Vehicle control method and device

Abstract

The embodiment of the invention provides a vehicle control method and device. The method includes presenting a graphical interface associated with the autonomous vehicle based on a message received from the autonomous vehicle, the graphical interface presenting environmental information associated with the autonomous vehicle and status information of the autonomous vehicle; providing a plurality of speed controls in the graphical interface, wherein the plurality of speed controls correspond to different speed control modes; and in response to selection of a target speed control of the plurality of speed control controls, sending a target instruction to the autonomous vehicle to trigger a control system of the autonomous vehicle to control the autonomous vehicle based on a target speed control mode corresponding to the target speed control. Based on the mode, the embodiment of the invention can control the autonomous vehicle more efficiently.

Description

Technical Field

[0001] The exemplary embodiments disclosed herein generally relate to the field of computers, and particularly to methods, apparatus, devices, computer-readable storage media, and computer program products for vehicles. Background Technology

[0002] Autonomous driving is a technology that uses computers to replace or assist human drivers in perceiving the vehicle's surroundings, planning the vehicle's trajectory, and controlling the vehicle to reach a designated destination.

[0003] During a journey, autonomous vehicles may be disrupted by unforeseen factors. Therefore, effectively controlling autonomous vehicles is crucial for improving journey safety and reliability. Summary of the Invention

[0004] In a first aspect of this disclosure, a vehicle control method is provided. The method includes: presenting a graphical interface associated with the autonomous vehicle based on messages received from the autonomous vehicle, the graphical interface presenting environmental information and state information associated with the autonomous vehicle; providing multiple speed controls in the graphical interface, the multiple speed control controls corresponding to different speed control modes; and, in response to the selection of a target speed control among the multiple speed control controls, sending a target command to the autonomous vehicle to trigger the autonomous vehicle's control system to control the autonomous vehicle based on the target speed control mode corresponding to the target speed control.

[0005] A second method disclosed herein provides a vehicle control method. The method includes: sending a message to a remote device to trigger the remote device to display a graphical interface, the graphical interface displaying environmental information associated with the autonomous vehicle and state information of the autonomous vehicle; receiving a target instruction from the remote device, the target instruction indicating a target speed mode, wherein the target instruction is generated in response to the selection of a target speed control among a plurality of speed control controls provided by the graphical interface, the plurality of speed control controls corresponding to different speed control modes; and controlling the autonomous vehicle based on the target speed control mode indicated by the target instruction.

[0006] In a third aspect of this disclosure, a vehicle control apparatus is provided. The apparatus includes: a presentation module configured to present a graphical interface associated with the autonomous vehicle based on messages received from the autonomous vehicle, the graphical interface presenting environmental information and state information associated with the autonomous vehicle; a providing module configured to provide multiple speed controls in the graphical interface, the multiple speed control controls corresponding to different speed control modes; and a first sending module configured to send a target command to the autonomous vehicle in response to a first operation on a target speed control among the multiple speed control controls, thereby triggering the autonomous vehicle's control system to control the autonomous vehicle based on a target speed control mode corresponding to the target speed control.

[0007] In a fourth aspect of this disclosure, a vehicle control apparatus is provided. The apparatus includes: a second transmitting module configured to transmit a message to a remote device to trigger the remote device to display a graphical interface, the graphical interface displaying environmental information associated with an autonomous vehicle and status information of the autonomous vehicle; a receiving module configured to receive a target instruction from the remote device, the target instruction indicating a target speed mode, wherein the target instruction is generated in response to the selection of a target speed control among a plurality of speed control controls provided in the graphical interface, the plurality of speed control controls corresponding to different speed control modes; and a control module configured to control the autonomous vehicle based on the target speed control mode indicated by the target instruction.

[0008] In a fifth aspect of this disclosure, an electronic device is provided. The device includes at least one processing unit; and at least one memory coupled to the at least one processing unit and storing instructions for execution by the at least one processing unit. When executed by the at least one processing unit, the instructions cause the device to perform the method of the first aspect.

[0009] In a sixth aspect of this disclosure, a computer-readable storage medium is provided. The computer-readable storage medium stores a computer program that can be executed by a processor to implement the methods of the first or second aspect.

[0010] In a seventh aspect of this disclosure, a computer program product is provided. The computer program product includes computer-executable instructions that, when executed by a processor, implement the method of the first or second aspect.

[0011] It should be understood that the content described in this summary section is not intended to limit the key or essential features of the embodiments of this disclosure, nor is it intended to restrict the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0012] The above and other features, advantages, and aspects of the embodiments of this disclosure will become more apparent from the accompanying drawings and the following detailed description. In the drawings, the same or similar reference numerals denote the same or similar elements, wherein:

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

[0014] Figure 2 An example interface for vehicle control according to some embodiments of the present disclosure is shown;

[0015] Figure 3 A flowchart illustrating vehicle control applied to a remote device according to some embodiments of the present disclosure is shown;

[0016] Figure 4 A flowchart illustrating vehicle control applied to an autonomous vehicle according to some embodiments of the present disclosure is shown;

[0017] Figure 5 A schematic structural block diagram of an example device for vehicle control applied to a remote device according to certain embodiments of the present disclosure is shown;

[0018] Figure 6 A schematic structural block diagram of an example device for vehicle control applied to an autonomous vehicle according to certain embodiments of the present disclosure is shown; and

[0019] Figure 7 A block diagram of an apparatus capable of implementing several embodiments of the present disclosure is shown. Detailed Implementation

[0020] Embodiments of this disclosure will now be described in more detail with reference to the accompanying drawings. While some embodiments of this disclosure are shown in the drawings, it should be understood that this disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this disclosure. It should be understood that the accompanying drawings and embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of protection of this disclosure.

