Monitoring system for a vehicle and vehicle

Abstract

The present disclosure relates to a monitoring system for a vehicle and a vehicle. Wherein the vehicle comprises a plurality of driving modes, the monitoring system comprises an instruction generating device configured to generate a control instruction for triggering one of the plurality of driving modes of the vehicle, and a communication device configured to send the control instruction to the vehicle for triggering the vehicle to drive in accordance with the one of the plurality of driving modes.

Description

Monitoring systems for vehicles and vehicles Technical Field

[0001] This disclosure relates to the field of intelligent transportation, and particularly to control and monitoring technologies for autonomous driving, specifically to a monitoring system for vehicles and vehicles, monitoring methods, electronic devices, computer-readable storage media, and computer program products. Background Technology

[0002] In the field of autonomous driving, since autonomous driving systems rely on the perception of sensors and the calculation results of decision-making algorithms, autonomous vehicles may encounter safety problems if there are blind spots in perception, false detections or missed detections in perception and recognition algorithms, or if the autonomous driving system malfunctions. Summary of the Invention

[0003] According to one aspect of this disclosure, a monitoring system for a vehicle is provided, wherein the vehicle includes multiple driving modes, the monitoring system comprising: an instruction generation device configured to generate a control instruction for triggering one of the multiple driving modes of the vehicle, and a communication device configured to send the control instruction to the vehicle to trigger the vehicle to drive in accordance with the one of the multiple driving modes.

[0004] According to another aspect of this disclosure, a vehicle having multiple driving modes is provided, comprising: a communication device configured to receive a control command for triggering the vehicle to drive in one of the multiple driving modes; and a control device configured to control the vehicle to enter the one of the multiple driving modes according to the control command.

[0005] According to another aspect of this disclosure, a monitoring method for a vehicle is provided, wherein the vehicle includes a plurality of driving modes, the monitoring method comprising: generating a control command for triggering one of the plurality of driving modes of the vehicle, and sending the control command to the vehicle to trigger the vehicle to drive in accordance with the one of the plurality of driving modes.

[0006] According to another 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; the memory storing instructions that, when executed by the at least one processor, cause the at least one processor to perform the methods described in this disclosure.

[0007] According to another aspect of this disclosure, a non-transitory computer-readable storage medium is provided storing computer instructions for causing a computer to perform the methods described in this disclosure.

[0008] According to one or more embodiments of this disclosure, a remote monitoring system is provided for autonomous vehicles to monitor the autonomous driving status of the vehicles. By utilizing a device to receive driving information and image data collected by the autonomous vehicle, the system can monitor and provide necessary control commands to the autonomous vehicle to ensure its safe operation.

[0009] 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

[0010] 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.

[0011] Figure 1A shows an exemplary block diagram of a vehicle according to an embodiment of the present disclosure;

[0012] Figure 1B shows an exemplary block diagram of an autonomous driving system for a vehicle according to an embodiment of the present disclosure;

[0013] Figure 2 shows an exemplary block diagram of a monitoring system according to an embodiment of the present disclosure;

[0014] Figure 3 shows an exemplary block diagram of a vehicle according to another embodiment of the present disclosure;

[0015] Figure 4 shows an exemplary flowchart of a vehicle monitoring method according to an embodiment of the present disclosure;

[0016] Figure 5 shows an exemplary flowchart of a method performed by a vehicle having multiple driving modes according to an embodiment of the present disclosure;

[0017] Figure 6A shows an exemplary block diagram of a monitoring system according to another embodiment of the present disclosure;

[0018] Figure 6B shows an exemplary block diagram of a monitoring system according to yet another embodiment of the present disclosure;

[0019] Figure 7 shows an example diagram of an instruction trigger panel according to an embodiment of the present disclosure;

[0020] Figure 8 illustrates the usage process of the monitoring system according to an embodiment of the present disclosure;

[0021] Figure 9 shows a structural block diagram of a computing device according to an embodiment of the present disclosure; and

[0022] Figure 10 shows a structural block diagram of a control device according to an embodiment of the present disclosure. Detailed Implementation

[0023] 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.

[0024] 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.

[0025] 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.

[0026] Autonomous vehicles can use pre-configured autonomous driving systems to perceive their surroundings and process the perceived environmental information along with the vehicle's current driving state to arrive at appropriate autonomous driving decisions. However, if the perceived information has blind spots or errors, or if the decision-making algorithm configured in the autonomous driving system malfunctions or fails, the autonomous driving system may make incorrect driving decisions, thereby affecting the driving safety of the autonomous vehicle.

[0027] For vehicle safety, multiple autonomous driving subsystems can be used for redundancy. If one autonomous driving subsystem malfunctions or fails, another can take over control. The applicant notes that multiple autonomous driving subsystems on a vehicle may have the same type of defect, resulting in blind spots or errors in the information perceived by these subsystems. Since this is an inherent defect of the autonomous driving subsystem itself, even remotely adjusting a particular subsystem relative to the vehicle may not resolve the problem, especially when these subsystems were developed by the same team. The applicant also notes that when an autonomous driving subsystem has a defect, or malfunctions or fails, there is usually always some functionality or module of that subsystem that functions normally, even if other functions or modules are unusable. Therefore, multiple driving modes can be set for autonomous vehicles, with different modes using different functions or modules of the autonomous driving system (or subsystem). In this way, when there are blind spots or errors in the information perceived by the autonomous driving system (or autonomous driving subsystem), or when the autonomous driving system (or autonomous driving subsystem) malfunctions or fails, the autonomous vehicle can be triggered (e.g., triggered by operator input) to enter a certain driving mode (which uses the functions or modules of the autonomous driving subsystem that can operate normally) through a monitoring system remotely set relative to the vehicle.

[0028] Figure 1A is a schematic diagram of an exemplary vehicle 110. Although vehicle 110 is shown as a truck in Figure 1A, those skilled in the art will understand that vehicle 110 can also be any vehicle or means of transport such as a car or bus.

[0029] Vehicle 110 may include various vehicle systems, such as drive system 142, sensor system 144, control system 146, computing system 150, and communication system 152. Vehicle 110 may include more or fewer systems, and each system may include multiple units. Furthermore, each system and unit of vehicle 110 may be interconnected. For example, computing system 150 is capable of data communication with one or more units of drive system 142, sensor system 144, control system 146, and communication system 152.

