A vehicle control method and device, electronic equipment and storage medium

Abstract

Embodiments of the present application disclose a vehicle control method and device, electronic equipment and storage medium. The vehicle control method can specifically include obtaining a first control instruction and a second control instruction, and performing a first vehicle state check on a to-be-controlled vehicle; performing a second vehicle state check on the to-be-controlled vehicle according to a first vehicle state check result; performing a third vehicle state check on the to-be-controlled vehicle according to a second vehicle state check result and third vehicle state information; performing a fourth vehicle state check on the to-be-controlled vehicle according to a third vehicle state check result and a fifth control instruction; and obtaining a sixth control instruction according to a fourth vehicle state check result, so as to control the to-be-controlled vehicle according to the sixth control instruction. The technical solution of the embodiments of the present application can effectively and safely control the to-be-controlled vehicle when the vehicle needs to leave the parking position in time and the driver cannot reach the parking site, so as to make the to-be-controlled vehicle safely leave the parking position.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of control technology, and in particular to a vehicle control method, device, electronic device and storage medium. Background Technology

[0002] Currently, with the increasing number of cars, drivers, and urbanization rates, the shortage of public and on-street parking resources in some urban areas (especially bustling commercial districts with high pedestrian traffic) has become a problem in urban planning and construction. To address this issue, on the one hand, more parking resources can be developed and utilized through rational urban planning and allocation of parking land; on the other hand, corresponding programs (such as mobile applications) can be developed based on the mobile communication software systems used by drivers, enabling them to establish more convenient and timely effective communication channels, thereby resolving or avoiding social disputes caused by parking shortages.

[0003] Furthermore, while existing technologies can effectively improve drivers' ability to properly utilize parking resources through automatic parking control, certain emergency situations exist (such as when city management personnel need to conduct construction work at the vehicle's parking location). In these situations, the vehicle must leave its parking spot promptly, but the driver, due to certain reasons (such as not being in the city where the vehicle is parked), is unable to reach the parking location to operate the system to safely leave or change the parking position, thus preventing the vehicle from leaving its parking location. Summary of the Invention

[0004] This invention provides a vehicle control method, device, electronic device, and storage medium, which can effectively and safely control a vehicle when it needs to leave a parking position in a timely manner and the driver cannot reach the parking site, thereby enabling the vehicle to safely leave the parking position.

[0005] According to one aspect of the present invention, a vehicle control method is provided, comprising:

[0006] The system acquires a first control command sent by a first communication control device and a second control command sent by a second communication control device, and performs a first vehicle status check on the vehicle to be controlled based on the first control command and the second control command.

[0007] If the inspection result of the first vehicle status check is qualified, the vehicle to be controlled is controlled to enter the first working mode, and the vehicle to be controlled is subjected to a second vehicle status check.

[0008] If the inspection result of the second vehicle status check is deemed satisfactory, the first vehicle status information and the third control command are sent to the second communication control device.

[0009] According to the fourth control instruction fed back by the second communication control device based on the first vehicle status information and the third control instruction, the second communication control device sends the second vehicle status information to the second communication control device and obtains the third vehicle status information fed back by the second communication control device based on the second vehicle status information, so as to perform a third vehicle status check on the vehicle to be controlled based on the third vehicle status information.

[0010] If the inspection result of the third vehicle status check is deemed satisfactory, the vehicle to be controlled is controlled to enter the second working mode;

[0011] The system acquires a fifth control command sent by a third communication device and performs a fourth vehicle status check on the vehicle to be controlled based on the fifth control command.

[0012] If the inspection result of the fourth vehicle status check is qualified, the vehicle to be controlled is controlled to enter the third working mode, and the sixth control command sent by the third communication control device is obtained, so as to control the vehicle to be controlled according to the sixth control command.

[0013] According to another aspect of the present invention, a vehicle control device is provided, comprising:

[0014] The first vehicle status check module is used to acquire a first control command sent by a first communication control device and a second control command sent by a second communication control device, and to perform a first vehicle status check on the vehicle to be controlled according to the first control command and the second control command.

[0015] The second vehicle status check module is used to control the vehicle to be controlled to enter the first working mode and perform a second vehicle status check on the vehicle to be controlled when the inspection result of the first vehicle status check is qualified.

[0016] The third vehicle status check module is used to send first vehicle status information and a third control command to the second communication control device when the second vehicle status check result is qualified; and to send second vehicle status information to the second communication control device according to the fourth control command fed back by the second communication control device based on the first vehicle status information and the third control command, and to obtain the third vehicle status information fed back by the second communication control device based on the second vehicle status information, so as to perform a third vehicle status check on the vehicle to be controlled based on the third vehicle status information.

[0017] The fourth vehicle status check module is used to control the vehicle to be controlled to enter the second working mode when the inspection result of the third vehicle status check is qualified; to obtain the fifth control command sent by the third communication device, and to perform the fourth vehicle status check on the vehicle to be controlled according to the fifth control command.

[0018] The vehicle control module is used to control the vehicle to be controlled to enter the third working mode when the inspection result of the fourth vehicle status check is qualified, and to obtain the sixth control command sent by the third communication control device, so as to control the vehicle to be controlled according to the sixth control command.

[0019] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0020] At least one processor; and

[0021] A memory communicatively connected to the at least one processor; wherein,

[0022] The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the vehicle control method according to any embodiment of the present invention.

[0023] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the vehicle control method according to any embodiment of the present invention.

[0024] The technical solution of this invention establishes a secure and reliable authorization and communication control method between the first communication control device, the second communication control device, the third communication control device, and the vehicle. This solves the problem in the prior art where the vehicle cannot leave the parking position because the driver cannot reach the parking location. It can effectively and safely control the vehicle to be controlled when the vehicle needs to leave the parking position in a timely manner and the driver cannot reach the parking location, thereby enabling the vehicle to be controlled to safely leave the parking position.

[0025] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1a This is a flowchart of a vehicle control method provided in Embodiment 1 of the present invention;

[0028] Figure 1b This is a flowchart of another vehicle control method provided in Embodiment 1 of the present invention;

[0029] Figure 2 This is a schematic diagram of a preset unmanned driving mobile limited space range provided in Embodiment 1 of the present invention;

[0030] Figure 3 This is a schematic diagram of a method for calculating the real-time spatial displacement and real-time spatial distance of unmanned driving provided in Embodiment 1 of the present invention;

[0031] Figure 4 This is a schematic diagram of the architecture of a vehicle control system provided in Embodiment 1 of the present invention;

[0032] Figure 5 This is a schematic diagram of a vehicle control device provided in Embodiment 2 of the present invention;

[0033] Figure 6 This is a schematic diagram of the structure of an electronic device that implements the vehicle control method of this invention. Detailed Implementation

[0034] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0035] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0036] Example 1

[0037] Figure 1 is a flowchart of a vehicle control method provided in Embodiment 1 of the present invention. This embodiment is applicable to situations where a vehicle needs to leave its parking position in a timely manner but the driver cannot reach the parking site, providing an effective and safe way to control the vehicle. This method can be executed by a vehicle control device, which can be implemented through software and / or hardware, and is generally directly integrated into the electronic device executing this method. This electronic device can be a terminal device or a server device. The present invention does not limit the type of electronic device executing the vehicle control method. Specifically, as shown in Figure 1, the vehicle control method may include the following steps:

[0038] S110: Obtain a first control command sent by a first communication control device and a second control command sent by a second communication control device, and perform a first vehicle status check on the vehicle to be controlled according to the first control command and the second control command.

[0039] The first control command is issued by the first authorized entity through the first communication control device, and is used to activate the remote-controlled autonomous vehicle authorized takeover system. The first authorized entity is the vehicle driver or a driver designated by the vehicle owner. The first communication control device is held by the first authorized entity and is a communication device capable of establishing a secure and effective communication connection with the remote-controlled autonomous vehicle authorized takeover system, the second communication control device, and the third communication control device. The first communication control device must at least have the function of accurately and effectively identifying the identity information of the first authorized entity.

[0040] The second control command is issued by the second authorized entity through the second communication control device, and is used to activate the remote-controlled autonomous vehicle authorized takeover system. The second authorized entity is a vehicle product mobility service provider or a vehicle product mobility service provider responsible for related technical personnel. The second communication control device is a communication device held by the second authorized entity, capable of establishing a secure and effective communication connection with the vehicle control system, the first communication control device, and the third communication control device. Furthermore, the second communication control device can perform at least one of the following functions: accurately and effectively identify the device identity information of the first communication control device, accurately and effectively identify the device identity information of the third communication control device, accurately and effectively identify the identity information of the first authorized entity, accurately and effectively identify the identity information of the third authorized entity, obtain third vehicle status information, and obtain social announcements issued by relevant departments regarding the vehicle's current location.

[0041] The third authorized entity is a person jointly authorized by the first and second authorized entities, capable of reaching or near the space preset by the first authorized entity and remotely operating the unmanned vehicle. The third communication control device is a communication device held by the third authorized entity, capable of establishing a secure and effective communication connection with the vehicle control system, the first communication control device, and the second communication control device. The third communication control device must at least have the function of accurately and effectively identifying the device information of the second communication device.

[0042] Optionally, the first vehicle status check may include at least one of the following: confirming the validity of the device identities of the first and second communication control devices; confirming the security of the data information transmitted between the remote-controlled autonomous vehicle authorized takeover system, the first and second communication control devices; and confirming whether the information communication and data transmission conditions between the remote-controlled autonomous vehicle authorized takeover system, the first and second communication control devices meet the technical requirements for vehicle control.

[0043] Optionally, acquiring the first control command sent by the first communication control device and the second control command sent by the second communication control device, and performing a first vehicle status check on the vehicle to be controlled according to the first control command and the second control command, may include: the remote-controlled autonomous vehicle authorized takeover system can only perform the first vehicle status check when it acquires both the first control command from the first communication control device and the second control command from the second communication control device at the same time.