[0021] It should be noted that the headings of any section / subsection provided herein are not limiting. Various embodiments are described throughout this document, and embodiments of any type may be included under any section / subsection. Furthermore, embodiments described in any section / subsection may be combined in any way with any other embodiments described in the same section / subsection and / or different sections / subsections.

[0022] In the description of embodiments of this disclosure, the term "comprising" and similar terms should be understood as open-ended inclusion, i.e., "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". Other explicit and implicit definitions may also be included below. The terms "first", "second", etc., may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0023] The embodiments of this disclosure may involve user data, data acquisition, and / or use. All of these aspects comply with applicable laws, regulations, and relevant provisions. In the embodiments of this disclosure, all data collection, acquisition, processing, manipulation, forwarding, and use are conducted with the user's knowledge and confirmation. Accordingly, in implementing the embodiments of this disclosure, the type, scope of use, and usage scenarios of any data or information that may be involved should be communicated to the user and their authorization obtained in accordance with relevant laws and regulations through appropriate means. The specific methods of notification and / or authorization may vary depending on the actual situation and application scenario, and the scope of this disclosure is not limited in this respect.

[0024] In this specification and the embodiments, any processing of personal information will be carried out only under the premise of legality (such as obtaining the consent of the personal information subject, or being necessary for the performance of a contract), and will only be carried out within the scope stipulated or agreed upon. A user's refusal to process personal information other than that necessary for basic functions will not affect the user's use of basic functions.

[0025] As briefly mentioned earlier, autonomous driving is a technology that uses computers to replace or assist human drivers in perceiving the vehicle's surroundings, planning its trajectory, and controlling it to reach its designated destination. During an autonomous vehicle's journey, unforeseen factors may disrupt its operation. Therefore, efficiently controlling the autonomous vehicle is crucial for improving safety and reliability.

[0026] Embodiments of this disclosure propose a vehicle control scheme for use with remote devices. According to various embodiments of this disclosure, a graphical interface associated with the autonomous vehicle can be presented based on messages received from the autonomous vehicle. The graphical interface displays environmental information and state information associated with the autonomous vehicle. Multiple speed controls are provided in the graphical interface, each corresponding to a different speed control mode. In response to the selection of a target speed control among the multiple speed control controls, a target command is sent to the autonomous vehicle to trigger its control system to control the autonomous vehicle based on the target speed control mode corresponding to the target speed control.

[0027] Embodiments of this disclosure propose a vehicle control scheme for autonomous vehicles. According to various embodiments of this disclosure, a message can be sent to a remote device to trigger the remote device to display a graphical interface, which presents environmental information and status information associated with the autonomous vehicle; a target instruction can be received from the remote device, the target instruction indicating a target speed mode, wherein the target instruction is generated in response to the selection of a target speed control among a plurality of speed control controls provided by the graphical interface, the plurality of speed control controls corresponding to different speed control modes; and the autonomous vehicle can be controlled based on the target speed control mode indicated by the target instruction.

[0028] In this way, embodiments of the present disclosure can support remote control of autonomous vehicle operation during autonomous vehicle operation. Therefore, embodiments of the present disclosure can improve the ability to handle emergency scenarios, thereby enhancing the reliability of the travel services provided by autonomous vehicles.

[0029] Example Environment

[0030] Figure 1 A schematic diagram of an example environment 100 in which embodiments of the present disclosure can be implemented is shown. In environment 100, an assistant 110 can interact directly with a remote device 120, or interact with the remote device 120 via an attached device. The remote device 120 can present a user interface 140 to the assistant 110 for operations such as viewing vehicle information or performing vehicle control.

[0031] 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 provide instructions to the vehicle 101 regarding a target speed control mode to trigger the control system of the autonomous vehicle 101 to control the autonomous vehicle 101 based on the target speed control mode.

[0032] Environment 100 may include an autonomous vehicle 101. In some embodiments, the autonomous vehicle 101 may be any type of vehicle capable of carrying people and / or objects and moving via a power system such as an engine, including but not limited to cars, trucks, buses, electric vehicles, motorhomes, etc. The autonomous vehicle 101 may be an automated driving vehicle (also referred to as an autonomous vehicle) that integrates functions such as environmental perception, planning and decision-making, and multi-level assisted driving.

[0033] like Figure 1As shown, the autonomous vehicle 101 may be equipped with a control system 150. The control system 150 may, for example, be communicatively connected to a remote device 120. For instance, the control system 150 may communicate with the remote device 120 via an appropriate wireless communication method. The control system 150 may control the autonomous vehicle 101 according to target commands issued by the remote device 120.

[0034] It should be understood that the structure and function of environment 100 are described for illustrative purposes only and do not imply any limitation on the scope of this disclosure.

[0035] Example interaction process

[0036] Figure 2 An example graphical interface 200 applied to a remote device 120 according to some embodiments of the present disclosure is shown. The graphical interface 200 may be derived from a reference... Figure 1 A specific example of the user interface 140 provided by the described remote device 120. The following will refer to... Figure 2 This describes the interaction process by which passengers control the autonomous vehicle 101 through the user interface 140.

[0037] In some embodiments, the remote device 120 presents a graphical interface associated with the autonomous vehicle in the user interface 140 based on messages received from the autonomous vehicle. The graphical interface presents environmental information and status information associated with the autonomous vehicle.