[0030] Vehicle 110 may include an autonomous driving (or driverless) system, enabling it to operate fully or partially in an autonomous driving mode. In this sense, vehicle 110 is also referred to as an autonomous vehicle. In autonomous driving mode, vehicle 110 can control itself (or be controlled by the autonomous driving system). For example, vehicle 110 can determine its current state and the current state of its environment, determine the predicted behavior of at least one other vehicle in that environment, determine the trust level corresponding to the probability that the at least one other vehicle will perform the predicted behavior, and control itself based on the determined information. In autonomous driving mode, vehicle 110 can operate without human interaction. The autonomous driving system of vehicle 110 may include, for example, a sensor system 144 and a computing system 150.

[0031] The drive system 142 may include a plurality of operable components (or units) that provide kinetic energy to the vehicle 110. In one embodiment, the drive system 142 may include an engine or electric motor, wheels, a transmission, electronic systems, and a power source (or power source).

[0032] Sensor system 144 may include multiple sensor subsystems (although only one sensor subsystem is shown in Figure 1A). Each sensor subsystem includes multiple sensors for sensing information about the environment and conditions of vehicle 110. Each sensor subsystem may include one or more of the following: inertial measurement unit (IMU), global navigation satellite system (GNSS) transceiver (e.g., global positioning system (GPS) transceiver), radio detection and ranging device (RADAR, or simply radar), laser detection and ranging system (LIDAR, or simply lidar), acoustic sensor, ultrasonic sensor, and image capture device (e.g., camera). One or more sensors included in each sensor subsystem may be driven individually or collectively to update the position, orientation, or both of the one or more sensors.

[0033] In some embodiments, the sensor system 144 may include two sensor subsystems for implementing redundancy, one of which is a sensor master system and the other is a redundancy of the sensor master system, also referred to as a sensor slave system.

[0034] In some embodiments, in addition to the sensor master system and the sensor slave system, the sensor system 144 also includes a sensor backup system as redundancy for the sensor master system and the sensor slave system. The sensor slave system may have fewer sensors than the sensor master system, and similarly, the sensor backup system may have fewer sensors than the sensor slave system.

[0035] The control system 146 is used to control the operation of the vehicle 110 and its components (or units). Accordingly, the control system 146 may include various units, such as a steering unit, a power control unit, a braking unit, and a navigation unit. The steering unit may be a combination of mechanisms for adjusting the forward direction of the vehicle 110. The power control unit (e.g., a throttle) may be used to control the engine speed, thereby controlling the speed of the vehicle 110. The braking unit may include a combination of mechanisms for decelerating the vehicle 110. The braking unit may utilize friction to decelerate the vehicle in a standard manner. The navigation unit may be any system that determines a driving path or route for the vehicle 110. The navigation unit may also dynamically update the driving path as the vehicle 110 travels.

[0036] Communication system 152 may include one or more communication devices to provide vehicle 110 with a means of communicating with one or more devices or other vehicles in the vicinity. In an exemplary embodiment, each communication device of communication system 152 may communicate directly or via a communication network with one or more devices. Communication system 152 may be, for example, a wireless communication system. For example, the communication devices of the communication system may use 3G cellular communication (e.g., CDMA, EVDO, GSM / GPRS) or 4G cellular communication (e.g., WiMAX or LTE), and may also use 5G cellular communication. Optionally, the communication devices of the communication system may communicate with a wireless local area network (WLAN) (e.g., using...). In some embodiments, the communication device of the communication system 152 can communicate directly with one or more devices or other vehicles in the vicinity, for example, using wireless microwave, infrared, etc. Or ZIGBEE. In some embodiments, the communication device of the communication system 152 can use... Wireless microwave or cellular communications (such as 3G, 4G, or 5G cellular communications) communicate directly with one or more devices or other vehicles in the vicinity via a self-organizing network (mesh network). Other wireless protocols, such as various vehicular communication systems, are also within the scope of this application. For example, the communication devices of the communication system may include one or more Dedicated Short Range Communication (DSRC) devices or V2X devices (such as V2V devices), which conduct public or private data communications with vehicles and / or roadside stations.

[0037] The computing system 150 may include one or more computing devices (and / or control devices) for controlling some or all of the functions of the vehicle 110. Each computing device (or control device) includes at least one processor (which may include at least one microprocessor) that executes processing instructions (i.e., machine-executable instructions) stored in a non-volatile computer-readable medium (e.g., a data storage device or memory). In some embodiments, the memory may contain processing instructions (e.g., program logic) executed by the processor to implement various functions of the vehicle 110. One or more of the computing devices (and / or control devices) may include an autonomous driving control unit. The autonomous driving control unit may be used to identify, assess, and avoid or traverse potential obstacles in the environment in which the vehicle 110 is located. Typically, the autonomous driving control unit may be used to control the vehicle 110 without a driver or to assist a driver in controlling the vehicle. In some embodiments, the autonomous driving control unit is used to combine data from sensors, such as data from a GPS transceiver, radar data, LiDAR data, camera data, and data from other vehicle systems, to determine the driving path or trajectory of the vehicle 110. The autonomous driving control unit may be activated to enable the vehicle 110 to be driven in an autonomous driving mode.

[0038] In some embodiments, the computing system 150 includes at least two computing devices: one computing device receives data from a primary sensor system (this computing device is also referred to as the primary computing device), and the other computing device, as redundancy of the primary computing device, receives data from a secondary sensor system (this computing device is also referred to as the secondary computing device). In some embodiments, in addition to the primary and secondary computing devices, the computing system 150 also includes a backup computing device as redundancy, which receives data from a backup sensor system. The primary, secondary, and backup computing devices may have the same computing resources or different computing resources; for example, the secondary computing device may have fewer computing resources than the primary computing device, and the backup computing device may have fewer computing resources than the secondary computing device.

[0039] In some embodiments, the computing device of the computing system 150 may be a computer or a server, and the control device of the computing system 150 may be a controller such as a vehicle control unit (VCU).

[0040] Although the autonomous driving control unit in Figure 1A is shown as separate from the processor and memory, it should be understood that in some embodiments, some or all of the functions of the autonomous driving control unit can be implemented using program code instructions residing in one or more memories (or data storage devices) and executed by one or more processors, and in some cases, the autonomous driving control unit can be implemented using the same processor and / or memory (or data storage device). In some embodiments, the autonomous driving control unit can be implemented at least in part using various special-purpose circuit logics, various processors, various field-programmable gate arrays (“FPGAs”), various application-specific integrated circuits (“ASICs”), various real-time controllers, and hardware.