[0044] Specifically, the process involves: acquiring a first control command from a first communication control device; acquiring a second control command from a second communication control device; determining whether the remote-controlled autonomous vehicle takeover system has acquired the first control command; if the remote-controlled autonomous vehicle takeover system has not acquired the first control command, returning to the process of acquiring the first control command from the first communication control device and the second control command from the second communication control device; if the remote-controlled autonomous vehicle takeover system has acquired the first control command, determining whether the remote-controlled autonomous vehicle takeover system has acquired the second control command; if the remote-controlled autonomous vehicle takeover system has not acquired the second control command, returning to the process of acquiring the first control command from the first communication control device and the second control command from the second communication control device. If the remote-controlled autonomous vehicle authorized takeover system has acquired both the first and second control commands, it determines whether the time interval between acquiring the first and second control commands exceeds a first preset time interval upper limit. If the time interval exceeds the first preset time interval upper limit, it sends an error message to the first and second communication control devices, the error message including at least the message "The time interval between acquiring the first and second control commands has exceeded the limit," and returns to acquire the first control command from the first communication control device and the second control command from the second communication control device. If the time interval between acquiring the first and second control commands does not exceed the first preset time interval upper limit, it performs a first vehicle status check on the vehicle to be controlled.

[0045] Optionally, acquiring a first control command sent by a first communication control device and a second control command sent by a second communication control device, and performing a first vehicle status check on the vehicle to be controlled based on the first control command and the second control command, may include: for the first control command from the first communication control device and the second control command from the second communication control device, the first vehicle status check on the vehicle to be controlled can be performed as long as one of the control commands is acquired.

[0046] Specifically, the system acquires a first control command from a first communication control device; acquires a second control command from a second communication control device; determines whether the remote-controlled autonomous vehicle authorized takeover system has acquired the first control command; if the remote-controlled autonomous vehicle authorized takeover system has not acquired the first control command, it determines whether the remote-controlled autonomous vehicle authorized takeover system has acquired the second control command; if the remote-controlled autonomous vehicle authorized takeover system has acquired both the first and second control commands, and the time interval between acquiring the first and second control commands does not exceed a first preset time interval upper limit threshold, a first vehicle status check is performed on the vehicle to be controlled. If the remote-controlled autonomous vehicle authorized takeover system has neither acquired the first nor the second control command, the system returns to acquiring the first control command from the first communication control device and the second control command from the second communication control device. If the remote-controlled autonomous vehicle authorized takeover system has acquired the first control command and the second control command, but the time interval between acquiring the first control command and the second control command exceeds the first preset time interval upper limit threshold, then the system returns to acquire the first control command from the first communication control device and the second control command from the second communication control device.

[0047] Specifically, the system acquires a first control command from a first communication control device; acquires a second control command from a second communication control device; determines whether the remote-controlled autonomous vehicle authorized takeover system has acquired the first control command; if the remote-controlled autonomous vehicle authorized takeover system has not acquired the first control command, it determines whether the remote-controlled autonomous vehicle authorized takeover system has acquired the second control command; if the remote-controlled autonomous vehicle authorized takeover system has acquired either the first or the second control command, it performs a first vehicle status check on the vehicle to be controlled. If the remote-controlled autonomous vehicle authorized takeover system has neither acquired the first nor the second control command, it returns to acquiring the first control command from the first communication control device and the second control command from the second communication control device.

[0048] Optionally, a first vehicle status check may be performed on the vehicle to be controlled, which may include at least one of the following: checking the validity of the first and second control commands, including but not limited to: checking whether the syntax of the command information is accurate, checking whether the content of the command information is complete, checking whether the command information is repeatedly sent by the same communication control device or different communication control devices, checking whether the sending time of the command information is within the valid time interval specified by the system, and checking whether the security commands and security identification information in the command information are correct; checking the device identification (identification) information of the first and second communication control devices, wherein the device identification (identification) information includes but is not limited to: the name of the device, the serial number and version information of the operating system software of the device, the device identity (ID) information of the device, the manufacturer information of the device, the International Mobile Equipment Identity (IMEI) of the device, and the integrated circuit card identity (ICCID) of the device; checking the identification (identification) information of the first and second authorized entities, wherein the identification (identification) information of the authorized entity (individual entity or legal person) includes but is not limited to: the citizen ID number information of the legal representative of the authorized individual entity or authorized group entity, facial recognition information, voice recognition information, and identification information of commonly used remote communication devices (such as mobile phones).

[0049] S120. If the inspection result of the first vehicle status check is qualified, control the vehicle to be controlled to enter the first working mode and perform a second vehicle status check on the vehicle to be controlled.

[0050] The first operating mode is the standby preparation mode. After the remote-controlled autonomous vehicle authorized takeover system enters the first operating mode, it will establish communication between all other electronic control units, sensors, and actuators related to the functions required for the remote-controlled autonomous vehicle.

[0051] In the second vehicle status check, the remote-controlled autonomous vehicle authorized takeover system will check the operational status of all other relevant electronic control units, sensors, and actuators related to the functions required for remote-controlled autonomous vehicle operation to confirm whether the vehicle under control has the working conditions for remote-controlled autonomous operation. It will also check the vehicle's historical remote-controlled movement operation records as a reference for the current remote-controlled autonomous operation. Specifically, the second vehicle status check includes at least one of the following: confirming whether all electronic control units, sensors, and actuators related to the functions required for remote-controlled autonomous vehicle operation meet the hardware technical requirements for vehicle control.

[0052] Specifically, the remote-controlled autonomous vehicle authorized takeover system determines whether the check result of the first vehicle status check is qualified; if the remote-controlled autonomous vehicle authorized takeover system determines that the check result of the first vehicle status check is unqualified, it sends an error message to the first communication control device and the second communication control device. The error message includes at least the message: "The check result of the remote-controlled autonomous vehicle authorized takeover system wake-up command is unqualified"; if the remote-controlled autonomous vehicle authorized takeover system determines that the check result of the first vehicle status check is qualified, the remote-controlled autonomous vehicle authorized takeover system enters the first working mode; the remote-controlled autonomous vehicle authorized takeover system establishes communication between all other electronic control units, sensors, and actuators related to the functions required by the remote-controlled autonomous vehicle; the remote-controlled autonomous vehicle authorized takeover system performs a second vehicle status check on the vehicle to be controlled.

[0053] Optionally, the second vehicle status check may specifically include at least one of the following: the remote-controlled autonomous vehicle authorized takeover system sends control signals to all other relevant electronic control units, sensors, and actuators related to the functions required by the remote-controlled autonomous vehicle to wake up or activate the relevant electronic control units, sensors, and actuators and put them into working status; the remote-controlled autonomous vehicle authorized takeover system sends control signals to all other relevant electronic control units, sensors, and actuators related to the functions required by the remote-controlled autonomous vehicle to check whether the relevant electronic control units, sensors, and actuators can enter normal working status to meet the hardware technical requirements of vehicle control; obtains the working status check results of all other relevant electronic control units, sensors, and actuators related to the functions required by the remote-controlled autonomous vehicle; the remote-controlled autonomous vehicle authorized takeover system sends control signals to all other relevant electronic control units, sensors, and actuators related to the functions required by the remote-controlled autonomous vehicle to put the relevant electronic control units, sensors, and actuators into standby or hibernation status to reduce the energy consumption level of the vehicle control system.

[0054] S130. If the inspection result of the second vehicle status check is qualified, send the first vehicle status information and the third control command to the second communication control device.

[0055] The first vehicle status information is information sent by the remote-controlled autonomous vehicle authorized takeover system to the first communication control device, the second communication control device, the first authorized entity, and the second authorized entity, reporting the operational status of the vehicle's relevant electronic control units, sensors, and actuators, after confirming that all electronic control units, sensors, and actuators related to the functions required for the remote-controlled autonomous vehicle are functioning normally. The purpose of sending the first vehicle status information is to notify the first and second authorized entities of at least one of the following: the vehicle's relevant electronic control devices have been successfully activated and entered the first operating mode, and the vehicle currently possesses the hardware technical conditions for autonomous driving. The first vehicle status information includes at least information describing the operational status of all electronic control units, sensors, and actuators related to the functions required for the remote-controlled autonomous vehicle. Optionally, the first vehicle status information may also include historical fault information of the vehicle control system.

[0056] The third control command is a control command issued by the vehicle's telematics system. The third control command includes at least one of the following: device identification (identification) information of the communication control equipment in the vehicle's telematics system; identification (identification) information of the vehicle owner or frequently used driver stored in the vehicle's human-machine interface system; management software information installed or pre-installed in the electronic control unit of the remote-controlled autonomous vehicle authorized takeover system; management software information installed or pre-installed in the vehicle's electronic control unit; management software information installed or pre-installed in the vehicle's braking management system electronic control unit; management software information installed or pre-installed in the vehicle's dynamic stability control system electronic control unit; management software information installed or pre-installed in the telematics system electronic control unit; management software information installed or pre-installed in the human-machine interface system electronic control unit; safety instructions and safety identification information contained in the first control command; safety instructions and safety identification information contained in the second control command; safety instructions and safety identification information (such as dynamic security passwords) for authorized remote control communication with the third communication control equipment; and seat pressure signals collected by the seat pressure sensor. The seat pressure signals collected by the seat pressure sensor can be used to check whether there are currently any occupants in the vehicle's driver's cabin. The purpose of the third control command includes at least one of the following: to send feedback information of the first control command and the second control command to the first communication control device and the second communication control device; to notify the first authorized entity and the second authorized entity that the vehicle currently has the hardware technical conditions for unmanned driving; and to send authorized remote control communication safety commands and safety identification information to the second communication control device so as to authorize the third communication control device and the third authorized entity to remotely operate the unmanned vehicle in the subsequent control method process.

[0057] Specifically, the system determines whether the second vehicle status check is satisfactory. If the second vehicle status check is unsatisfactory, an error message is sent to both the first and second communication control devices. The error message includes at least the following content: "The relevant electronic control unit, sensor, and actuator devices cannot enter the remote-controlled autonomous driving working state. The working conditions for remotely authorized remote-controlled autonomous driving operation are not currently met." If the second vehicle status check is satisfactory, the system sends the first vehicle status information and the third control command to the second communication control device through the remote information exchange system.

