / or printer. Storage unit 508 may include, but is not limited to, a hard disk and an optical disk. Communication unit 509 allows device 500 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks, and may include, but is not limited to, modems, network cards, infrared communication devices, wireless communication transceivers, and / or chipsets, such as Bluetooth devices, 802.11 devices, WiFi devices, WiMax devices, cellular communication devices, and / or the like.

[0104] The computing unit 501 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 501 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 501 performs the various methods and processes described above, such as navigation methods or trajectory planning methods for vehicles. For example, in some embodiments, the navigation method or trajectory planning method for vehicles may be implemented as a computer software program tangibly contained in a machine-readable medium, such as storage unit 508. In some embodiments, part or all of the computer program may be loaded and / or installed on device 500 via ROM 502 and / or communication unit 509. When the computer program is loaded into RAM 503 and executed by the computing unit 501, one or more steps of the navigation method or trajectory planning method for vehicles described above may be performed. Alternatively, in other embodiments, the computing unit 501 may be configured by any other suitable means (e.g., by means of firmware) to perform a navigation method or a trajectory planning method for a vehicle.

[0105] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0106] The program code used to implement the methods of this disclosure may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0107] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0108] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0109] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), the Internet, and blockchain networks.

[0110] Computer systems can include clients and servers. Clients and servers are generally located far apart and typically interact via communication networks. Client-server relationships are created by computer programs running on the respective computers and having a client-server relationship with each other. Servers can be cloud servers, servers in distributed systems, or servers incorporating blockchain technology.

[0111] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this disclosure can be performed in parallel, sequentially, or in a different order, as long as the desired result of the technical solution disclosed in this disclosure can be achieved, and this is not limited herein.

[0112] While embodiments or examples of this disclosure have been described with reference to the accompanying drawings, it should be understood that the methods, systems, and devices described above are merely exemplary embodiments or examples, and the scope of the invention is not limited by these embodiments or examples, but only by the granted claims and their equivalents. Various elements in the embodiments or examples may be omitted or replaced by their equivalents. Furthermore, the steps may be performed in a different order than that described in this disclosure. Further, various elements in the embodiments or examples may be combined in various ways. Importantly, as the technology evolves, many elements described herein can be replaced by equivalents that appear after this disclosure.

Claims

1. A navigation method, comprising: In response to determining that a tire blowout has occurred, tire deformation information of the blowout wheel is determined based on sensor data of the blowout wheel, wherein the tire deformation information indicates the size information of the blowout wheel after the blowout. Based on the vehicle's current driving lane and the position of the blown tire in the vehicle, the position information of the target lane line and the adjustment direction for the target lane line are determined in the target map used for navigation of the vehicle. The adjustment amount for the target lane line is determined based on the tire deformation information; The position information of the target lane line is adjusted based on the adjustment direction and the adjustment amount; Based on the adjustment results of the target lane line's position information, a virtual lane line is determined for the vehicle after the tire blowout; and The vehicle is navigated using a target map that includes the virtual lane lines.

2. The method of claim 1, wherein, The step of determining a target lane line in a target map used for navigating the vehicle and adjusting the direction of the target lane line based on the vehicle's current driving lane and the position of the blown-out wheel within the vehicle includes: The lane line on the same side as the wheel with the blown tire in the current driving lane is determined as the target lane line; and The direction from the target lane line to the vehicle is determined as the adjustment direction.

3. The method of claim 2, further comprising: In response to determining that the adjusted target lane marking does not meet safety conditions, the adjustment amount is reduced; as well as The target lane line is readjusted based on the reduced adjustment amount. The security conditions include: The adjusted distance between the target lane line and the road edge does not exceed a first distance threshold; or The distance between the adjusted target lane line and the opposite lane line does not exceed the second distance threshold.

4. The method of claim 3, further comprising: Repeat the operation of decreasing the adjustment amount and then readjusting the target lane line based on the decreased adjustment amount until the following condition is met: The adjustment amount is less than or equal to the minimum adjustment amount threshold; and the adjusted target lane line does not meet the safety conditions, wherein the minimum adjustment amount threshold is determined based on the original wheel diameter of the vehicle or the width of the current driving lane.

5. The method according to any one of claims 2-4, wherein, The position information of the target lane line includes at least one positioning point included in the target lane line, and adjusting the position information of the target lane line based on the adjustment direction and the adjustment amount includes: Based on the adjustment direction and the adjustment amount, move the at least one positioning point. Furthermore, the determination of the virtual lane line for the vehicle after the tire blowout based on the adjustment result of the target lane line's position information includes: The virtual lane line is obtained by connecting the at least one positioning point after it has been moved.