[0041] Figure 1B shows an exemplary block diagram of an autonomous driving system for a vehicle 110 according to various embodiments. For ease of illustration, portions of the autonomous driving system of the vehicle 110 in Figure 1B are represented by implementation boxes, and other portions of the vehicle 110 are represented by dashed boxes. As shown in Figure 1B, the autonomous driving system 160 of the vehicle 110 includes multiple redundant autonomous driving subsystems, such as an autonomous driving subsystem 161-1 as a primary autonomous driving system, an autonomous driving subsystem 161-2 as a secondary autonomous driving system, and / or an autonomous driving subsystem 161-3 as a backup autonomous driving system. The primary autonomous driving system includes at least a sensor subsystem 1441-1 as a primary sensor system and a computing device 1501-1 as a primary computing device; the secondary autonomous driving system includes at least a sensor subsystem 1441-2 as a secondary sensor system and a computing device 1501-2 as a secondary computing device; and the backup autonomous driving system includes at least a sensor subsystem 1441-3 as a backup sensor system and a computing device 1501-3 as a backup computing device. The autonomous driving system 160 of the vehicle 110 also includes one or more control devices.

[0042] As shown in Figure 1B, the primary automated driving system, the secondary automated driving system, and the backup automated driving system are all connected to the control unit, which in turn connects to other systems of the vehicle (e.g., control system 146, communication system 152). In other words, instructions sent from the primary, secondary, and backup automated driving systems to the control system are first sent to the control unit, which then forwards them to the control system. When the primary automated driving system is operating normally, the control unit forwards instructions from the primary system to the control system, but not from the secondary or backup systems. In this case, the vehicle's movement and stopping are controlled by the primary system. If the control unit determines that the primary system has malfunctioned and, based on the nature or severity of the malfunction, determines that the primary system cannot meet the vehicle's safety requirements, while the secondary system is operating normally, the control unit no longer forwards instructions from the primary system to the control system. Instead, it forwards instructions from the secondary system, and in this case, the vehicle's movement and stopping are controlled by the secondary system. Similarly, if the control unit determines that both the primary and secondary automated driving systems have malfunctioned, and based on the nature or extent of the malfunction, determines that neither the primary nor secondary automated driving systems can meet the vehicle's safety requirements, then the control unit will no longer forward the instructions from the primary and secondary automated driving systems to the control system. Instead, it will forward the instructions from the backup automated driving system to the control system. In this case, the vehicle's movement and stopping will be controlled by the backup automated driving system.

[0043] In addition to forwarding instructions from each autonomous driving subsystem to the control system 146, the control device of the autonomous driving system can also forward data from each autonomous driving subsystem (e.g., vehicle information received from each autonomous driving subsystem) to the communication system 152. In some embodiments, the control device can also execute instructions from each autonomous driving subsystem or the communication system (e.g., instructions received from the monitoring system via the communication system) and control the autonomous driving subsystem and / or the control system based on the execution results of the instructions.

[0044] In the case where the autonomous driving system 160 includes multiple control units, at least two of the control units can be redundant. For example, as shown in FIG1B, the autonomous driving system 160 includes control unit 1502-1 and control unit 1502-2, where one control unit can serve as redundancy for the other. Control unit 1502-1 and control unit 1502-2 can have the same structure, communicate with each other, and are connected to various autonomous driving subsystems, control systems, and communication systems.

[0045] One of control devices 1502-1 and 1502-2 can be a master control device and the other a slave control device. When the master control device is working normally, the slave control device will not forward any data or instructions to other devices or systems, nor will it control any other devices or systems. That is to say, all the functions of the control devices in the above-described automatic driving system are executed by the master control device. When the master control device fails (for example, the slave control device determines that the master control device has failed based on data received from the master control device), the slave control device becomes the master control device to perform the functions originally performed by the master control device. The failed master control device can switch to slave control device or stop working.

[0046] The autonomous driving system 160 may further include a sensor subsystem 1441-4 and a computing device 1501-4. The sensor subsystem 1441-4 can collect environmental data around the vehicle 110. An image capture device (e.g., a camera) in the sensor subsystem 1441-4 can capture images of the environment around the vehicle 110. One or more sensors (e.g., image capture devices) in the sensor subsystem 1441-4 may be mounted on the windshield of the vehicle 110 to collect environmental data in front of the vehicle from the driver's perspective. The computing device 1501-4 may be a computer or server for processing the environmental data collected by the sensor subsystem 1441-4. As shown in FIG1B, a communication system 152 is connected to the autonomous driving system 160. The communication system 152 may include communication devices 1521-1 and 1521-2, which are respectively connected to the computing device 1501-4 and the control device for data transmission between the computing device 1501-4 and the control device.

[0047] Although Figures 1A and 1B show various components (or units) integrated into vehicle 110, one or more of these components (or units) may be mounted on or separately associated with vehicle 110. For example, a computing system may exist partially or entirely independent of vehicle 110. Thus, vehicle 110 can exist as separate or integrated device units. The device units constituting vehicle 110 can communicate with each other via wired or wireless communication. In some embodiments, additional components or units may be added to or removed from various systems (e.g., LiDAR or radar shown in Figure 1A).

[0048] Figure 2 shows an exemplary block diagram of a monitoring system according to an embodiment of the present disclosure. The monitoring system can be used to control and monitor a vehicle (e.g., vehicle 110 in Figure 1A), which may include multiple driving modes. As shown in Figure 2, the monitoring system 200 includes an instruction generation device 210 and a communication device 220.

[0049] The instruction generation device 210 is configured to generate a control instruction for triggering one of a plurality of driving modes of a vehicle (e.g., an autonomous vehicle). The communication device 220 is configured to send the control instruction to the vehicle to trigger the vehicle to drive in the aforementioned one of the plurality of driving modes.

[0050] Using one or more embodiments provided in this disclosure, a remote monitoring system can be provided for vehicles in motion (e.g., autonomous vehicles in autonomous driving mode) to control the vehicle's driving mode when needed. By using a communication device to send control commands to the vehicle, the system can monitor and provide the necessary control commands to ensure safe vehicle operation. By setting the monitoring system as a remote device independent of the vehicle, flexible monitoring of autonomous vehicles can be achieved without requiring a safety operator on each autonomous vehicle to perform the monitoring function.