[0058] S140. According to the fourth control instruction fed back by the second communication control device based on the first vehicle status information and the third control instruction, the second communication control device sends the second vehicle status information to the second communication control device and obtains the third vehicle status information fed back by the second communication control device based on the second vehicle status information, so as to perform a third vehicle status check on the vehicle to be controlled based on the third vehicle status information.

[0059] The fourth control command is issued by the second authorized entity through the second communication control device, and is a control command signal used to cause the remote-controlled autonomous vehicle authorized takeover system to enter the second working mode. Furthermore, the fourth control command includes at least one of the following: device identification (identification) information of the third communication control device, and the values ​​and information of control reference variables describing the preset spatial range of the remotely authorized takeover autonomous vehicle.

[0060] Optionally, the third vehicle status check includes at least one of the following: determining whether the current geographical environment and weather conditions of the vehicle meet the technical requirements for vehicle control, and determining whether the current traffic conditions and spatial environment of the vehicle meet the technical requirements for vehicle control.

[0061] Optionally, the control reference variable describing the preset spatial range of the remotely authorized takeover of the autonomous vehicle can be at least one of the following: preset autonomous driving space radius, autonomous driving real-time spatial displacement, preset autonomous driving spatial distance, and autonomous driving real-time spatial distance.

[0062] The remote-controlled autonomous vehicle authorized takeover system can use a preset autonomous driving space radius and real-time autonomous driving space displacement as control reference variables when the vehicle has the first autonomous vehicle positioning conditions, and then calculate and generate the first preset autonomous driving space movement range limit reference information and the first autonomous driving real-time space movement reference information respectively; and can use a preset autonomous driving space movement distance and the autonomous driving real-time space movement distance as control reference variables when the vehicle does not have the first autonomous vehicle positioning conditions but has the second autonomous vehicle positioning conditions, and then calculate and generate the second preset autonomous driving space movement range limit reference information and the second autonomous driving real-time space movement reference information respectively.

[0063] If a vehicle meets the first unmanned vehicle positioning conditions, it must meet at least one of the following two conditions: 1. The vehicle's advanced driver assistance system (ADAS) can obtain the vehicle's current high-precision absolute positioning information based on a high-precision map pre-installed in the vehicle's ADAS or obtained from it, combined with positioning information provided by the Global Navigation Satellite System (GNSS); 2. The vehicle's ADAS can obtain the vehicle's current high-precision absolute positioning information based on a high-precision map pre-installed in the vehicle's ADAS or obtained from a high-precision map provided by a second communication control device, combined with GNSS positioning information corrected based on Real Time Kinematic (RTK) carrier phase differential technology.

[0064] If a vehicle meets the second autonomous vehicle positioning conditions, the conditions to be met must include at least the following: the vehicle's advanced driver assistance system can obtain the vehicle's relative positioning information based on the high-precision map pre-installed in the vehicle's advanced driver assistance system, combined with the vehicle's high-precision absolute positioning history information and the vehicle's motion trajectory information measured by the inertial measurement unit.

[0065] The preset autonomous driving space radius is the radius of the preset autonomous driving space reference circle. The preset autonomous driving space reference circle can be determined as follows: its center is the vehicle's center of mass during the third vehicle status check; the preset autonomous driving space reference circle is parallel to the preset autonomous driving space reference horizontal plane; and its radius is equal to the preset autonomous driving space radius. The preset autonomous driving space reference horizontal plane passes through the vehicle's center of mass and is perpendicular to the preset autonomous driving space reference normal. The preset autonomous driving space reference normal passes through the vehicle's center of mass and is perpendicular to the Earth's reference ellipsoid.

[0066] Among them, the real-time spatial displacement of autonomous driving is the displacement of the vehicle's center of mass from its initial position before the vehicle is authorized to move in autonomous driving mode to its real-time position, that is, the displacement from the center of the preset autonomous driving space reference circle to the real-time position of the vehicle's center of mass.

[0067] Among them, the preset unmanned driving spatial movement distance is the maximum unmanned driving spatial movement distance preset in the remote-controlled unmanned vehicle authorized takeover system, that is, the maximum distance that the vehicle's center of gravity can move from the initial position of the vehicle before authorized remote-controlled unmanned movement to the position where the vehicle is located after authorized remote-controlled unmanned movement.

[0068] Among them, the real-time spatial movement distance of autonomous driving is the length of the spatial curve dynamically formed by the vehicle's center of mass during the movement.

[0069] The second vehicle status information describes the vehicle's spatial location and the surrounding autonomous driving environment. This information is collected by the vehicle's advanced driver assistance system (ADAS) and related sensors, and transmitted to the remote-controlled autonomous vehicle takeover system (RADOS electronic control unit) and the remote information exchange system (RAS electronic control unit). The RAS and RAS electronic control unit then transmit the second vehicle status information to a second communication control device, which in turn transmits it to a first communication control device. The purpose of the second vehicle status information is to inform the first and second authorized entities of the perceived autonomous driving environment in which the vehicle is currently located, serving as a basis for their judgments to determine whether the vehicle currently possesses the traffic environment technical conditions for remote-controlled autonomous driving by a third authorized entity. The perceived information of the autonomous driving environment includes at least one of the following: the vehicle's geographical location, road conditions, road signs, traffic lights, detection of moving objects around the vehicle, and detection of obstacles in the surrounding environment.

[0070] The third vehicle status information describes the vehicle's geographical and traffic environment. The geographical environment information in the third vehicle status information can be obtained based on the vehicle's geographical location information contained in the second vehicle status information, and according to meteorological information released by the local meteorological station. The traffic environment information in the third vehicle status information can be obtained based on the vehicle's geographical location information contained in the second vehicle status information, and according to social announcements released by relevant departments in the geographical location. The third vehicle status information can be sent by the second communication control device to the vehicle's remote information exchange system, and then by the remote information exchange system to the remote-controlled autonomous vehicle authorized takeover system; alternatively, it can be sent by the second communication control device to the first communication control device. The third vehicle status information can serve as the basis for the remote information exchange system to send control parameters and control mode selection to the remote-controlled autonomous vehicle authorized takeover system for controlling the vehicle to perform autonomous driving or movement; it can also inform the first authorized entity of the vehicle's current geographical environment, meteorological conditions, and natural disaster information, serving as the basis for the first and second authorized entities to make judgments to determine whether the vehicle currently meets the conditions for remote-controlled autonomous driving by the third authorized entity. The third vehicle status information includes at least one of the following: temperature information, air pressure information, wind speed and direction information, meteorological conditions information, meteorological disaster warning information, and geological disaster warning information of the vehicle's geographical location.

[0071] In this embodiment of the invention, a fourth control command is acquired from the second communication control device; the electronic control unit of the remote-controlled unmanned vehicle authorized takeover system determines whether the remote-controlled unmanned vehicle authorized takeover system has acquired the fourth control command; if the remote-controlled unmanned vehicle authorized takeover system 1 has not acquired the fourth control command, it returns to acquiring the fourth control command from the second communication control device; if the remote-controlled unmanned vehicle authorized takeover system has acquired the fourth control command, the electronic control unit of the remote-controlled unmanned vehicle authorized takeover system determines whether the time interval between issuing the third remote-controlled authorized takeover control command and acquiring the fourth remote-controlled authorized takeover control command exceeds a second preset time interval upper limit threshold; if the electronic control unit of the remote-controlled unmanned vehicle authorized takeover system determines that the time interval between issuing the third remote-controlled authorized takeover control command and acquiring the fourth remote-controlled authorized takeover control command exceeds a second preset time interval upper limit threshold; If the time interval between issuing the third control command and obtaining the fourth control command exceeds the upper limit of the second preset time interval of the system, the remote information exchange system sends an error message to the second communication control device. The error message includes at least the message: "The time interval between issuing the third remote control authorized takeover control command and obtaining the fourth remote control authorized takeover control command exceeds the limit." If the electronic control unit of the remote-controlled autonomous vehicle authorized takeover system determines that the time interval between issuing the third control command and obtaining the fourth control command does not exceed the upper limit of the second preset time interval of the system, the remote information exchange system sends the second vehicle status information to the second communication control device and obtains the third vehicle status information from the second communication control device. The electronic control unit of the remote-controlled autonomous vehicle authorized takeover system performs a third vehicle status check.

[0072] Optionally, the third vehicle condition check includes at least one of the following:

[0073] 1. Check the validity of the fourth control command. The check includes, but is not limited to: checking whether the syntax of the command information is accurate, checking whether the content of the command information is complete, checking whether the command information is repeatedly sent by the same communication control device or different communication control devices, checking whether the sending time of the command information is within the valid time interval specified by the system, and checking whether the security instructions and security identification information in the command information are correct.

[0074] 2. Check whether the vehicle's second vehicle status information meets the technical requirements for vehicle control. If the second vehicle status information indicates that the vehicle is currently in one of the following positions or environments, it should be determined that the technical requirements for vehicle control are not met: a large number of pedestrians or moving objects are frequently detected around the vehicle's current parking position; the vehicle's current parking position is a prohibited or restricted area as stipulated by relevant departments; the vehicle's current parking position is an area where parking is prohibited or vehicles are not allowed as stipulated by relevant departments; the terrain conditions at the vehicle's current parking position are complex or there are a large number of objects obstructing the view. The criteria for determining that the terrain conditions at the vehicle's current parking position are complex may include at least one of the following: there is a lack of sufficient horizontal ground around the vehicle's current parking position; there are a large number of protruding or pitted terrain features around the vehicle's current parking position; the road surface slope at the vehicle's current parking position is too large.