[0038] As an example, such as Figure 2 As shown, during the operation of the autonomous vehicle 101, a remote assistance message can be sent to the remote device 120. Upon receiving the remote assistance message, the remote device 120 can display a graphical interface 200 in the user interface 140. The graphical interface 200 includes environmental information 210 and status information 220 associated with the autonomous vehicle 101. The environmental information 210 can, for example, be an image of the road conditions surrounding the autonomous vehicle 101. The remote device 120 can display the status information 220 in the style of a vehicle dashboard. The status information 220 can, for example, be the current driving status of the autonomous vehicle 101, including the current speed, steering status, and hazard light start / stop status of the autonomous vehicle 101.

[0039] The remote device 120 can acquire environmental information 210 captured by cameras configured in the autonomous vehicle 101. Environmental information 210 includes a frontal image 211, a rear image 212, and a surround-view image 213 of the autonomous vehicle 101. In some scenarios, the remote device 120 can provide a view augmentation control 214 in the graphical interface 200. Upon receiving a selection of the view augmentation control 214, the remote device 120 can add another view of the road conditions (e.g., a side view of the autonomous vehicle 101) to the graphical interface 200. In this way, more comprehensive environmental information can be provided to the assistant 110, thereby increasing the reliability and safety of vehicle control.

[0040] Alternatively or additionally, the graphical interface 200 also includes a map component 230. This can, for example, display a vehicle identifier 232 corresponding to the autonomous vehicle 101, and can indicate information such as the current road and traffic participants of the autonomous vehicle 101 in the form of a two-dimensional or three-dimensional map. When the autonomous vehicle 101 turns, the remote device 120 can display the turning line 235 of the autonomous vehicle 101 in the map component 230.

[0041] The alternative or additional locations, map component 230 also includes perception alerts associated with the autonomous vehicle 101. These perception alerts can, for example, indicate traffic objects within a preset distance around the autonomous vehicle 101, such as pedestrians, vehicles, and animals. As an example, such as... Figure 2 As shown, the remote device 120 can highlight vehicle identifiers 236 corresponding to vehicles within a preset distance of the autonomous vehicle 101 in the graphical interface 200. Therefore, embodiments of this disclosure allow users to easily perceive surrounding traffic objects, thereby enabling more accurate vehicle control.

[0042] In some embodiments, the remote device 120 provides multiple speed controls in a graphical interface, the multiple speed controls corresponding to different speed control modes.

[0043] As an example, such as Figure 2 As shown, the remote device 120 can provide a control group 240 in the graphical interface 200, which includes multiple speed controls.

[0044] In some embodiments, the multiple speed controls include a set of deceleration controls, which are associated with different deceleration modes. For example, Figure 2 As shown, the multiple speed controls include a first deceleration control 241 and a second deceleration control 242. The first deceleration control 241 and the second deceleration control 242 correspond to the first deceleration mode and the second deceleration mode, respectively.

[0045] In some embodiments, in response to a first operation on a target speed control among a plurality of speed control controls, the remote device 120 sends a target command to the autonomous vehicle to trigger the autonomous vehicle's control system to control the autonomous vehicle based on the target speed control mode corresponding to the target speed control.

[0046] As an example, remote device 120 can receive a first operation from assistant 110 on the target speed control. The first operation could be, for example, a click, swipe, long press, or other appropriate action. Further, remote device 120 can send a target command corresponding to the target speed control to autonomous vehicle 101. Finally, 150 in autonomous vehicle 101 controls the driving speed of autonomous vehicle 101 based on the speed indicated by the target speed control mode corresponding to the target command.

[0047] In some embodiments, the remote device 120 may determine a target deceleration mode associated with the target deceleration control in response to a first operation on the target deceleration control. Further, the remote device 120 may send a target deceleration command to the autonomous vehicle 101, the target deceleration command being directed to the target deceleration mode. As an example, such as... Figure 2 As shown, the remote device 120 can receive the selection of the first deceleration control 241 by the assistant 110 and determine the first deceleration mode corresponding to the first deceleration control 241. Furthermore, the remote device 120 can send a first deceleration command associated with the first deceleration mode to the autonomous vehicle.

[0048] In some embodiments, different deceleration modes correspond to different deceleration rates. For example, a first deceleration mode and a second deceleration mode correspond to a first deceleration rate and a second deceleration rate, respectively. In some scenarios, the first deceleration rate can be, for example, 3 kilometers per second. After receiving the selection of the first deceleration control 241 by the assistant 110, the remote device 120 can send a deceleration command to the autonomous vehicle 101. Upon receiving the deceleration command, the autonomous vehicle 101 can decelerate based on a speed of 3 kilometers per second. In this way, the remote device 120 can control the autonomous vehicle based on different speed control modes, thereby making the control process of the autonomous vehicle more precise and accurate.

[0049] In some embodiments, the remote device 120 may send a speed-maintaining command to the autonomous vehicle 101. Specifically, in response to a first operation of the speed-maintaining control 243, the remote device 120 may send a speed-maintaining command to the autonomous vehicle 101 to trigger the control system in the autonomous vehicle 101 to control the autonomous vehicle 101 to maintain the current driving speed or to control the autonomous vehicle 101 to adjust to and maintain the target speed.

[0050] As an example, such as Figure 2As shown, when the speed hold control 243 is selected, the remote device 120 can send a speed hold command to the autonomous vehicle 101. The speed hold command instructs the autonomous vehicle 101 to maintain its current speed. In some scenarios, the speed hold command corresponds to a target speed, which can be set by the assistant 110 via the remote device 120. After the speed hold control 243 is selected, the remote device 120 can instruct the autonomous vehicle 101 to adjust its current speed to the target speed and maintain that target speed.