[0051] In some embodiments, the communication device 220 may also be configured to receive at least one of the following based on at least one communication link established with the vehicle: vehicle information (e.g., vehicle driving state data and autonomous driving system data) and environmental information about the vehicle's surroundings collected by sensors on the vehicle. The autonomous driving system data includes the operating states of the autonomous driving system sensors, the autonomous driving system level status (e.g., which subsystem of the autonomous driving system controls the vehicle's movement and stopping), location data generated by the autonomous driving system, perception data generated by the autonomous driving system, and decision data generated by the autonomous driving system. The vehicle driving state data may include the vehicle's speed and acceleration. The perception data generated by the autonomous driving system may include objects in the sensor's field of view identified by the autonomous driving system.

[0052] In some embodiments, the vehicle information received by the communication device may include at least one of the following: vehicle speed, vehicle acceleration, operating status of vehicle sensors (e.g., sensors of the vehicle's autonomous driving system), autonomous driving system level status, location data generated by the autonomous driving system, perception data generated by the autonomous driving system, and decision data generated by the autonomous driving system. This vehicle information reflects the vehicle's driving state during autonomous driving. Environmental information may include environmental information around the vehicle sensed by sensors installed on the vehicle (e.g., sensors from one or more of sensor subsystems 1441-1, 1441-2, 1441-3, and 1441-4 shown in FIG. 1B). In some embodiments, to reduce the amount of data transmission, the communication device 220 only receives environmental information around the vehicle sensed by sensor subsystem 1441-4, and does not receive environmental information around the vehicle sensed by other sensor subsystems (e.g., sensor subsystems 1441-1, 1441-2, and 1441-3).

[0053] In some examples, the computing and / or control units of the autonomous driving system in the vehicle (e.g., one or more of computing units 1501-1, 1501-2, 1501-3, and 1501-4 shown in Figure 1B) are used to compress, encode, encrypt, and perform other operations on environmental information data (e.g., image data) and / or vehicle information data, and then transmit the processed data to the monitoring system via a communication link. The monitoring system can decrypt and decode the received data. Using the information and data received from the vehicle, the monitoring system can detect risks present during vehicle operation.

[0054] In some embodiments, the at least one communication link established between the monitoring system and the vehicle can be multiple communication links with different reliability and latency. For example, the communication link between the monitoring system and the vehicle may include at least one of cellular mobile communication links (such as 4G / 5G links), V2X communication links, and wireless microwave communication links. Cellular mobile communication links (such as 4G / 5G links) can be used to establish high-reliability, high-latency communication links; V2X communication links can be used to establish high-reliability, low-latency communication links; and wireless microwave communication links can be used to establish low-reliability, low-latency communication links. Cellular mobile communication links and V2X communication links can be used to transmit vehicle information and control commands. Cellular mobile communication links and V2X communication links are redundant; if one of them fails, the other can be used to transmit the corresponding information or data. Wireless microwave communication links can be used to establish low-reliability, low-latency communication links. By sacrificing data transmission latency and reliability, large amounts of data (such as environmental information) can be transmitted. Furthermore, when the amount of environmental information to be transmitted is small, cellular mobile communication links and V2X communication links can also be used to transmit environmental information.

[0055] In some embodiments, the instruction generation device 210 may be configured to generate a control instruction for triggering one of a plurality of driving modes of the vehicle in response to at least one of the received vehicle information and environmental information. For example, a pre-configured algorithm may be used to process the information received from the vehicle to identify risks and generate a control instruction for triggering a driving mode that can avoid the identified risks.

[0056] In some embodiments, the instruction generation device 210 may be configured to generate a control instruction for triggering one of a plurality of driving modes of the vehicle in response to user input (e.g., input from a user via an instruction trigger panel). A user (e.g., a safety operator) at the monitoring system may determine a risk to the autonomous driving process based on information received from the vehicle and generate a control instruction for triggering a driving mode capable of mitigating the identified risk. In some implementations, the monitoring system may also include a display device. The display device may be configured to display at least one of vehicle information and environmental information to the user, allowing the user to provide input to the monitoring system based on the displayed information.

[0057] The aforementioned vehicle's multiple driving modes may include at least one of the following driving modes: a first driving mode, in which a first autonomous driving subsystem controls the vehicle to travel a first distance and then stop (e.g., controls the vehicle to stop immediately); a second driving mode, in which the first autonomous driving subsystem controls the vehicle to travel a second distance and then stop (e.g., controls the vehicle to pull over); and a third driving mode, in which a second autonomous driving subsystem controls the vehicle to travel a third distance and then stop (e.g., controls the vehicle to stop immediately). The second distance is greater than both the first and third distances. When the first autonomous driving subsystem is the primary autonomous driving system described above, the second autonomous driving subsystem may be a secondary or backup autonomous driving system; when the first autonomous driving subsystem is the secondary autonomous driving system described above, the second autonomous driving subsystem may be a backup autonomous driving system. For example, when the control command includes an instruction to trigger the aforementioned first driving mode, the autonomous vehicle can be controlled to stop immediately using the primary autonomous driving system. When the control command includes an instruction to trigger the aforementioned second driving mode, the autonomous vehicle can be controlled to pull over using the primary autonomous driving system. When the control command includes an instruction to trigger the aforementioned third driving mode, the autonomous vehicle can be controlled to pull over using the instruction of the secondary or backup autonomous driving system. Similarly, control commands may also include commands to control the autonomous vehicle to stop immediately using the autonomous driving system, commands to control the autonomous vehicle to stop immediately using the standby autonomous driving system, etc.

[0058] In some embodiments, the communication device 220 can also be configured to send control commands to the vehicle for controlling the driving of the autonomous vehicle. The autonomous vehicle can receive control commands sent by the monitoring system and verify the validity of the received commands. After successful verification, the vehicle can execute the command corresponding to the control command, thereby ensuring the driving safety of the autonomous vehicle.

[0059] The monitoring system shown in Figure 2 can be deployed in locations independent of the autonomous vehicles. For example, it can be deployed on another vehicle or in a remote control center. When deployed in a remote control center, the system can be configured to receive information from multiple autonomous vehicles and simultaneously monitor them. When deployed on another vehicle, it can monitor the driving status of another nearby autonomous vehicle on a one-to-one basis. Because the monitoring system is deployed independently of the autonomous vehicles, flexible scheduling is possible. For example, it can be scheduled based on road conditions, environmental conditions (such as weather), or in response to requests from autonomous vehicles. For instance, if poor road conditions (such as accidents or congestion) or poor weather conditions (such as fog, rain, or snow) are detected, a vehicle with a nearby monitoring system can be dispatched to the corresponding area to monitor the autonomous vehicles there. Furthermore, if an autonomous vehicle malfunctions, it can proactively initiate a monitoring request. Upon detecting a request initiated by an autonomous vehicle, a vehicle equipped with a monitoring system can travel to the location of the autonomous vehicle and take over its driving decisions, or a safety operator can inspect the autonomous vehicle to resolve any malfunctions.