[0075] 3. Obtain the inspection results from the second communication control device regarding the second and third vehicle status information; verify and confirm the inspection results from the second communication control device to confirm that the geographical, meteorological, and traffic environments described by the second and third vehicle status information can meet the normal execution of vehicle control. If the second and third vehicle status information indicate that the vehicle is currently in one of the following locations or environments, it should be determined that the technical requirements for vehicle control are not met: a natural disaster or severe weather conditions have occurred at the vehicle's current parking location; a major traffic accident or other event or situation that seriously affects traffic safety has occurred at the vehicle's current parking location, and the third authorized entity is not a relevant department or other personnel responsible for implementing traffic control work; a large-scale public event has occurred at the vehicle's current parking location; a large-scale construction has occurred at the vehicle's current parking location, and the third authorized entity is not a relevant staff member of a qualified construction unit or organization.

[0076] 4. Obtain the preset autonomous driving space radius and preset autonomous driving space travel distance; the electronic control unit of the remote-controlled autonomous vehicle takeover system determines whether the vehicle meets the first autonomous vehicle positioning conditions; if the electronic control unit of the remote-controlled autonomous vehicle takeover system determines that the vehicle meets the first autonomous vehicle positioning conditions, it calculates and generates the first preset autonomous driving space travel range limit reference information based on the high-precision map preset in the vehicle's advanced driver assistance system; and calculates and generates the second preset autonomous driving space travel range limit reference information based on the high-precision map preset in the vehicle's advanced driver assistance system; if the electronic control unit of the remote-controlled autonomous vehicle takeover system determines that the vehicle does not meet the first autonomous vehicle positioning conditions, it remotely controls the autonomous vehicle takeover system... The electronic control unit determines whether the vehicle meets the second autonomous vehicle positioning conditions. If the electronic control unit of the remote-controlled autonomous vehicle authorized takeover system determines that the vehicle does not meet the first autonomous vehicle positioning conditions but meets the second autonomous vehicle positioning conditions, it calculates and generates the second preset autonomous driving space movement range limit reference information based on the high-precision map preset in the vehicle's advanced driver assistance system. If the electronic control unit of the remote-controlled autonomous vehicle authorized takeover system determines that the vehicle does not meet either the first or second autonomous vehicle positioning conditions, the remote information exchange system sends an error message to the second communication control device. The error message includes at least the following content: "The third vehicle status check result is unqualified; the vehicle does not meet the first or second autonomous vehicle positioning conditions."

[0077] The first preset autonomous driving space movement range limitation reference information is a space defined in a high-precision map. When the vehicle possesses the first autonomous vehicle positioning conditions, the first preset autonomous driving space movement range limitation reference information is calculated and generated using the preset autonomous driving space radius and the high-precision map. The first preset autonomous driving space movement range limitation reference information is determined based on at least one of the following preset reference information: autonomous driving space movement range limitation reference information or reference variable information set and sent by the first authorized entity through the first communication control device; autonomous driving space movement range limitation reference information or reference variable information set and sent by the second authorized entity through the second communication control device; or autonomous driving space movement range limitation reference information or reference variable information pre-set in the electronic control unit of the remote-controlled autonomous vehicle authorized takeover system by the vehicle manufacturer's R&D personnel during product development based on relevant test results or technical experience.

[0078] The first preset autonomous driving space movement range limitation reference information can be determined according to the following different technical conditions: When the electronic control unit of the remote-controlled autonomous vehicle authorized takeover system enters the third working mode, and the first authorized entity can obtain real-time and valid first vehicle status information, second vehicle status information, third vehicle status information, and fourth vehicle status information of the autonomous vehicle through the first communication control device, the first preset autonomous driving space movement range limitation reference information can be determined based on the autonomous driving space movement range limitation reference information or reference variable information set and sent by the first authorized entity through the first communication control device; When the electronic control unit of the remote-controlled autonomous vehicle authorized takeover system enters the third working mode, and the first authorized entity cannot obtain real-time and valid first vehicle status information, second vehicle status information, third vehicle status information, and fourth vehicle status information of the autonomous vehicle through the first communication control device, but the second authorized entity can obtain real-time and valid first vehicle status information, second vehicle status information, third vehicle status information, and fourth vehicle status information of the autonomous vehicle through the second communication control device, the first preset autonomous driving space movement range limitation reference information can be determined based on the autonomous driving space movement range limitation reference information or reference variable information set and sent by the first authorized entity through the first communication control device. When the device acquires real-time and valid first, second, third, and fourth vehicle status information of the unmanned vehicle, the first preset unmanned driving space movement range limitation reference information can be determined based on the unmanned driving space movement range limitation reference information or reference variable information set and sent by the second authorized entity through the second communication control device. When the electronic control unit of the remote-controlled unmanned vehicle authorized takeover system enters the third working mode, and neither the first nor the second authorized entity can acquire real-time and valid first, second, third, and fourth vehicle status information of the unmanned vehicle through the corresponding communication control device, the first preset unmanned driving space movement range limitation reference information can be determined based on the unmanned driving space movement range limitation reference information or reference variable information preset in the electronic control unit of the remote-controlled unmanned vehicle authorized takeover system by the vehicle manufacturer's R&D personnel during product development based on relevant test results or technical experience.

[0079] The fourth vehicle state information is information describing the current dynamic state of the vehicle, including at least one of the following: accelerator pedal signal information, brake pedal signal information, steering wheel angle information, rigid body motion state information, and vehicle trajectory information on latitude and longitude coordinates or latitude, longitude and altitude (longitude, latitude and altitude) coordinates.

[0080] The first autonomous driving real-time spatial movement reference information is the autonomous driving real-time spatial movement displacement information determined by combining a high-precision map and the vehicle's real-time high-precision absolute positioning information. When the vehicle possesses the first autonomous driving vehicle positioning conditions, the first autonomous driving real-time spatial movement reference information is calculated and generated using the autonomous driving real-time spatial movement displacement and the high-precision map.

[0081] Specifically, during the authorized remote control operation of the vehicle to be controlled by the third authorized entity, the real-time movement space range of the vehicle described by the first unmanned real-time spatial movement reference information is not allowed to exceed the space range described by the first preset unmanned spatial movement range limit reference information. Figure 2 This is a schematic diagram of a preset unmanned driving mobile limited space range provided in Embodiment 1 of the present invention. Figure 2 The shaded area shown represents the spatial range described in the first preset autonomous driving space movement range limitation reference information.

[0082] The second preset autonomous driving space movement range limitation reference information is a variable and value describing the spatial movement distance of the autonomous vehicle. When the vehicle lacks the first autonomous vehicle positioning conditions but possesses the second autonomous vehicle positioning conditions, the second preset autonomous driving space movement range limitation reference information is calculated and generated using the preset autonomous driving space movement distance. The second preset autonomous driving space movement range limitation reference information is determined based on at least one of the following preset reference information: autonomous driving space movement range limitation reference information or reference variable information set and sent by the first authorized entity through the first communication control device; autonomous driving space movement range limitation reference information or reference variable information set and sent by the second authorized entity through the second communication control device; or autonomous driving space movement range limitation reference information or reference variable information pre-set in the electronic control unit of the remote-controlled autonomous vehicle authorized takeover system by the vehicle manufacturer's R&D personnel during product development based on relevant test results or technical experience.

[0083] The second preset autonomous driving space movement range limitation reference information can be determined according to the following different technical conditions: When the electronic control unit of the remote-controlled autonomous vehicle authorized takeover system enters the third working mode, and the first authorized entity can obtain real-time and valid first vehicle status information, second vehicle status information, third vehicle status information, and fourth vehicle status information of the autonomous vehicle through the first communication control device, the second preset autonomous driving space movement range limitation reference information can be determined based on the autonomous driving space movement range limitation reference information or reference variable information set and sent by the first authorized entity through the first communication control device; When the electronic control unit of the remote-controlled autonomous vehicle authorized takeover system enters the third working mode, and the first authorized entity cannot obtain real-time and valid first vehicle status information, second vehicle status information, third vehicle status information, and fourth vehicle status information of the autonomous vehicle through the first communication control device, but the second authorized entity can obtain real-time and valid first vehicle status information, second vehicle status information, third vehicle status information, and fourth vehicle status information of the autonomous vehicle through the second communication control device, the second preset autonomous driving space movement range limitation reference information can be determined based on the autonomous driving space movement range limitation reference information or reference variable information set and sent by the first authorized entity through the first communication control device. When the device acquires real-time and valid first, second, third, and fourth vehicle status information of the unmanned vehicle, the second preset unmanned driving space movement range limitation reference information can be determined based on the unmanned driving space movement range limitation reference information or reference variable information set and sent by the second authorized entity through the second communication control device. When the electronic control unit of the remote-controlled unmanned vehicle authorized takeover system enters the third working mode, and neither the first nor the second authorized entity can acquire real-time and valid first, second, third, and fourth vehicle status information of the unmanned vehicle through the corresponding communication control device, the second preset unmanned driving space movement range limitation reference information can be determined based on the unmanned driving space movement range limitation reference information or reference variable information preset in the electronic control unit of the remote-controlled unmanned vehicle authorized takeover system by the vehicle manufacturer's R&D personnel during product development based on relevant test results or technical experience.

[0084] The second autonomous driving real-time spatial motion reference information is the autonomous driving real-time spatial motion distance information determined by combining the vehicle's motion trajectory information measured by a high-precision map and an inertial measurement unit. When the vehicle has the necessary positioning conditions for the second autonomous driving system, the second autonomous driving real-time spatial motion reference information is calculated and generated using the autonomous driving real-time spatial motion distance and the high-precision map.

[0085] Specifically, during the authorized remote control operation of the autonomous vehicle by the third authorized entity, the real-time movement space range of the vehicle described by the second autonomous real-time spatial movement reference information is not allowed to exceed the space range described by the second preset autonomous spatial movement range limit reference information. Figure 3This is a schematic diagram illustrating a method for calculating real-time spatial displacement and real-time spatial distance traveled by an unmanned vehicle, as provided in Embodiment 1 of the present invention. Figure 3 As shown, the solid line represents the vector, which is the real-time spatial displacement of the autonomous vehicle; the thin dashed line represents the length of the curve (the spatial movement path of the autonomous vehicle's center of mass), which is the real-time spatial distance traveled by the autonomous vehicle. It should be noted that... Figure 3 The shape of the curve shown does not represent the only geometric shape of the centroid space movement path of an autonomous vehicle. In actual autonomous driving, the shape of the centroid space movement path of an autonomous vehicle may also be a straight line or other set shapes.