[0051] In some embodiments, the remote device 120 can deactivate the speed control mode currently in which the autonomous vehicle 101 is located. Specifically, the remote device 120 can send a deactivation command to the autonomous vehicle to deactivate the target speed control mode in response to a second operation on the target speed control.

[0052] As an example, autonomous vehicle 101 is currently in a first deceleration mode. Remote device 120 can receive a second operation from assistant 110 on the first deceleration control 241. The second operation could be, for example, reselecting the first deceleration control 241, or selecting a switch control associated with the first deceleration control 241. Furthermore, remote device 120 can send a release command to autonomous vehicle 101 to cause autonomous vehicle 101 to decelerate from the first deceleration mode.

[0053] In some embodiments, the remote device 120 may send a lane change cancellation command to the autonomous vehicle 101, causing the autonomous vehicle 101 to cancel the lane change. Specifically, the remote device 120 may send a lane change cancellation command to the autonomous vehicle in response to a third operation on the lane change cancellation control, triggering the control system to determine whether to terminate the lane change process based on the completion status of the autonomous vehicle's lane change process according to the lane change cancellation command. The completion status of the lane change process is determined based on the relative position of the autonomous vehicle and the target lane line.

[0054] As an example, remote device 120 can send a lane change cancellation command to autonomous vehicle 101 in response to assistant 110's selection of lane change cancellation control 243. Upon receiving the lane change cancellation command, autonomous vehicle 101 can determine whether to terminate the lane change process based on its current position. This makes the control process of autonomous vehicle 101 safer.

[0055] In some embodiments, when the autonomous vehicle 101 performs a lane-changing task, the lane-changing trajectory 234 of the autonomous vehicle 101 can be displayed in the map component 230. The lane-changing trajectory 234 indicates the lane-changing route of the autonomous vehicle 101. Additionally, when the autonomous vehicle 101 begins to change lanes, the remote device 120 can display the control information of the autonomous vehicle 101 in the status information 220. The control information may be, for example, the steering information of the autonomous vehicle 101 (e.g., right turn).

[0056] In some embodiments, various abnormal situations may occur during the processing of control commands by the autonomous vehicle 101. For example, control commands may not receive a response from the autonomous vehicle 101 within a preset period due to problems such as signal links. Accordingly, the remote device 120 may provide, for example, an alert regarding the failure to trigger vehicle control.

[0057] In some embodiments, the control system 150 sends a message to a remote device to trigger the remote device to display a graphical interface. The graphical interface displays environmental information associated with the autonomous vehicle and the autonomous vehicle's status information.

[0058] As an example, when the autonomous vehicle 101 is in a state that requires remote assistance (e.g., in a trapped state), the control system 150 can send a message to the remote device 120 to request the remote device 120 to control the autonomous vehicle 101.

[0059] In some embodiments, the control system 150 may receive instructions associated with a target speed control mode from a remote device 120. Specifically, the control system 150 receives a target instruction from the remote device, which indicates a target speed mode. The target instruction is generated in response to the selection of a target speed control among a plurality of speed control controls provided in a graphical interface. The plurality of speed control controls correspond to different speed control modes.

[0060] As an example, the control system 150 can receive a target command generated by the remote device 120 based on a target speed control. The target speed control can be, for example, a first deceleration control 241, a second deceleration control 243, and a speed holding control 243.

[0061] In some embodiments, the control system 150 controls the autonomous vehicle based on a target speed control mode indicated by a target command. For example, after receiving a target command, the control system 150 can determine the target speed control mode based on the target command. Further, the control system 150 can control the autonomous vehicle 101 to drive in the target speed control mode.

[0062] In some embodiments, the control system 150 can determine an acceleration or deceleration corresponding to a target speed control mode. Further, the control system 150 can control the driving speed of the autonomous vehicle based on the acceleration or deceleration. As an example, the control system 150 can receive a target acceleration command from a remote device 120, the target acceleration command including a target acceleration. Upon receiving the target acceleration command, the control system 150 can control the autonomous vehicle 101 to accelerate based on the target acceleration.

[0063] In some embodiments, the multiple speed controls may include multiple deceleration controls, each corresponding to a different preset deceleration. For example, such as... Figure 2 As shown, the control group 240 includes a first deceleration control 241 and a second deceleration control 242. The first deceleration control 241 corresponds to a first deceleration, and the second deceleration control 242 corresponds to a second deceleration. The first deceleration can be, for example, 3 kilometers per second, and the second deceleration can be, for example, 4 kilometers per second.

[0064] In some embodiments, the control system 150 may receive a speed-holding command and control the autonomous vehicle 101 based on the speed-holding command. Specifically, the control system 150 may control the autonomous vehicle to maintain its current driving speed or control the autonomous vehicle to adjust to and maintain a target speed based on the speed-holding mode indicated by the speed-holding command.

[0065] As an example, after receiving a speed-holding command, the control system 150 can control the autonomous vehicle 101 to travel at the current speed. In some scenarios, the speed-holding command includes a target speed. After receiving the speed-holding command, the control system 150 can adjust the driving speed of the autonomous vehicle 101 to the target speed so that the autonomous vehicle 101 can maintain the target speed.

[0066] Considering the complexity of real-world driving environments, in some scenarios, after receiving a speed-maintaining command, the control system 150 can determine whether the autonomous vehicle 101 can maintain its current speed based on the perception information of the autonomous vehicle 101. Only when the control system 150 determines that the autonomous vehicle 101 can maintain its current speed will the control system 150 control the autonomous vehicle 101 to continue driving at the current speed.