[0060] In some embodiments, the monitoring system may further include a positioning device (not shown) configured to acquire the distance between the monitoring system and the autonomous vehicle when the monitoring system is deployed on a different vehicle than the autonomous vehicle, indicating whether the distance exceeds the communication distance of the communication link. In some embodiments, position sensors installed at the autonomous vehicle and the monitoring system can be used to acquire the position information of the autonomous vehicle and / or the monitoring system relative to a global coordinate system to determine the distance between the monitoring system and the autonomous vehicle. Using the above method, it can be ensured that the distance between the autonomous vehicle and the monitoring system used to monitor the driving status of the autonomous vehicle meets the communication distance requirements for data transmission between the monitoring system and the autonomous vehicle. In some examples, the distance between the autonomous vehicle and the monitoring system can be controlled to be 10-1000m. In other examples, the distance between the autonomous vehicle and the monitoring system can be controlled to any suitable value, as long as the data transmission requirements of the communication link are met.

[0061] Figure 3 shows an exemplary block diagram of a portion of the structure of a vehicle 300 according to an embodiment of the present disclosure. The vehicle 300 may be, for example, the vehicle 110 shown in Figure 1A.

[0062] As shown in Figure 3, the vehicle 300 may include a communication device 310 and a control device 320. The communication device 310 may be, for example, communication device 1521-1 and / or communication device 1521-2 in Figure 1B, and the control device 320 may be, for example, one of the control devices in Figure 1B, such as control device 1502-1 and control device 1502-2 (i.e., the main control device). The communication device 310 may, for example, establish a communication link with the communication device 220 of the monitoring system 200 for communication between the vehicle 300 and the monitoring system 200.

[0063] The communication device 310 is configured to receive control commands from the monitoring system 200. These control commands are used to trigger the vehicle to operate in one of a plurality of driving modes. The control device 320 is configured to control the vehicle to enter the aforementioned driving mode according to the control commands.

[0064] The communication device 310 can also be configured to send at least one of the vehicle information and the environmental information surrounding the vehicle collected by at least one sensor to a monitoring system 200 remotely set relative to the vehicle, for the purpose of generating the aforementioned control commands. The vehicle information reflects the vehicle's driving status during autonomous driving.

[0065] Figure 4 shows an exemplary flowchart of a vehicle monitoring method according to an embodiment of the present disclosure. The method 400 shown in Figure 4 can be performed using a monitoring system described in conjunction with Figure 2. The monitored vehicle includes multiple driving modes.

[0066] As shown in Figure 4, in step S402, a control command is generated to trigger one of the multiple driving modes of the vehicle. In step S404, the control command is sent to the vehicle to trigger the vehicle to drive in the aforementioned driving mode among the multiple driving modes.

[0067] In some embodiments, method 400 may further include receiving at least one of vehicle information and environmental information about the vehicle’s surroundings collected by sensors on the vehicle based on at least one communication link established with the vehicle.

[0068] In some embodiments, generating a control command for triggering one of a plurality of driving modes of the vehicle may include: generating a control command for triggering one of a plurality of driving modes of the vehicle in response to at least one of vehicle information and environmental information.

[0069] In some embodiments, generating a control command for triggering one of a plurality of driving modes of the vehicle may include: generating a control command for triggering one of a plurality of driving modes of the vehicle in response to user input (e.g., input via a command trigger panel).

[0070] In some embodiments, method 400 may further include: displaying at least one of vehicle information and environmental information to a user so that the user can provide input to the monitoring system based on at least one of the information.

[0071] Figure 5 shows an exemplary flowchart of a method performed by a vehicle having multiple driving modes according to an embodiment of the present disclosure. The method 500 shown in Figure 5 can be performed using the vehicle 110 shown in Figure 1A or the vehicle 300 shown in Figure 3.

[0072] As shown in Figure 5, in step S502, a control command is received, wherein the control command is used to trigger the vehicle to drive in one of the multiple driving modes. In step S504, the vehicle is controlled to enter the aforementioned driving mode among the multiple driving modes according to the control command.

[0073] In some embodiments, method 500 may further include sending at least one of vehicle information and environmental information around the vehicle collected by at least one sensor to a monitoring system remotely set relative to the vehicle, for generating the aforementioned control commands.

[0074] In some embodiments, the vehicle may include an autonomous driving system. The autonomous driving system may include a first autonomous driving subsystem and a second autonomous driving subsystem, and the first and second autonomous driving subsystems include different sensors.

[0075] In some embodiments, the multiple driving modes may include at least one of the following driving modes: a first driving mode, in which a first autonomous driving subsystem controls the vehicle to travel a first distance and then stops; a second driving mode, in which the first autonomous driving subsystem controls the vehicle to travel a second distance and then stops, wherein the second distance is greater than the first distance; and a third driving mode, in which the second autonomous driving subsystem controls the vehicle to travel a third distance and then stops.

[0076] Figure 6A shows an exemplary block diagram of a monitoring system 600 according to an embodiment of the present disclosure. The monitoring system 600 can, for example, implement the monitoring system 200 described in Figure 2. As shown in Figure 6A, the monitoring system 600 may include an interconnected display device 610, a computing device 620, and a communication device 630, and may also include an interconnected display device 640, an instruction generation device 650, a positioning device 660, a computing device 670, and a communication device 680. The instruction generation device 650 shown in Figure 6A can implement the instruction generation device 210 shown in Figure 2, and the communication devices 630 and 680 shown in Figure 6A can implement the communication device 220 shown in Figure 2.

[0077] Display device 610 can be used to display environmental information about the vehicle's surroundings received from the monitored vehicle (such as an autonomous vehicle), such as driver's view image data. Communication device 630 can be used to receive environmental information (such as image data) from the vehicle, and computing device 620 can process the received environmental information appropriately (such as decoding) and control display device 610 to display it.