[0086] S150. If the inspection result of the third vehicle status check is qualified, control the vehicle to be controlled to enter the second working mode.

[0087] The second working mode is the remote control authorization waiting mode. After the remote control autonomous vehicle authorization takeover system electronic control unit enters the second working mode, the remote control autonomous vehicle authorization takeover system electronic control unit will send control commands to the remote information exchange system electronic control unit, causing the remote information exchange system to wait to receive the fifth control command from the third communication control device. The remote control autonomous vehicle authorization takeover system electronic control unit sends control commands to all other electronic control units, sensors and actuators related to the functions required by the remote control autonomous vehicle, so that they enter the working state.

[0088] In this embodiment of the invention, the electronic control unit of the remote-controlled unmanned vehicle authorized takeover system determines whether the inspection result of the third inspection process of the remote-controlled unmanned vehicle is qualified; if the electronic control unit of the remote-controlled unmanned vehicle authorized takeover system determines that the inspection result of the third inspection process of the remote-controlled unmanned vehicle is qualified, the electronic control unit of the remote-controlled unmanned vehicle authorized takeover system enters the second working mode; if the electronic control unit of the remote-controlled unmanned vehicle authorized takeover system determines that the inspection result of the third inspection process of the remote-controlled unmanned vehicle is unqualified, the remote information exchange system sends an error message to the second communication control device, the error message including at least the following information: "The current geographical environment, meteorological conditions, traffic conditions or spatial environment of the unmanned vehicle does not meet the relevant technical requirements, therefore, remote control operation cannot continue."

[0089] S160. Obtain the fifth control command sent by the third communication device, and perform a fourth vehicle status check on the vehicle to be controlled according to the fifth control command.

[0090] The fifth control command is sent by the third authorized entity to the remote-controlled unmanned vehicle authorization takeover system via the third communication control device. It serves to obtain authorization to remotely control and move the unmanned vehicle, as well as to request authorized remote control operation of the unmanned vehicle. The fifth control command includes at least the authorized remote control communication security command and security identification information from the third control command.

[0091] The fourth vehicle status check includes at least one of the following: confirming the validity of the device identity of the third communication control device; confirming the security of the data information transmitted between the remote information exchange system, the second communication control device and the third communication control device in the vehicle control system; and confirming whether the information communication and data transmission conditions between the remote information exchange system, the second communication control device and the third communication control device in the vehicle control system meet the technical requirements of vehicle control.

[0092] In this embodiment of the invention, a fifth control command is acquired from a third communication control device; the electronic control unit of the remote-controlled autonomous vehicle authorized takeover system determines whether the remote-controlled autonomous vehicle authorized takeover system has acquired the fifth control command; if the remote-controlled autonomous vehicle authorized takeover system has not acquired the fifth control command, it returns to acquiring the fifth control command from the third communication control device; if the remote-controlled autonomous vehicle authorized takeover system has acquired the fifth control command, the electronic control unit of the remote-controlled autonomous vehicle authorized takeover system determines whether the time interval between acquiring the fourth and fifth control commands exceeds a third preset time interval upper limit threshold; if the time interval between acquiring the fourth and fifth control commands exceeds the third preset time interval upper limit threshold, the remote information exchange system sends an error message to the second and third communication control devices, the error message including at least the message content: "The interval between acquiring the fourth and fifth remote-controlled autonomous vehicle authorized takeover control commands exceeds the limit"; if the time interval between acquiring the fourth and fifth control commands does not exceed the third preset time interval upper limit threshold, the electronic control unit of the remote-controlled autonomous vehicle authorized takeover system executes the fourth inspection workflow of the remote-controlled autonomous vehicle.

[0093] Optionally, the fourth vehicle status check includes at least one of the following: checking the validity of the fifth control command, including but not limited to: checking whether the command information syntax is accurate, checking whether the content of the command information is complete, checking whether the command information is repeatedly sent by the same communication control device or different communication control devices, checking whether the sending time of the command information is within the valid time interval specified by the system, and checking whether the security identification information in the command information is correct; checking the device identification (identification) information of the second and third communication control devices, wherein the device identification (identification) information includes but is not limited to: the name of the device, the serial number and version information of the device's operating system software, the device's device identity (ID) information, the device's manufacturer information, the device's International Mobile Equipment Identity (IMEI), and the integrated circuit card identification code used by the device. The system checks the consistency between the device identification (identification) information of the third communication control device in the fifth control instruction and the device identification (identification) information of the third communication control device in the fourth control instruction; it checks the consistency between the authorized remote communication security instruction and security identification information in the fifth control instruction and the authorized remote communication security instruction and security identification information in the third control instruction; it checks the identification (identification) information of the second and third authorized entities, wherein the identification (identification) information of the authorized entity (individual entity or legal person) includes, but is not limited to: the citizen ID number information, facial recognition information, voice recognition information, and identification information of commonly used remote communication devices (such as mobile phones) of the legal representative of the authorized individual entity or authorized group entity.

[0094] S170. If the inspection result of the fourth vehicle status check is qualified, control the vehicle to be controlled to enter the third working mode, and obtain the sixth control command sent by the third communication control device, so as to control the vehicle to be controlled according to the sixth control command.

[0095] In the third operating mode, namely the authorized remote-controlled mobile operating mode, the remote information exchange system and its electronic control unit continuously maintain data communication with the first, second, and third communication control devices. It acquires the autonomous vehicle takeover mobile operation control signals sent in real-time from the third communication control device and sends these control signals to the authorized takeover system and its electronic control unit. The authorized takeover system then sends control command signals to the advanced driver assistance system (ADAS) of the autonomous vehicle. Simultaneously, the remote information exchange system and its electronic control unit transmit the vehicle's current operating status information to the first and second communication control devices. This operating status information includes, but is not limited to, first vehicle status information, second vehicle status information, and fourth vehicle status information. Furthermore, the vehicle braking management system, vehicle dynamics stability control system, advanced driver assistance system, and all electronic control units, sensors, and actuators related to the functions required by the remote-controlled autonomous vehicle within the vehicle control system continuously maintain their operational status.

[0096] The sixth control command is operated by the third authorized entity and issued through the third communication control device, used to remotely control the autonomous vehicle to perform movement or actions. Further, the sixth control command includes at least one of the following: a synchronization signal for sixth control command communication, or an operational command describing the movement or actions of the autonomous vehicle. The operational commands describing the movement or actions of the autonomous vehicle include at least: acceleration, braking, steering, and reversing.

[0097] In this embodiment of the invention, the electronic control unit of the remote-controlled autonomous vehicle authorized takeover system determines whether the inspection result of the fourth inspection workflow of the remote-controlled autonomous vehicle is qualified. If the electronic control unit of the remote-controlled autonomous vehicle authorized takeover system determines that the inspection result of the fourth inspection workflow of the remote-controlled autonomous vehicle is qualified, the remote information exchange system sends information to the second communication control device, the information including at least the message: "The identity information verification of the third communication control device and the third authorized entity is successful"; the electronic control unit of the remote-controlled autonomous vehicle authorized takeover system enters the third working mode; the remote information exchange system sends information to the third communication control device, the information including at least the message: "The autonomous vehicle has entered the authorized remote-controlled movement working mode, please operate the authorized device to perform vehicle remote-controlled movement operation"; if the electronic control unit of the remote-controlled autonomous vehicle authorized takeover system determines that the inspection result of the fourth inspection workflow of the remote-controlled autonomous vehicle is unqualified, the remote information exchange system sends error information to the second and third communication control devices, the error information including at least the message: "The current remote-controlled autonomous vehicle remote-controlled operation device or operator identity information verification failed".

[0098] Optionally, the control of the autonomous vehicle's authorized remote movement (i.e., the control of the vehicle to be controlled) may specifically include:

[0099] The electronic control unit of the remote-controlled autonomous vehicle authorized takeover system determines whether the vehicle has or can maintain the technical conditions for performing vehicle control.

[0100] If the electronic control unit of the remote-controlled unmanned vehicle authorized takeover system determines that the vehicle does not have or cannot maintain the technical conditions for executing vehicle control, the remote information exchange system sends an error message to the second and third communication control devices. The error message includes at least the following information: "The current unmanned vehicle is in an abnormal state. The control method workflow for authorized remote movement is terminated."

[0101] When the electronic control unit of the remote-controlled unmanned vehicle authorized takeover system determines that the vehicle has or can maintain the conditions for performing vehicle control technology, the electronic control unit of the remote-controlled unmanned vehicle authorized takeover system determines whether it has received a request instruction to terminate the workflow of the unmanned vehicle authorized remote control mobile control method. The request instruction to terminate the workflow includes at least one of the following: a seventh control instruction from a third authorized entity and a third communication control device, a ninth control instruction from a first authorized entity and a first communication control device, and a tenth control instruction from a second authorized entity and a second communication control device.

[0102] If the electronic control unit of the remote-controlled autonomous vehicle authorized takeover system has received a request instruction to terminate the workflow of the authorized remote-controlled mobile control method for the autonomous vehicle, the control process will end.