6. The method according to any one of claims 1-5, wherein, The determination of tire deformation information of the blown-out tire based on sensor data includes: Based on the wheel speed sensor data of the blown-out wheel and the vehicle's speed, the effective wheel diameter after the blown-out wheel is determined; and Based on the original wheel diameter, the effective wheel diameter, and the tire pressure sensing data for the blown-out wheel, the tire deformation rate of the blown-out wheel is determined.

7. The method of claim 6, further comprising: Based on the wheel speeds of the multiple wheels included in the vehicle, determine the wheel speed difference information of the multiple wheels; as well as Based on the wheel speed difference information, the wheel speed sensing data of the blown-out wheel is corrected; The determination of the effective wheel diameter after the tire blowout, based on the wheel speed sensing data of the blown-out wheel and the vehicle's speed, includes: Based on the corrected wheel speed sensor data of the blown-out wheel and the vehicle's travel speed, the effective wheel diameter after the blown-out wheel is determined.

8. The method according to any one of claims 1-7, wherein, Whether the vehicle experienced a tire blowout was determined using the following method: Acquire vehicle sensor data, wherein the vehicle sensor data includes wheel speeds of multiple wheels, tire pressure sensor data of multiple wheels, and vehicle motion sensor data; and In response to the vehicle sensor data meeting the tire blowout determination criteria, it is determined whether the vehicle has experienced a tire blowout, wherein the tire blowout determination criteria include: Abnormal wheel speed determination conditions indicating that there is an abnormal wheel speed among the plurality of wheels; Abnormal tire pressure determination criteria indicating a drop in tire pressure at a wheel with abnormal wheel speed; and Abnormal vehicle movement determination conditions that indicate vehicle body deviation or deceleration.

9. The method of claim 8, wherein, The abnormal vehicle body movement determination criteria include at least one of the following: The criteria for determining the yaw rate of the vehicle; The determination criteria for the vehicle's acceleration in the vertical direction; or The criteria for determining the acceleration of the vehicle along the direction of travel.

10. The method of claim 8 or 9, wherein, The vehicle sensing data also includes vehicle handling information, and whether the vehicle sensing data meets the abnormal vehicle movement determination criteria is determined using the following method: Based on the wheel control information and the vehicle motion sensing data, determine whether the vehicle sensing data meets the abnormal vehicle motion judgment conditions.

11. The method according to any one of claims 1-10, further comprising: The virtual lane lines are displayed based on the first display mode; as well as The target map displays content other than the virtual lane lines based on a second display mode, which is different from the first display mode.

12. A trajectory planning method for vehicles, comprising: A target map for navigating the vehicle is determined using the method of any one of claims 1-11; as well as Based on the target map, the trajectory of the vehicle is planned.

13. A navigation device, comprising: The first determining unit is configured to, in response to determining that a tire blowout has occurred on a vehicle, determine tire deformation information of the blowout wheel based on sensing data of the blowout wheel, wherein the tire deformation information indicates the size information of the blowout wheel after the blowout. The second determining unit is configured to determine the position information of a target lane line and the adjustment direction for the target lane line in a target map used for navigating the vehicle, based on the vehicle's current driving lane and the position of the blown tire wheel in the vehicle. The third determining unit is configured to determine the adjustment amount for the target lane line based on the tire deformation information; The adjustment unit is configured to adjust the position information of the target lane line based on the adjustment direction and the adjustment amount; The fourth determining unit is configured to determine a virtual lane line for the vehicle after a tire blowout based on the adjustment result of the position information of the target lane line; and The navigation unit is configured to navigate the vehicle using a target map that includes the virtual lane lines.

14. A trajectory planning device for a vehicle, configured to: plan the trajectory of the vehicle based on a target map, wherein, The target map used for navigating the vehicle is determined using the apparatus of claim 13.

15. An electronic device comprising: At least one processor; as well as A memory that is communicatively connected to the at least one processor; in The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-11.

16. An electronic device comprising: At least one processor; as well as A memory that is communicatively connected to the at least one processor; in The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method of claim 12.

17. An autonomous vehicle, including the electronic equipment as claimed in claim 16.

18. A non-transitory computer-readable storage medium storing computer instructions, wherein, The computer instructions are used to cause the computer to perform the method according to any one of claims 1-12.

19. A computer program product comprising a computer program, wherein, When the computer program is executed by a processor, it implements the method according to any one of claims 1-12.

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