[0067] In some embodiments, the control system 150 may determine the completion status of the lane-changing process of the autonomous vehicle in response to receiving a lane-change cancellation command. Further, the control system 150 may determine whether to continue the lane-changing process based on the completion status of the lane-changing process. The completion status of the lane-changing process of the autonomous vehicle 101 indicates the relative position of the autonomous vehicle 101 to the target lane line.

[0068] In some embodiments, the control system 150 can determine the relative position of the autonomous vehicle and the target lane line. Further, the control system 150 can determine the completion status of the lane-changing process based on the relative position. As an example, the relative position of the autonomous vehicle 101 and the target lane line can, for example, indicate the distance between the autonomous vehicle 101 and the target lane line.

[0069] In some embodiments, the control system 150 may determine to continue the lane-changing process in response to a preset condition being met in the relative position. The control system 150 may also determine to terminate the lane-changing process in response to a preset condition not being met in the relative position. The preset condition indicates whether the autonomous vehicle coincides with the target lane line.

[0070] As an example, when autonomous vehicle 101 performs a lane change, control system 150 can obtain the distance between autonomous vehicle 101 and the lane line. When the distance between autonomous vehicle 101 and the lane line is positive, control system 150 can determine that autonomous vehicle 101 does not coincide with the target lane line. At this time, control system 150 can terminate the lane change process of autonomous vehicle 101. When the distance between autonomous vehicle 101 and the lane line is zero or negative, control system 150 can determine that autonomous vehicle 101 coincides with the target lane line. At this time, control system 150 can control autonomous vehicle 101 to continue changing lanes.

[0071] In some embodiments, the control system 150 may determine to terminate the lane-changing process in response to the completion status of the lane-changing process. Further, the control system 150 may control the autonomous vehicle to remain in the current lane and cease planning lane-changing tasks for the autonomous vehicle within a preset time period.

[0072] As an example, after the control system 150 terminates the lane-changing process of the autonomous vehicle 101, the control system 150 can control the autonomous vehicle to remain in the current lane. Furthermore, the control system 150 can also refrain from controlling the autonomous vehicle 101 to change lanes for a preset period of time. The preset period of time can be set by those skilled in the art, and this solution does not impose any restrictions on it. In this way, the safety of the autonomous vehicle during operation can be effectively improved.

[0073] Based on the process described above, embodiments of this disclosure can support remote control of autonomous vehicle operation during autonomous vehicle operation. Therefore, embodiments of this disclosure can improve the handling capabilities in emergency scenarios, thereby enhancing the reliability of the travel services provided by autonomous vehicles.

[0074] Example process

[0075] Figure 3 A flowchart of an example process 300 for vehicle control according to some embodiments of the present disclosure is shown. Process 300 can be implemented at a remote device 120. References are made below. Figure 1 Describe the process 300.

[0076] like Figure 3 As shown in box 310, the remote device 120 presents a graphical interface associated with the autonomous vehicle based on messages received from the autonomous vehicle. The graphical interface presents environmental information and status information associated with the autonomous vehicle.

[0077] In box 320, remote device 120 provides multiple speed controls in a graphical interface, with each speed control control corresponding to a different speed control mode.

[0078] In box 330, in response to a first operation on a target speed control among a plurality of speed control controls, remote device 120 sends a target command to the autonomous vehicle to trigger the autonomous vehicle's control system to control the autonomous vehicle based on a target speed control mode corresponding to the target speed control.

[0079] In some embodiments, the plurality of speed controls include a plurality of deceleration controls, the plurality of deceleration controls being associated with different deceleration modes, the target speed control being a target deceleration control among the plurality of deceleration controls, and sending a target command to the autonomous vehicle includes: in response to a first operation on the target deceleration control, determining a target deceleration mode associated with the target deceleration control; and sending a target deceleration command to the autonomous vehicle, the target deceleration command indicating the target deceleration mode.

[0080] In some embodiments, the target deceleration mode corresponds to a preset deceleration.

[0081] In some embodiments, the speed control is a speed holding control, and sending a target instruction to the autonomous vehicle includes: in response to a first operation on the speed holding control, sending a speed holding instruction to the autonomous vehicle to trigger the control system to control the autonomous vehicle to maintain the current driving speed or to control the autonomous vehicle to adjust to and maintain the target speed.

[0082] In some embodiments, process 300 further includes: in response to a second operation on the target speed control, sending a release command to the autonomous vehicle to release the target speed control mode.

[0083] In some embodiments, the graphical interface also provides a lane change cancellation control, and process 300 further includes: in response to a third operation on the lane change cancellation control, sending a lane change cancellation command to the autonomous vehicle to trigger the control system to determine, based on the completion status of the lane change process of the autonomous vehicle, whether to terminate the lane change process according to the lane change cancellation command.

[0084] In some embodiments, the completion status of the lane change process is determined based on the relative position of the autonomous vehicle and the target lane line.

[0085] Figure 4 A flowchart of an example process 400 for vehicle control according to some embodiments of the present disclosure is shown. Process 400 can be implemented in an autonomous vehicle 101, for example, in a control system 150 deployed in the autonomous vehicle 101. Reference is made below. Figure 1 Describe the process 400.

[0086] like Figure 4 As shown in block 410, the control system 150 sends a message to a remote device to trigger the remote device to display a graphical interface, which displays environmental information and status information of the autonomous vehicle associated with the autonomous vehicle.

[0087] In box 420, control system 150 receives a target instruction from a remote device. The target instruction indicates a target speed mode, wherein the target instruction is generated in response to the selection of a target speed control among a plurality of speed control controls provided by a graphical interface, the plurality of speed control controls corresponding to different speed control modes.