[0103] When the electronic control unit of the remote-controlled autonomous vehicle authorized takeover system determines that the vehicle has or can maintain the technical conditions for executing vehicle control, and the electronic control unit of the remote-controlled autonomous vehicle authorized takeover system has not received a request instruction to terminate the workflow of the autonomous vehicle authorized remote-controlled mobile control method, it obtains a sixth control instruction from the third communication control device; checks the validity of the sixth control instruction, including but not limited to: checking whether the syntax of the instruction information is accurate, checking whether the content of the instruction information is complete, checking whether the instruction information is repeatedly sent by the same communication control device or different communication control devices, checking whether the sending time of the instruction information is within the valid time interval specified by the system, checking whether the safety identification information in the instruction information is correct, and checking whether the synchronization signal information of the sixth control instruction communication is accurate;

[0104] The electronic control unit of the remote-controlled autonomous vehicle authorized takeover system determines whether the validity check result of the sixth control command is qualified. If the check result of the electronic control unit of the remote-controlled autonomous vehicle authorized takeover system is unqualified, the remote information exchange system sends an error message to the second and third communication control devices. The error message includes at least the following content: "The validity check result of the authorized remote movement command signal acquired by the current autonomous vehicle is abnormal. The workflow of the authorized remote movement control method is terminated." If the electronic control unit of the remote-controlled autonomous vehicle authorized takeover system determines that the check result is qualified, the vehicle movement behavior or action described by the sixth control command is executed. Then, the system returns to determine whether the vehicle has or can maintain the technical conditions for executing vehicle control.

[0105] In a specific example of this invention, the control of authorized remote-controlled movement of an autonomous vehicle can be defined as a cyclic control process. The cyclic control process continues as long as the remote information exchange system and the remote-controlled autonomous vehicle authorized takeover system do not receive a request instruction to terminate the workflow from the vehicle user or the temporarily authorized user, and the electronic control unit of the remote-controlled autonomous vehicle authorized takeover system determines that the vehicle possesses or can maintain the technical conditions for executing vehicle control. The request instruction to terminate the workflow includes at least one of the following: a seventh control instruction from a third authorizing entity and a third communication control device, a ninth control instruction from a first authorizing entity and a first communication control device, and a tenth control instruction from a second authorizing entity and a second communication control device. The vehicle possessing or being able to maintain the technical conditions for executing vehicle control includes at least: the inspection results of the first remote-controlled autonomous vehicle inspection workflow being qualified, the inspection results of the second remote-controlled autonomous vehicle inspection workflow being qualified, the inspection results of the third remote-controlled autonomous vehicle inspection workflow being qualified, and the inspection results of the fourth remote-controlled autonomous vehicle inspection workflow being qualified.

[0106] Optional, Figure 1b This is a flowchart of another vehicle control method provided in Embodiment 1 of the present invention, as shown below. Figure 1b As shown, after step S170 is completed, steps S180 and S190 may also be included.

[0107] Specifically, in step S180, after the remote information exchange system electronic control unit obtains the seventh control command from the third communication control device, the remote control unmanned vehicle authorized takeover system electronic control unit sends the eighth control command to the remote information exchange system electronic control unit, the first communication control device, and the second communication control device to perform the fifth vehicle status check on the vehicle to be controlled.

[0108] The seventh control command is a control signal sent by the third authorized entity to the remote-controlled autonomous vehicle authorized takeover system via the third communication control device, used to terminate vehicle control. The seventh control command includes at least the authorized remote control communication safety command and safety identification information from the third control command, the synchronization signal from the sixth control command communication, and the third autonomous vehicle authorized remote control movement termination request command. The third autonomous vehicle authorized remote control movement termination request command can be an instruction confirmed by the third authorized entity indicating that the third authorized entity has completed the authorized remote control autonomous vehicle movement operation, or it can be an emergency stop operation command issued when the third authorized entity determines that the conditions for continuing remote control operation are no longer met.

[0109] The eighth control command is issued by the vehicle's remote information exchange system and is used to send information to the first and second authorized entities to notify them that the third authorized entity has terminated vehicle control. The eighth control command includes at least the authorized remote control communication security command and security identification information from the third control command, all historical information of all sixth control commands in this vehicle control operation, the synchronization signal for the sixth control command communication, and the third unmanned vehicle authorized remote control movement termination request command.

[0110] Optionally, the fifth vehicle status check includes at least one of the following: the first and second authorized entities check and confirm the rationality and security of all operating steps and results of the third authorized entity; and all historical information of the first, second, third, and fourth vehicle status information stored during this vehicle control process.

[0111] In this embodiment of the invention, the electronic control unit of the remote-controlled autonomous vehicle authorized takeover system determines whether the remote-controlled autonomous vehicle authorized takeover system has acquired the ninth or tenth control command; if the remote-controlled autonomous vehicle authorized takeover system has acquired the ninth or tenth control command, vehicle control is terminated; if the remote-controlled autonomous vehicle authorized takeover system has not acquired the ninth or tenth control command, a seventh control command is acquired from the third communication control device; the electronic control unit of the remote-controlled autonomous vehicle authorized takeover system determines whether the remote-controlled autonomous vehicle authorized takeover system has acquired the seventh control command; if the remote-controlled autonomous vehicle authorized takeover system has not acquired the ninth or tenth control command, a seventh control command is acquired. If the remote-controlled autonomous vehicle authorized takeover system receives the ninth or tenth control command but not the seventh control command, it returns to retrieve the ninth control command from the first communication control device, the tenth control command from the second communication control device, and the seventh control command from the third communication control device. If the remote-controlled autonomous vehicle authorized takeover system has received the seventh control command but not the ninth or tenth control command, the remote-controlled autonomous vehicle authorized takeover system electronic control unit sends the eighth control command to the remote information exchange system electronic control unit. The remote information exchange system sends the eighth control command to the first and second communication control devices. The remote-controlled autonomous vehicle authorized takeover system electronic control unit performs the fifth vehicle status check.

[0112] The ninth control command is a control command issued by the first authorized entity through the first communication control device to terminate vehicle control. The ninth control command has a higher priority than the seventh and tenth control commands. The ninth control command includes at least the safety instructions and safety identification information contained in the first control command, and a first autonomous vehicle authorized remote control movement termination request command. The first autonomous vehicle authorized remote control movement termination request command can be a control command signal issued by the first authorized entity through the first communication control device, confirming that vehicle control has been completed, after the first authorized entity and the first communication control device have obtained the eighth control command and determined that all operation steps and results of the third authorized entity meet the requirements of the first authorized entity; or it can be an emergency stop operation command issued by the first authorized entity through the first communication control device, when vehicle control has not been completed but the first authorized entity determines that the conditions for authorizing the third authorized entity to continue remote control operation are no longer met.

[0113] The tenth control command is a control command issued by the second authorized entity through the second communication control device to terminate vehicle control. The tenth control command has a higher priority than the seventh control command but lower than the ninth control command. The tenth control command includes at least the safety instructions and safety identification information contained in the second control command, and a second autonomous vehicle authorized remote control movement termination request command. The second autonomous vehicle authorized remote control movement termination request command can be a control command signal issued by the second authorized entity through the second communication control device, confirming that vehicle control has been completed, provided that the second authorized entity and the second communication control device have received the eighth control command and all operational steps and results of the third authorized entity meet the requirements of the second authorized entity; or it can be an emergency stop operation command issued by the second authorized entity through the second communication control device, provided that vehicle control has not been completed but the second authorized entity determines that the conditions for authorizing the third authorized entity to continue remote control operation are no longer met.

[0114] Optionally, the fifth vehicle condition check includes at least one of the following:

[0115] The first and second communication control devices acquire all operational steps and results performed by the third authorized entity in vehicle control.

[0116] Obtain confirmation results from the first authorized entity regarding all operation steps and results of the third authorized entity from the first communication control device; obtain confirmation results from the second authorized entity regarding all operation steps and results of the third authorized entity from the second communication control device.

[0117] The electronic control unit of the remote-controlled unmanned vehicle authorized takeover system determines whether all operation steps and results performed by the third authorized entity in vehicle control are qualified.

[0118] If the electronic control unit of the remote-controlled unmanned vehicle authorized takeover system determines that all the operation steps and results performed by the third authorized entity in the vehicle control are qualified, all historical information of the vehicle's first vehicle status information, second vehicle status information, third vehicle status information and fourth vehicle status information during the current vehicle control process will be stored.

[0119] If the electronic control unit of the remote-controlled unmanned vehicle authorized takeover system determines that all the operation steps and results performed by the third authorized entity in vehicle control are unqualified, the remote information exchange system sends an eleventh control command to the third communication control device; obtains a fifth control command from the third communication control device; and the electronic control unit of the remote-controlled unmanned vehicle authorized takeover system determines whether the time interval between sending the eleventh control command and obtaining the fifth control command exceeds the fourth preset time interval upper limit threshold.

[0120] If the electronic control unit of the remote-controlled autonomous vehicle takeover system determines that all the operation steps and results performed by the third authorized entity in vehicle control are unqualified, and the time interval between sending the eleventh control command and obtaining the fifth control command has exceeded the fourth preset time interval upper limit threshold, the remote information exchange system sends an error message to the first communication control device and the second communication control device. The error message includes at least the message content: "Failed to successfully obtain the fifth remote-controlled takeover control command again". It should be noted that if the remote information exchange system of the autonomous vehicle fails to obtain the fifth control command after sending the eleventh control command, the electronic control unit of the remote-controlled autonomous vehicle takeover system should also determine that the time interval between sending the eleventh control command and obtaining the fifth control command exceeds the fourth preset time interval upper limit threshold.

[0121] If the electronic control unit of the remote-controlled unmanned vehicle authorized takeover system determines that all the operation steps and results performed by the third authorized entity in vehicle control are unqualified, and the time interval between sending the eleventh control command and obtaining the fifth control command does not exceed the fourth preset time interval upper limit threshold, the electronic control unit of the remote-controlled unmanned vehicle authorized takeover system determines whether the fifth control command has been obtained again.

[0122] If the determination result is "the fifth control command was not obtained again", return to obtain the fifth control command from the third communication control device 11;

[0123] If the determination result is "the fifth control command has been acquired again", the vehicle control method will jump from step S180 to step S160.

[0124] The eleventh control command is a control command issued by the vehicle's remote information exchange system. It is used to send information to the third authorized entity to authorize and request the third authorized entity to continue remotely controlling the autonomous vehicle. The eleventh control command includes at least all historical information of the sixth control commands in the unfinished vehicle control process, as well as the synchronization signal of the sixth control command communication.

[0125] Specifically, in S190, when the electronic control unit of the remote-controlled unmanned vehicle authorized takeover system obtains the ninth control command from the first communication control device or the tenth control command from the second communication control device, and confirms that the inspection result of the fifth vehicle status check is qualified, the electronic control unit of the remote-controlled unmanned vehicle authorized takeover system enters the fourth working mode.