[0078] Display device 640 can be used to display vehicle information received from the monitored vehicle, such as at least one of the following: vehicle speed, vehicle acceleration, operating status of vehicle sensors (e.g., sensors of the vehicle's autonomous driving system), autonomous driving system level status, location data generated by the autonomous driving system, perception data generated by the autonomous driving system, and decision data generated by the autonomous driving system. The aforementioned vehicle information can be received from the vehicle using communication device 680.

[0079] Communication device 630 and communication device 680 can each communicate directly or via a communication network with one or more devices. Each of communication device 630 and communication device 680 can use 3G cellular communication (e.g., CDMA, EVDO, GSM / GPRS) or 4G cellular communication (e.g., WiMAX or LTE), and can also use 5G cellular communication. Optionally, each of communication device 630 and communication device 680 can communicate with a wireless local area network (WLAN) (e.g., using...). In some embodiments, communication device 630 and communication device 680 can each communicate directly with one or more devices or other vehicles in the vicinity, for example, using wireless microwave, infrared, etc. Or ZIGBEE. In some embodiments, communication device 630 and communication device 680 can each use Wireless microwave or cellular communications (such as 3G, 4G, or 5G cellular communications) communicate directly with one or more devices or other vehicles in the vicinity via a mesh network. Other wireless protocols, such as various vehicular communication systems, are also within the scope of this application. For example, each of communication device 630 and communication device 680 may include one or more dedicated short-range communication (DSRC) devices or V2X devices that conduct public or private data communications with vehicles and / or roadside stations.

[0080] In some embodiments, the communication device 630 may be a wireless microwave communication device or any other communication device capable of transmitting large amounts of data. The communication device 680 may be a cellular mobile communication device and / or a V2X communication link V2X communication device, or any other communication device capable of transmitting vehicle information data.

[0081] In some embodiments, each of the display device 610 and the display device 640 may be, for example, a plasma display, a liquid crystal display (LCD), a touch screen display, a head-mounted display, or other similar displays.

[0082] The instruction generation device 650 may include a control unit for generating control instructions for triggering one of a plurality of driving modes of the vehicle.

[0083] In some embodiments, the instruction generation device 650 includes, in addition to the control unit, an instruction trigger panel connected to the control unit. A safety operator at the monitoring system can generate the aforementioned control instructions by operating the instruction trigger panel (see Figure 7).

[0084] The positioning device 660 can be a Global Navigation Satellite System (GNSS) transceiver (e.g., a Global Positioning System (GPS) transceiver). The positioning device 660 can be used to determine the location of the monitoring system 600. When the monitoring system is set up on a different monitoring vehicle than the vehicle being monitored, the distance between the monitoring vehicle and the vehicle being monitored can be determined using the result of the positioning device 660, thereby ensuring that the distance between the monitoring system and the vehicle being monitored does not exceed the distance threshold required for normal data transmission via the communication link.

[0085] The computing device 670 can be used to process vehicle information received through the communication device 680 and positioning data generated by the positioning device for display on the display device.

[0086] The computing device 670 can also process the control commands generated by the instruction generation device 650 and send the processed control commands to the communication device 680 for transmission to the monitored vehicle to control its driving mode. In some examples, the computing device 670 can encrypt the control commands generated by the instruction generation device 650 to generate encrypted control commands, thereby ensuring communication security during data transmission. In other examples, the computing device 670 can also add a timestamp to each control command generated by the instruction generation device 650 to indicate the generation time and validity period of the control command. When the vehicle receives a control command with a timestamp, it can determine the real-time performance and security of the control command based on the generation time and validity period of each control command. For example, if the generation time of a control command exceeds its validity period, the control command can be considered invalid and thus abandoned.

[0087] In some embodiments, the instruction generation device 650 may be directly connected to the communication device 680 without going through the computing device 670. In this case, the various processing of control instructions by the computing device 670 described above can be performed by the instruction generation device 650.

[0088] Figure 6B shows an exemplary block diagram of a monitoring system 600' according to another embodiment of the present disclosure. The display device 640', instruction generation device 650', positioning device 660', computing device 670', and communication device 680' shown in Figure 6B have the same functions as the display device 640, instruction generation device 650, positioning device 660, computing device 670, and communication device 680 shown in Figure 6A. In addition, the display device 640', computing device 670', and communication device 680' shown in Figure 6B also have the same functions as the display device 610, computing device 620, and communication device 630 shown in Figure 6A.

[0089] Figure 7 shows an example diagram of a command trigger panel 700 according to an embodiment of the present disclosure. As shown in Figure 7, the command trigger panel 700 may include indicator lights 710-1 to 710-5, switch buttons 720-1 to 720-5, and a power switch 730. Each switch button corresponds to a driving mode of the autonomous vehicle. The control unit of the command generation device can generate control commands based on the trigger signals of the switch buttons. The indicator lights 710-1 to 710-5 may be LED lights or OLED lights. By displaying different colors of light, it is possible to indicate whether the driving mode corresponding to the switch button corresponding to the indicator light is available. For example, a red light can indicate that the corresponding driving mode is unavailable, and a green light can indicate that the corresponding driving mode is available. The switch buttons may be implemented as buttons or keys and can be used to trigger corresponding control commands to be sent to the autonomous vehicle.

[0090] In some embodiments, these switches may correspond to: instructions for controlling the autonomous vehicle to enter a driving mode that utilizes the primary autonomous driving system for parallel parking (i.e., instruction 1); instructions for controlling the autonomous vehicle to enter a driving mode that utilizes the primary autonomous driving system for immediate parking (i.e., instruction 2); instructions for controlling the autonomous vehicle to enter a driving mode that utilizes the secondary autonomous driving system for parallel parking (i.e., instruction 3); instructions for controlling the autonomous vehicle to enter a driving mode that utilizes the secondary autonomous driving system for immediate parking (i.e., instruction 4); and instructions for controlling the autonomous vehicle to enter a driving mode that utilizes the backup autonomous driving system for immediate parking (i.e., instruction 5). The above-described switch settings are merely one possible example; those skilled in the art can configure the specific content of the control instructions triggered by the switches according to actual conditions. The power switch 730 can be used to activate the control panel. Further, the instruction trigger panel 700 may also include an input device 740, such as a mouse or keyboard. In some examples, the instruction trigger panel 700 may also include indicator lights for indicating the communication status between the monitoring system and the autonomous vehicle, enabling the operator of the monitoring system to quickly understand the current communication status between the monitoring system and the autonomous vehicle. If the current communication status is poor, the communication status can be improved by adjusting the distance between the monitoring vehicle and the autonomous vehicle.