[0088] In frame 430, control system 150 controls the autonomous vehicle based on the target speed control mode indicated by the target command.

[0089] In some embodiments, the target speed control mode indicated by the target instruction, controlling the autonomous vehicle includes: determining an acceleration or deceleration corresponding to the target speed control mode; and controlling the driving speed of the autonomous vehicle based on the acceleration or deceleration.

[0090] In some embodiments, the multiple speed controls include multiple deceleration controls, each corresponding to a different preset deceleration.

[0091] In some embodiments, the target instruction is a speed-holding instruction, and controlling the autonomous vehicle based on the target speed control mode indicated by the target instruction includes: controlling the autonomous vehicle to maintain its current driving speed or controlling the autonomous vehicle to adjust to and maintain the target speed based on the speed-holding instruction.

[0092] In some embodiments, process 400 further includes: in response to receiving a lane change cancellation instruction, determining the completion status of the lane change process of the autonomous vehicle; and based on the completion status of the lane change process, determining whether to continue the lane change process.

[0093] In some embodiments, determining the completion status of the lane change process of an autonomous vehicle includes: determining the relative position of the autonomous vehicle and the target lane line; and determining the completion status of the lane change process based on the relative position.

[0094] In some embodiments, determining whether to continue the lane-changing process based on the completion status of the lane-changing process includes: determining to continue the lane-changing process in response to the relative position meeting a preset condition; or determining to terminate the lane-changing process in response to the relative position not meeting the preset condition.

[0095] In some embodiments, preset conditions indicate whether the autonomous vehicle coincides with the target lane line.

[0096] In some embodiments, process 400 further includes: in response to determining to terminate the lane change process based on the completion status of the lane change process, controlling the autonomous vehicle to remain in the current lane and stopping the lane change task of the autonomous vehicle for a preset period of time.

[0097] Example devices and equipment

[0098] Figure 5 A schematic structural block diagram of a vehicle control device 500 according to certain embodiments of the present disclosure is shown. The device 500 may be implemented as or included in a remote device 120. Various modules / components in the device 500 may be implemented by hardware, software, firmware, or any combination thereof.

[0099] As shown in the figure, the device 500 includes a presentation module 510 configured to present a graphical interface associated with the autonomous vehicle based on messages received from the autonomous vehicle. The graphical interface presents environmental information and status information associated with the autonomous vehicle. A providing module 520 is configured to provide multiple speed controls in the graphical interface, the multiple speed control controls corresponding to different speed control modes. A first sending module 530 is configured to send a target command to the autonomous vehicle in response to a first operation on a target speed control among the multiple speed control controls, so as to trigger the autonomous vehicle's control system to control the autonomous vehicle based on the target speed control mode corresponding to the target speed control.

[0100] In some embodiments, the plurality of speed controls include a plurality of deceleration controls, the plurality of deceleration controls being associated with different deceleration modes, and the first sending module 530 is further configured to: in response to a first operation on a target deceleration control, determine a target deceleration mode associated with the target deceleration control; and send a target deceleration command to the autonomous vehicle, the target deceleration command indicating the target deceleration mode.

[0101] In some embodiments, the target deceleration mode corresponds to a preset deceleration.

[0102] In some embodiments, the target speed control is a speed holding control, and the first sending module 530 is further configured to: in response to a first operation on the speed holding control, send a speed holding command to the autonomous vehicle to trigger the control system to control the autonomous vehicle to maintain the current driving speed or to control the autonomous vehicle to adjust to and maintain the target speed.

[0103] In some embodiments, the device 500 further includes a third transmitting module configured to send a release command to the autonomous vehicle to release the target speed control mode in response to a second operation on the target speed control.

[0104] In some embodiments, the graphical interface also provides a lane change cancellation control, and the device 500 further includes a fourth sending module configured to send a lane change cancellation command to the autonomous vehicle in response to a third operation on the lane change cancellation control, thereby triggering the control system to determine whether to terminate the lane change process based on the completion status of the lane change process of the autonomous vehicle according to the lane change cancellation command.

[0105] In some embodiments, the completion status of the lane change process is determined based on the relative position of the autonomous vehicle and the target lane line.

[0106] Figure 6 A schematic structural block diagram of a device 600 for vehicle control according to certain embodiments of the present disclosure is shown. The device 600 may be implemented as or included in an autonomous vehicle 101, such as in a control system 150 within the autonomous vehicle 101. Various modules / components in the device 600 may be implemented by hardware, software, firmware, or any combination thereof.

[0107] As shown in the figure, device 600 includes a second sending module 610 configured to send a message to a remote device to trigger the remote device to display a graphical interface, which displays environmental information and status information of the autonomous vehicle associated with the autonomous vehicle; a receiving module 620 configured to receive a target instruction from the remote device, the target instruction indicating a target speed mode, wherein the target instruction is generated in response to the selection of a target speed control among multiple speed control controls provided by the graphical interface, and the multiple speed control controls correspond to different speed control modes; and a control module 630 configured to control the autonomous vehicle based on the target speed control mode indicated by the target instruction.

[0108] In some embodiments, the control module 630 is further configured to: determine an acceleration or deceleration corresponding to a target speed control mode; and control the driving speed of the autonomous vehicle based on the acceleration or deceleration.

[0109] In some embodiments, the multiple speed controls include multiple deceleration controls, each corresponding to a different preset deceleration.

[0110] In some embodiments, the target instruction is a speed-maintaining instruction, and the control module 630 is further configured to: based on the speed-maintaining instruction, control the autonomous vehicle to maintain the current driving speed or control the autonomous vehicle to adjust to and maintain the target speed.