[0126] The fourth operating mode is either the stop operating mode or the hibernation mode. After the remote-controlled autonomous vehicle authorized takeover system electronic control unit enters the fourth operating mode, it sends control commands to all other electronic control units, sensors, and actuators related to the functions required by the remote-controlled autonomous vehicle, causing them to exit or stop operating. The electronic control unit will then suspend all communication between other electronic control units, sensors, and actuators related to the functions required by the remote-controlled autonomous vehicle, retaining only communication between the remote-controlled autonomous vehicle authorized takeover system and its electronic control unit, and between the remote information exchange system and its electronic control unit. This ensures that the remote-controlled autonomous vehicle authorized takeover system and its electronic control unit can be reawakened by the first control command from the first communication control device and the second control command from the second communication control device, and re-enter the first operating mode.

[0127] In this embodiment of the invention, a ninth control command is acquired from a first communication control device; a tenth control command is acquired from a second communication control device; the electronic control unit of the remote-controlled unmanned vehicle authorized takeover system determines whether the remote-controlled unmanned vehicle authorized takeover system has acquired the ninth or tenth control command; if the remote-controlled unmanned vehicle authorized takeover system has not acquired the ninth or tenth control command, it returns to acquire the ninth control command from the first communication control device or the tenth control command from the second communication control device; if the remote-controlled unmanned vehicle authorized takeover system has acquired the ninth or tenth control command, the electronic control unit of the remote-controlled unmanned vehicle authorized takeover system determines whether the time interval between acquiring the first control command (or acquiring the second control command) and acquiring the ninth control command (or acquiring the tenth control command) exceeds a fifth preset time interval upper limit threshold.

[0128] It should be further explained that if the remote-controlled autonomous vehicle authorized takeover system has received the ninth control command from the first communication control device, the electronic control unit of the remote-controlled autonomous vehicle authorized takeover system will determine whether the time interval between receiving the first control command and receiving the ninth control command exceeds the fifth preset time interval upper limit threshold; if the remote-controlled autonomous vehicle authorized takeover system has received the tenth control command from the second communication control device, the electronic control unit of the remote-controlled autonomous vehicle authorized takeover system will determine whether the time interval between receiving the second control command and receiving the tenth control command exceeds the fifth preset time interval upper limit threshold.

[0129] If the time interval between acquiring the first control command and the ninth control command exceeds the upper limit of the fifth preset time interval, or if the time interval between acquiring the second control command and the tenth control command exceeds the upper limit of the fifth preset time interval, the remote information exchange system sends an error message to the first communication control device and the second communication control device. The error message includes at least the message content: "The time for acquiring the ninth control command or the tenth control command exceeds the system limit".

[0130] If the remote-controlled unmanned vehicle authorized takeover system has acquired the ninth control command from the first communication control device and the acquisition time interval between the first control command and the ninth control command does not exceed the fifth preset time interval upper limit threshold, or if the remote-controlled unmanned vehicle authorized takeover system has acquired the tenth control command from the second communication control device and the acquisition time interval between the second control command and the tenth control command does not exceed the system's fifth preset time interval upper limit threshold, the electronic control unit of the remote-controlled unmanned vehicle authorized takeover system determines whether the inspection result of the fifth vehicle status check is qualified.

[0131] If the electronic control unit of the remote-controlled autonomous vehicle authorized takeover system determines that the check result of the fifth vehicle status check is unqualified, the remote information exchange system sends an error message to the first communication control device and the second communication control device. The error message includes at least the following information: "The result of the autonomous vehicle authorized remote control movement operation is unqualified in terms of rationality and safety."

[0132] If the electronic control unit of the remote-controlled unmanned vehicle authorized takeover system determines that the inspection result of the fifth vehicle status check is qualified, the electronic control unit of the remote-controlled unmanned vehicle authorized takeover system enters the fourth working mode.

[0133] Figure 4 This is a schematic diagram of the architecture of a vehicle control system provided in Embodiment 1 of the present invention, as shown below. Figure 4 As shown, the vehicle control system may include a remote-controlled autonomous vehicle authorized takeover system 1, a vehicle electronic control unit 201, a vehicle braking management system 3, a vehicle dynamics stability control system 4, a remote information exchange system 5, a human-machine interaction system 6, and an advanced driver assistance system 8.

[0134] The remote-controlled autonomous vehicle authorized takeover system 1 can be used to: acquire remote-controlled autonomous vehicle takeover control command signals from the remote information exchange system 5; based on signals collected by relevant electronic control devices and sensors in the vehicle electronic control unit 201, vehicle braking management system 3, vehicle dynamics stability control system 4, and advanced driver assistance system 8, obtain information describing the autonomous vehicle's equipment operating status, natural geographical environment, driving environment, and vehicle dynamics status; based on the above status information and the control methods and control parameters preset in the remote-controlled autonomous vehicle authorized takeover system electronic control unit 101, through comprehensive analysis, calculation, and decision planning, convert the remote-controlled autonomous vehicle takeover control requirements from the first communication control device 9, second communication control device 10, and third communication control device 11 into control signals, and transmit them to the vehicle electronic control unit 201 and other relevant controllers and actuators in the autonomous vehicle to execute the authorized remote-controlled movement operation of the autonomous vehicle. The remote-controlled autonomous vehicle authorized takeover system 1 is connected to at least the vehicle electronic control unit 201, the remote information exchange system 5, the human-machine interaction system 6, and the advanced driver assistance system 8 via signal transmission lines.

[0135] The remote-controlled unmanned vehicle authorized takeover system 1 includes a remote-controlled unmanned vehicle authorized takeover system electronic control unit 101. The remote-controlled unmanned vehicle authorized takeover system electronic control unit 101 is the signal processing and control signal generation module in the remote-controlled unmanned vehicle authorized takeover system 1. The remote-controlled unmanned vehicle authorized takeover system electronic control unit 101 can be used to: acquire remote-controlled unmanned vehicle takeover control command signals; acquire vehicle status information required to execute the remote-controlled unmanned vehicle takeover control method; store the computer program for implementing the remote-controlled unmanned vehicle takeover control method; and, based on the control requirements expressed by the remote-controlled unmanned vehicle takeover control command signals and the vehicle status information, execute the computer program, generate control signals, and transmit them to the vehicle electronic control unit 201 and other relevant controllers and actuators in the unmanned vehicle to perform authorized remote-controlled movement operations of the unmanned vehicle. The remote-controlled unmanned vehicle authorized takeover system electronic control unit 101 is connected to at least the vehicle electronic control unit 201, the remote information exchange system electronic control unit 501, the human-machine interaction system electronic control unit 601, the seat pressure sensor 701, the advanced driver assistance system electronic control unit 801, and the advanced driver assistance system environmental perception sensor 802 via signal transmission lines.

[0136] Among them, the vehicle electronic control unit 201 is the core electronic control unit of the autonomous vehicle. The vehicle electronic control unit 201 can be used to: based on the driving needs and driving purpose information (such as acceleration, braking, reversing, steering, etc.) collected from vehicle-related sensors or devices, generate corresponding control signals through comprehensive judgment and transmit the control signals to the engine management system electronic control unit 202, transmission electronic control unit 203, electric motor electronic control unit 204, battery management system 205, vehicle braking management system electronic control unit 301, etc., and then control the actuators, energy conversion devices and power machinery in the vehicle to execute the corresponding control methods to safely and reliably meet the driving needs and driving purpose of the vehicle driver; acquire information on the working status of electronic control units, sensors and actuator devices in the vehicle, store, judge and process fault information of related equipment in the vehicle to ensure the safe and reliable operation of the vehicle. The vehicle electronic control unit 201 is connected via signal transmission lines to at least one of the following electronic control units, sensors, or actuators: remote-controlled autonomous vehicle authorized takeover system electronic control unit 101, engine management system electronic control unit 202, transmission electronic control unit 203, electric motor electronic control unit 204, battery management system 205, vehicle braking management system electronic control unit 301, and vehicle dynamics stability control system electronic control unit 401. Furthermore, the vehicle electronic control unit 201 may also be connected via signal transmission lines to the telematics exchange system 5 and its electronic control unit 501, the human-machine interface system 6 and its electronic control unit 601, and the seat pressure sensor 701.

[0137] The engine management system electronic control unit 202 can be used to: acquire parameter signals from all sensors installed on the engine; generate target control values ​​for corresponding control parameters (or control variables) based on the engine structural parameters pre-stored in the memory of the engine management system electronic control unit 202, as well as mathematical and physical model calculation methods and software programs describing the intake and exhaust systems and combustion chamber charge replacement, fuel supply, combustion chamber mixture formation and combustion, different forms of energy conversion and power output during engine operation; and transmit the control signals describing the target control values ​​of the control parameters (or control variables) to the corresponding actuators through the control signal transmission lines to execute the corresponding instructions and adjust the operating state of the vehicle engine. The engine management system electronic control unit 202 is only included in the vehicle control system when the vehicle is equipped with an engine (or internal combustion engine) as its power machinery or energy conversion source.

[0138] The transmission electronic control unit 203 can be used to: acquire parameter signals from all sensors installed on the transmission, such as the transmission gear position sensor; generate control signals describing the target gear of the vehicle's transmission based on a software program pre-installed in the memory of the transmission electronic control unit 203, according to the driver's driving intention, the current dynamic state of the vehicle's powertrain system, and the current kinematic state of the vehicle; and transmit the control signals to the corresponding actuators through the control signal transmission line to execute the corresponding instructions and adjust the gear position and operating state of the vehicle's transmission. The transmission electronic control unit 203 is only included in the vehicle control system when the vehicle is equipped with a transmission.