[0091] For example, when the vehicle's movement and stopping are controlled by the primary automated driving system (in which case the corresponding indicator light will show that the relevant driving mode of the primary automated driving system is available), if the operator notices an object in the driver's view that is not recognized by the automated driving system and that the object is far from the vehicle, the operator can trigger command 1 by operating the corresponding switch button; if the object is close to the vehicle, the operator can trigger command 2 by operating the corresponding switch button. When the vehicle's movement and stopping are controlled by the secondary automated driving system (in which case the corresponding indicator light will show that the relevant driving mode of the secondary automated driving system is available), if the operator notices an object in the driver's view that is not recognized by the automated driving system and that the object is far from the vehicle, the operator can trigger command 3 by operating the corresponding switch button; if the object is close to the vehicle, the operator can trigger command 4 by operating the corresponding switch button. When the vehicle's movement and stopping are controlled by the backup automated driving system (in which case the corresponding indicator light will show that the relevant driving mode of the backup automated driving system is available), if the operator notices an object in the driver's view that is not recognized by the automated driving system, the operator can trigger command 5 by operating the corresponding switch button.

[0092] Figure 8 illustrates the usage of a monitoring system (e.g., monitoring system 600 shown in Figure 6A or monitoring system 600' shown in Figure 6B) according to an embodiment of the present disclosure. As shown in Figure 8, the monitoring system includes a display device 81, a display device 82-1, a display device 82-2, and an instruction generation device 83. The display device 81 can be used to display driver-view image data acquired by the image acquisition device of the autonomous vehicle. The display device 82-1 can be used to display the distance between the monitored vehicle and the autonomous vehicle and the wireless communication status information. The display device 82-2 can be used to display vehicle driving status data and autonomous driving system data (e.g., perception data generated by the autonomous driving system) sent by the autonomous vehicle. The display device 81 can be the display device 610 shown in Figure 6A, the display devices 82-1 and 82-2 can be the display device 640 shown in Figure 6A, and the instruction generation device 83 can be the instruction generation device 650 shown in Figure 6A.

[0093] According to embodiments 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 that, when executed by the at least one processor, cause the at least one processor to perform the monitoring method described in this disclosure. The electronic device may include an instruction trigger panel as an input device, as depicted in conjunction with FIG7.

[0094] According to embodiments of the present 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 that, when executed by the at least one processor, cause the at least one processor to perform the method described in the present disclosure performed by a vehicle having multiple driving modes.

[0095] According to embodiments of the present 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 methods described in the present disclosure.

[0096] According to embodiments of this disclosure, a computer program product is also provided, including a computer program, wherein the computer program implements the methods described in this disclosure when executed by a processor.

[0097] Figure 9 illustrates an example computing device 900, which can be used, for example, to implement computing devices 620 and 670 shown in Figure 6A, and computing device 670' shown in Figure 6B. In some embodiments, computing device 900 can also be used to implement computing devices in autonomous vehicles as shown in Figures 1A and 1B.

[0098] The computing device 900 can be any machine configured to perform processing and / or calculations, and can be, but is not limited to, a workstation, server, desktop computer, laptop computer, tablet computer, personal digital assistant, smartphone, in-vehicle computer, or any combination thereof.

[0099] The computing device 900 may include elements (possibly via one or more interfaces) connected to or communicating with the bus 902. For example, the computing device 900 may include the bus 902, one or more processors 904, one or more input devices 906, and one or more output devices 908. The one or more processors 904 may be any type of processor and may include, but are not limited to, one or more general-purpose processors and / or one or more dedicated processors (e.g., special-purpose processing chips). The input devices 906 may be any type of device capable of inputting information to the computing device 900 and may include, but are not limited to, a mouse, keyboard, touchscreen, microphone, and / or remote control. The output devices 908 may be any type of device capable of presenting information and may include, but are not limited to, a display, speaker, video / audio output terminal, vibrator, and / or printer. The computing device 900 may also include or be connected to a non-transitory storage device 910. The non-transitory storage device may be any storage device that is non-transitory and capable of storing data, and may include, but is not limited to, disk drives, optical storage devices, solid-state storage, floppy disks, flexible disks, hard disks, magnetic tapes or any other magnetic media, optical discs or any other optical media, ROM (read-only memory), RAM (random access memory), cache memory and / or any other memory chip or cartridge, and / or any other medium from which a computer can read data, instructions, and / or code. The non-transitory storage device 910 may be detachable from an interface. The non-transitory storage device 910 may have data / programs (including instructions) / code for implementing the methods and steps described above. The computing device 900 may also include a communication interface 912. The communication interface 912 may be any type of device or system that enables the computing device 900 to communicate with other devices and / or with a network, and may include, but is not limited to, modems, network interface cards, infrared communication devices, wireless communication devices and / or chipsets, such as Bluetooth. TM Devices, 802.11 devices, WiFi devices, WiMax devices, cellular communication devices and / or the like.

[0100] The computing device 900 may also include a memory 914, which is any type of memory that can store programs (including instructions) and / or data useful for the operation of the processor 904, and may include, but is not limited to, random access memory and / or read-only memory devices.

[0101] The software (program) may reside in memory 914 and includes, but is not limited to, an operating system 916, one or more application programs 918, drivers, and / or other data and code. Instructions for performing some of the methods and steps of this disclosure may be included in one or more application programs 918. Executable code or source code of the software (program) instructions may be stored in a non-transitory computer-readable storage medium (such as the storage device 910 described above) and may be stored in memory 914 during execution (possibly compiled and / or installed). Executable code or source code of the software (program) instructions may also be downloaded from a remote location.

[0102] Figure 10 illustrates an exemplary control device 1000, which may be used, for example, to implement the control unit in the instruction generation device 210 shown in Figure 2, the control unit in the instruction generation device 650 shown in Figure 6A, and the control unit in the instruction generation device 650' shown in Figure 6B.

[0103] The control device 1000 may include elements (possibly via one or more interfaces) that are connected to or communicate with the bus 1006. For example, the control device 1000 may include the bus 1006 and one or more processors 1002. The one or more processors 1002 may be any type of processor and may include, but are not limited to, one or more general-purpose processors and / or one or more dedicated processors (e.g., special-purpose processing chips). The control device 1000 may also include a communication interface 1012. The communication interface 1012 may be any type of device or system that enables the control device 1000 to communicate with other devices and / or with a network, and may include, but are not limited to, modems, network interface cards, infrared communication devices, wireless communication devices and / or chipsets, such as Bluetooth. TM Devices, 802.11 devices, WiFi devices, WiMax devices, cellular communication devices and / or the like.