[0111] In some embodiments, the apparatus 600 further includes a lane-changing module configured to, in response to receiving a lane-changing cancellation command, determine the completion status of the lane-changing process of the autonomous vehicle; and, based on the completion status of the lane-changing process, determine whether to continue the lane-changing process.

[0112] In some embodiments, the lane change module is further configured to: determine the relative position of the autonomous vehicle and the target lane line; and, based on the relative position, determine the completion status of the lane change process.

[0113] In some embodiments, the lane-changing module is further configured to: determine to continue the lane-changing process in response to the relative position meeting a preset condition; or determine to terminate the lane-changing process in response to the relative position not meeting the preset condition.

[0114] In some embodiments, preset conditions indicate whether the autonomous vehicle coincides with the target lane line.

[0115] In some embodiments, the device 600 further includes a planning module configured to determine the termination of the lane change process in response to the completion status of the lane change process, control the autonomous vehicle to remain in the current lane, and stop planning the lane change task of the autonomous vehicle for a preset period of time.

[0116] Figure 7 A block diagram is shown illustrating a computing device 700 in which one or more embodiments of the present disclosure may be implemented. It should be understood that... Figure 7 The computing device 700 shown is merely exemplary and should not be construed as limiting the functionality and scope of the embodiments described herein. Figure 7 The computing device 700 shown can be used to implement Figure 1 The remote device 120 and the control system 150.

[0117] like Figure 7 As shown, computing device 700 is in the form of a general-purpose computing device. Components of computing device 700 may include, but are not limited to, one or more processors or processing units 710, memory 720, storage devices 730, one or more communication units 740, one or more input devices 750, and one or more output devices 760. Processing unit 710 may be a physical or virtual processor and is capable of performing various processes according to programs stored in memory 720. In a multiprocessor system, multiple processing units execute computer-executable instructions in parallel to improve the parallel processing capability of computing device 700.

[0118] Computing device 700 typically includes multiple computer storage media. Such media can be any accessible media that is accessible to computing device 700, including but not limited to volatile and non-volatile media, removable and non-removable media. Memory 720 can be volatile memory (e.g., registers, cache, random access memory (RAM)), non-volatile memory (e.g., read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory), or some combination thereof. Storage device 730 can be removable or non-removable media and can include machine-readable media, such as flash drives, disks, or any other media that can be used to store information and / or data (e.g., training data for training) and can be accessed within computing device 700.

[0119] The computing device 700 may further include additional removable / non-removable, volatile / non-volatile storage media. Although not explicitly stated... Figure 7 As shown, disk drives for reading from or writing to removable, non-volatile disks (e.g., "floppy disks") and optical disk drives for reading from or writing to removable, non-volatile optical disks can be provided. In these cases, each drive can be connected to a bus (not shown) via one or more data media interfaces. Memory 720 may include computer program product 725 having one or more program modules configured to perform various methods or actions of various embodiments of this disclosure.

[0120] The communication unit 740 enables communication with other computing devices via a communication medium. Additionally, the components of the computing device 700 can function as a single computing cluster or multiple computing machines capable of communicating via communication connections. Therefore, the computing device 700 can operate in a networked environment using logical connections to one or more other servers, networked personal computers (PCs), or another network node.

[0121] Input device 750 can be one or more input devices, such as a mouse, keyboard, trackball, etc. Output device 760 can be one or more output devices, such as a monitor, speaker, printer, etc. Computing device 700 can also communicate as needed with one or more external devices (not shown) via communication unit 740. These external devices, such as storage devices, display devices, etc., can communicate with one or more devices that enable user interaction with computing device 700, or with any device (e.g., network card, modem, etc.) that enables computing device 700 to communicate with one or more other computing devices. Such communication can be performed via input / output (I / O) interface (not shown).

[0122] According to an exemplary implementation of this disclosure, a computer-readable storage medium is provided that stores computer-executable instructions thereon, wherein the computer-executable instructions are executed by a processor to implement the methods described above. According to an exemplary implementation of this disclosure, a computer program product is also provided, which is tangibly stored on a non-transitory computer-readable medium and includes computer-executable instructions, which are executed by a processor to implement the methods described above.

[0123] Various aspects of this disclosure are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatuses, devices, and computer program products implemented according to this disclosure. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-readable program instructions.

[0124] 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 apparatus to produce a machine such that, when executed by the processing unit of the computer or other programmable data processing apparatus, they create means for implementing 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 that causes a computer, programmable data processing apparatus, and / or other device to operate in a particular manner. Thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing aspects of the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0125] Computer-readable program instructions can be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions that execute on the computer, other programmable data processing apparatus, or other device to perform the functions / actions specified in one or more boxes of a flowchart and / or block diagram.

[0126] 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 embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of an instruction, which contains one or more executable instructions for implementing the specified logical function. In some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in 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, may be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0127] Various implementations of this disclosure have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed implementations. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described implementations. The terminology used herein is chosen to best explain the principles, practical applications, or improvements to technology in the market, or to enable others skilled in the art to understand the various implementations disclosed herein.

Claims

1. A vehicle control method applied to a remote device, the method comprising: Based on the messages received from the autonomous vehicle, a graphical interface associated with the autonomous vehicle is presented, which displays environmental information and status information associated with the autonomous vehicle. The graphical interface provides multiple speed controls, which correspond to different speed control modes. as well as In response to a first operation on a target speed control among the plurality of speed control controls, a target command is sent to the autonomous vehicle to trigger the autonomous vehicle's control system to control the autonomous vehicle based on a target speed control mode corresponding to the target speed control.

2. The method according to claim 1, wherein the plurality of speed controls includes a plurality of deceleration controls, the plurality of deceleration controls are associated with different deceleration modes, the target speed control is a target deceleration control among the plurality of deceleration controls, and sending a target command to the autonomous vehicle includes: In response to the first operation on the target deceleration control, a target deceleration mode associated with the target deceleration control is determined; as well as A target deceleration command is sent to the autonomous vehicle, the target deceleration command indicating the target deceleration mode.

3. The method according to claim 2, wherein the target deceleration mode corresponds to a preset deceleration.

4. The method according to claim 1, wherein the target speed control is a speed holding control, and sending the target command to the autonomous vehicle includes: In response to the first operation on the speed holding control, a speed holding command is sent to the autonomous vehicle to trigger the control system to control the autonomous vehicle to maintain the current driving speed or to control the autonomous vehicle to adjust to and maintain the target speed.

5. The method according to claim 1, further comprising: In response to a second operation on the target speed control, a release command to release the target speed control mode is sent to the autonomous vehicle.

6. The method according to claim 1, wherein the graphical interface further provides a lane change cancellation control, and the method further includes: In response to a third operation on the lane change cancellation control, a lane change cancellation command is sent to the autonomous vehicle to trigger the control system to determine, based on the completion status of the autonomous vehicle's lane change process, whether to terminate the lane change process according to the lane change cancellation command.

7. The method of claim 6, wherein the completion state of the lane change process is determined based on the relative position of the autonomous vehicle and the target lane line.

8. A vehicle control method applied to an autonomous vehicle, the method comprising: Send a message to a remote device to trigger the remote device to display a graphical interface, which displays environmental information associated with the autonomous vehicle and the status information of the autonomous vehicle. Receive a target instruction from the remote device, the target instruction indicating a target speed mode, wherein the target instruction is generated in response to the selection of a target speed control among a plurality of speed control controls provided by the graphical interface, the plurality of speed control controls corresponding to different speed control modes; as well as The autonomous vehicle is controlled based on the target speed control mode indicated by the target command.

9. The method of claim 8, wherein controlling the autonomous vehicle based on the target speed control mode indicated by the target command comprises: Determine the acceleration or deceleration corresponding to the target speed control mode; as well as The driving speed of the autonomous vehicle is controlled based on the acceleration or deceleration.

10. The method according to claim 8 or 9, wherein the plurality of speed controls includes a plurality of deceleration controls, the plurality of deceleration controls corresponding to different preset decelerations.

11. The method of claim 8, wherein the target command is a speed-holding command, and controlling the autonomous vehicle based on a target speed control mode indicated by the target command comprises: Based on the speed-maintaining command, the autonomous vehicle is controlled to maintain its current speed or to adjust to and maintain a target speed.

12. The method according to claim 8, further comprising: In response to receiving a lane change cancellation command, the completion status of the lane change process of the autonomous vehicle is determined; as well as Based on the completion status of the lane-changing process, determine whether to continue the lane-changing process.

13. The method of claim 12, wherein determining the completion status of the lane-changing process of the autonomous vehicle includes: Determine the relative position of the autonomous vehicle and the target lane line; as well as Based on the relative position, the completion status of the lane change process is determined.

14. The method of claim 13, wherein determining whether to continue the lane-changing process based on the completion status of the lane-changing process comprises: In response to the relative position meeting a preset condition, it is determined to continue the lane-changing process; or In response to the relative position not meeting the preset condition, the lane change process is terminated.

15. The method of claim 14, wherein the preset condition indicates whether the autonomous vehicle coincides with the target lane line.

16. The method of claim 12, further comprising: In response to determining the termination of the lane-changing process based on the completion status of the lane-changing process, the autonomous vehicle is controlled to remain in the current lane and the lane-changing task of the autonomous vehicle is stopped within a preset time period.

17. A device for vehicle control, comprising: The presentation module is configured to present a graphical interface associated with the autonomous vehicle based on messages received from the autonomous vehicle. The graphical interface presents environmental information associated with the autonomous vehicle and the status information of the autonomous vehicle. A module is configured to provide multiple speed controls in the graphical interface, the multiple speed control controls corresponding to different speed control modes; as well as The first sending module is configured to send a target command to the autonomous vehicle in response to the selection of a target speed control among the plurality of speed control controls, thereby triggering the autonomous vehicle's control system to control the autonomous vehicle based on a target speed control mode corresponding to the target speed control.

18. A device for vehicle control, comprising: The second sending module is configured to send a message to a remote device to trigger the remote device to display a graphical interface, which displays environmental information associated with the autonomous vehicle and the status information of the autonomous vehicle. A receiving module is configured to receive a target instruction from the remote device, the target instruction indicating a target speed mode, wherein the target instruction is generated in response to the selection of a target speed control among a plurality of speed control controls provided by the graphical interface, the plurality of speed control controls corresponding to different speed control modes; as well as The control module is configured to control the autonomous vehicle based on the target speed control mode indicated by the target command.

19. An electronic device comprising: At least one processing unit; as well as At least one memory coupled to the at least one processing unit and storing instructions for execution by the at least one processing unit, the instructions causing the electronic device to perform the method according to any one of claims 1 to 7 or 8 to 16 when executed by the at least one processing unit.

20. A computer-readable storage medium having a computer program stored thereon, the computer program being executable by a processor to implement the method according to any one of claims 1 to 7 or 8 to 16.

21. 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 7 or 8 to 16.

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