[0104] The control device 1000 may also include a memory 1004, which may be any type of memory that stores programs (including instructions) and / or data useful for the operation of the processor 1002, and may include, but is not limited to, random access memory and / or read-only memory devices.

[0105] The software (program) may reside in memory 1004 and includes, but is not limited to, an operating system, one or more applications, drivers, and / or other data and code. Instructions for performing some of the methods and steps of this disclosure may be included in one or more applications.

[0106] 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 monitoring system for a vehicle, wherein the vehicle includes multiple driving modes, the monitoring system comprising: An instruction generation device is configured to generate a control instruction for triggering one of the plurality of driving modes of the vehicle, and a communication device is configured to send the control instruction to the vehicle to trigger the vehicle to drive according to the one of the plurality of driving modes; wherein the vehicle includes an autonomous driving system, the autonomous driving system including a first autonomous driving subsystem and a second autonomous driving subsystem, the first autonomous driving subsystem and the second autonomous driving subsystem including different sensors; wherein the plurality of driving modes includes at least one of the following driving modes: a first driving mode, in which the first autonomous driving subsystem controls the vehicle to travel a first distance and then stop; a second driving mode, in which the first autonomous driving subsystem controls the vehicle to travel a second distance and then stop; a third driving mode, in which the second autonomous driving subsystem controls the vehicle to travel a third distance and then stop, wherein the second distance is greater than the first distance and the third distance.

2. The monitoring system of claim 1, wherein the communication device is further configured to receive at least one of vehicle information of the vehicle and environmental information of the vehicle's surroundings collected by sensors on the vehicle, based on at least one communication link established with the vehicle.

3. The monitoring system of claim 2, wherein the instruction generation device is configured to generate a control instruction for triggering one of the plurality of driving modes of the vehicle in response to at least one of the vehicle information and the environmental information.

4. The monitoring system as described in claim 2, wherein, The vehicle information includes at least one of the following: the vehicle's speed, the vehicle's acceleration, the operating status of the vehicle's sensors, the vehicle's autonomous driving system level status, the location data generated by the autonomous driving system, the perception data generated by the autonomous driving system, and the decision data generated by the autonomous driving system.

5. The monitoring system as described in claim 2, wherein, The at least one communication link includes multiple communication links with different reliability and latency.

6. The monitoring system of claim 2, wherein the instruction generation device is configured to generate a control instruction for triggering one of the plurality of driving modes of the vehicle in response to user input.

7. The monitoring system of claim 6 further includes a display device configured to display at least one of the vehicle information and the environmental information to a user, so that the user provides the input to the monitoring system based on the at least one piece of information.

8. A vehicle having multiple driving modes, comprising: A communication device is configured to receive a control command, the control command being used to trigger the vehicle to drive according to one of a plurality of driving modes; a control device is configured to control the vehicle to enter the one of the plurality of driving modes according to the control command; wherein the vehicle includes an autonomous driving system, the autonomous driving system including a first autonomous driving subsystem and a second autonomous driving subsystem, the first autonomous driving subsystem and the second autonomous driving subsystem including different sensors; wherein the plurality of driving modes includes at least one of the following driving modes: a first driving mode, in which the first autonomous driving subsystem controls the vehicle to travel a first distance and then stop; a second driving mode, in which the first autonomous driving subsystem controls the vehicle to travel a second distance and then stop; a third driving mode, in which the second autonomous driving subsystem controls the vehicle to travel a third distance and then stop, wherein the second distance is greater than the first distance and the third distance.

9. The vehicle according to claim 8, wherein, The communication device is also configured to send at least one of the vehicle information and the environmental information around the vehicle collected by at least one sensor to a monitoring system remotely set relative to the vehicle for generating the control commands.

10. A monitoring method for a vehicle, wherein the vehicle includes multiple driving modes, the monitoring method comprising: The system generates a control command to trigger one of the plurality of driving modes of the vehicle, and sends the control command to the vehicle to trigger the vehicle to drive according to the one of the plurality of driving modes; wherein the vehicle includes an autonomous driving system, the autonomous driving system includes a first autonomous driving subsystem and a second autonomous driving subsystem, the first autonomous driving subsystem and the second autonomous driving subsystem including different sensors; wherein the plurality of driving modes includes at least one of the following driving modes: a first driving mode, in which the first autonomous driving subsystem controls the vehicle to travel a first distance and then stop; a second driving mode, in which the first autonomous driving subsystem controls the vehicle to travel a second distance and then stop; a third driving mode, in which the second autonomous driving subsystem controls the vehicle to travel a third distance and then stop, wherein the second distance is greater than the first distance and the third distance.

11. The monitoring method as described in claim 10, further comprising: Based on at least one communication link established with the vehicle, the system receives at least one of the following: vehicle information and environmental information surrounding the vehicle collected by sensors on the vehicle.

12. The monitoring method as described in claim 11, wherein, Generating a control command for triggering one of the plurality of driving modes of the vehicle includes: generating a control command for triggering one of the plurality of driving modes of the vehicle in response to at least one of the vehicle information and the environmental information.

13. The monitoring method as described in claim 11, wherein, The vehicle information includes at least one of the following: the vehicle's speed, the vehicle's acceleration, the operating status of the vehicle's sensors, the vehicle's autonomous driving system level status, the location data generated by the autonomous driving system, the perception data generated by the autonomous driving system, and the decision data generated by the autonomous driving system.

14. The monitoring method as described in claim 11, wherein, Generating a control command for triggering one of the plurality of driving modes of the vehicle includes: generating a control command for triggering one of the plurality of driving modes of the vehicle in response to user input.

15. The monitoring method as described in claim 14, further comprising: The system displays at least one of the vehicle information and the environmental information to the user so that the user can provide input to the monitoring method based on the at least one piece of information.

16. An electronic device comprising: At least one processor; And at least one memory storing instructions that, when executed by the at least one processor, cause the at least one processor to perform the method of any one of claims 10-15.

17. A computer-readable storage medium storing computer instructions, wherein, When executed by the computer's processor, the computer instructions cause the computer to perform the method according to any one of claims 10-15.

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