[0139] The electric motor electronic control unit 204 can be used to: acquire the driving force or braking force requirements from the electric motor and related sensors, the vehicle electronic control unit 201, and the vehicle driver; generate electric motor drive control signals and transmit them to the electric motor, related sensors, and actuators to control the vehicle electric motor to output driving force or regenerative braking force as needed. The electric motor electronic control unit 204 is only included in the vehicle control system if the vehicle is equipped with an electric motor as its power machinery or energy conversion source.

[0140] The battery management system 205 can be used to: acquire, process, analyze, and store signals describing the operating state of the power battery collected by sensors in the vehicle's power battery system; monitor the operating state information of the power battery, and based on the analysis results of the signals describing the operating state of the power battery, predict the state of charge, health status, and other state information of the power battery to ensure that the power battery can be in a safe and efficient operating state; and generate control signals based on the vehicle control system's demand for the use, conversion, and storage of electrical energy to control the power battery's energy output and input processes. The battery management system 205 will only be included in the vehicle control system if the vehicle is equipped with a power battery as its energy conversion source.

[0141] The vehicle braking management system 3 can be used to: acquire the vehicle brake pedal position signal to obtain the braking demand of the vehicle driver; acquire braking demand control signals from the vehicle dynamics stability control system 4 to maintain the vehicle's dynamic stability; and provide braking force to the vehicle through the brake power supply device, brake transmission device, and brake. The vehicle braking management system 3 is connected to at least the vehicle electronic control unit 201 and the vehicle dynamics stability control system 4 via signal transmission lines. The vehicle braking management system 3 includes the vehicle braking management system electronic control unit 301.

[0142] The vehicle brake management system electronic control unit 301 is the signal processing and control signal generation module in the vehicle brake management system 3. The vehicle brake management system electronic control unit 301 can be used to: acquire the vehicle brake pedal position signal to obtain the braking demand of the driver; acquire braking demand control signals from the vehicle dynamics stability control system 4 and the vehicle dynamics stability control system electronic control unit 401 to maintain the vehicle's dynamic stability; and, based on the aforementioned demand control signals, control the brake power supply device, brake transmission device, and brake in the vehicle brake management system 3 to perform corresponding actions to provide braking force to the vehicle. The vehicle brake management system electronic control unit 301 is connected to at least the vehicle electronic control unit 201 and the vehicle dynamics stability control system electronic control unit 401 via signal transmission lines.

[0143] The vehicle dynamics stability control system 4 can be used to: acquire signals or data describing vehicle dynamics state parameters collected by sensors such as longitudinal acceleration sensor 402, lateral acceleration sensor 403, yaw rate sensor 404, inertial measurement unit 405, steering wheel angle sensor 406, and wheel speed sensor 407 in the vehicle control system; calculate the current kinematic state of the vehicle body based on the mathematical model, physical model calculation method, and software program describing the vehicle body kinematic state pre-installed in the memory of the vehicle dynamics stability control system electronic control unit 401, and compare it with the kinematic state parameters and data describing the vehicle's safety pre-installed in the memory of the vehicle dynamics stability control system electronic control unit 401; determine (or predict) whether the current vehicle body is in or will be in a state of loss of control based on the comparison result; and transmit the target control values ​​of the corresponding control parameters (or control variables) to the actuators in the vehicle that can control the vehicle body kinematic state through the control signal transmission line, execute the corresponding instructions, and adjust the kinematic state of the vehicle body. The vehicle dynamics stability control system 4 is connected to at least the vehicle electronic control unit 201 and the vehicle braking management system 3 through signal transmission lines. The vehicle dynamics stability control system 4 includes a vehicle dynamics stability control system electronic control unit 401, a longitudinal acceleration sensor 402, a lateral acceleration sensor 403, a yaw rate sensor 404, an inertial measurement unit 405, a steering wheel angle sensor 406, and a wheel speed sensor 407.

[0144] Among them, the electronic control unit 401 of the vehicle dynamics stability control system is the signal processing and control signal generation module in the vehicle dynamics stability control system 4. The electronic control unit 401 of the vehicle dynamics stability control system can be used to: acquire signals or data describing vehicle dynamics state parameters collected by sensors such as longitudinal acceleration sensor 402, lateral acceleration sensor 403, yaw rate sensor 404, inertial measurement unit 405, steering wheel angle sensor 406, and wheel speed sensor 407 in the vehicle control system; calculate the current kinematic state of the vehicle body based on the mathematical model, physical model calculation method, and software program describing the kinematic state of the vehicle body that are pre-stored in the memory of the electronic control unit 401 of the vehicle dynamics stability control system, and compare it with the kinematic state parameters and data describing the safety of the vehicle that are pre-stored in the memory of the electronic control unit 401 of the vehicle dynamics stability control system; determine (or predict) whether the current vehicle body is in or will be in an uncontrolled state based on the comparison result; and transmit the target control values ​​of the corresponding control parameters (or control variables) to the actuators in the vehicle that can control the kinematic state of the vehicle body through the control signal transmission line, execute the corresponding instructions, and adjust the kinematic state of the vehicle body based on the determination (or prediction) result. The vehicle dynamics stability control system electronic control unit 401 is connected to at least the vehicle electronic control unit 201, the vehicle braking management system electronic control unit 301, the longitudinal acceleration sensor 402, the lateral acceleration sensor 403, the yaw rate sensor 404, the inertial measurement unit 405, the steering wheel angle sensor 406, and the wheel speed sensor 407 via signal transmission lines.

[0145] The longitudinal acceleration sensor 402 can be used to: measure the longitudinal acceleration of the vehicle along the vehicle's direction of travel during acceleration or braking deceleration; and transmit the longitudinal acceleration signal to the electronic control unit 401 of the vehicle dynamics stability control system via a signal transmission line, serving as a reference for describing the vehicle's current longitudinal acceleration and vehicle kinematics state. The longitudinal acceleration sensor 402 is at least connected to the electronic control unit 401 of the vehicle dynamics stability control system via a signal transmission line.

[0146] The lateral acceleration sensor 403 can be used to: measure the lateral acceleration perpendicular to the vehicle's direction of travel during cornering; and transmit the lateral acceleration signal to the electronic control unit 401 of the vehicle dynamics stability control system via a signal transmission line, serving as a reference for describing the vehicle's current lateral acceleration and vehicle kinematics state. The lateral acceleration sensor 403 is at least connected to the electronic control unit 401 of the vehicle dynamics stability control system via a signal transmission line.

[0147] The yaw rate sensor 404 can be used to: measure the angular velocity (i.e., yaw rate) of the vehicle's deflection around its vertical axis during driving; and transmit the yaw rate signal to the electronic control unit 401 of the vehicle dynamics stability control system via a signal transmission line, serving as a reference for describing the vehicle's current yaw rate and vehicle kinematics state. The yaw rate sensor 404 is at least connected to the electronic control unit 401 of the vehicle dynamics stability control system via a signal transmission line.

[0148] The inertial measurement unit 405 can be used to: measure the linear acceleration of the vehicle in its longitudinal, lateral, and vertical axes, as well as the angular acceleration of the vehicle about its longitudinal, lateral, and vertical axes; and transmit the linear acceleration signals in the three directions and the angular acceleration signals about the three axes to the electronic control unit 401 of the vehicle dynamics stability control system via signal transmission lines, as a reference for describing the current kinematic state of the vehicle body or the vehicle body's relative real-time positioning information. The inertial measurement unit 405 is at least connected to the electronic control unit 401 of the vehicle dynamics stability control system via signal transmission lines.

[0149] The steering wheel angle sensor 406 can be used to: measure the steering wheel angle of the vehicle; and transmit the steering wheel angle signal to the electronic control unit 401 of the vehicle dynamics stability control system via a signal transmission line, serving as a reference for describing the driver's current driving intention. The steering wheel angle sensor 406 is at least connected to the electronic control unit 401 of the vehicle dynamics stability control system via a signal transmission line.

[0150] The wheel speed sensor 407 can be used to: measure the wheel speed of the vehicle; and transmit the wheel speed signal to the electronic control unit 401 of the vehicle dynamics stability control system via a signal transmission line, serving as a reference for describing the current wheel speed and vehicle kinematics state. The wheel speed sensor 407 is connected to the electronic control unit 401 of the vehicle dynamics stability control system at least via a signal transmission line.

[0151] The remote information exchange system 5 can be used to: transmit vehicle status information (including first, second, third, and fourth vehicle status information), remote control vehicle takeover control command signals (including first to eleventh control commands), device identity information of the communication control devices, and information that can be used to accurately identify the vehicle control system between the first communication control device 9, the second communication control device 10, and the third communication control device 11; transmit the above information and remote control vehicle takeover control command signals between the remote control vehicle authorized takeover system 1; and transmit vehicle status information and information that can be used to accurately identify the vehicle control system between the remote control vehicle takeover control system 6 and the human-machine interaction system 6. The remote information exchange system 5 is connected to the remote control vehicle authorized takeover system 1, the human-machine interaction system 6, and the advanced driver assistance system 8 via signal transmission lines; and is connected to the first communication control device 9, the second communication control device 10, and the third communication control device 11 via remote information exchange technology or wireless network communication (using wireless networks or vehicle networks provided by communication providers, etc.). The telematics exchange system 5 includes a telematics exchange system electronic control unit 501 and other wireless network communication devices. In addition, the telematics exchange system 5 may also include a positioning sensor for acquiring vehicle geographic location information.

[0152] The remote information exchange system electronic control unit 501 is the signal processing and control signal generation module in the remote information exchange system 5. The remote information exchange system electronic control unit 501 can be used to: process, analyze, and convert vehicle status information (including first, second, third, and fourth vehicle status information), remote-controlled autonomous vehicle takeover control command signals (including first to eleventh control commands), device identity information of the communication control devices, and information that can be used to accurately identify the vehicle control system, transmitted between the remote information exchange system 5 and the first communication control device 9, the second communication control device 10, and the third communication control device 11, for the remote-controlled autonomous vehicle takeover control method; and process, analyze, and convert the above-mentioned information and remote-controlled autonomous vehicle takeover control command signals transmitted between the remote information exchange system 5 and the remote-controlled autonomous vehicle authorized takeover system 1 and the human-machine interaction system 6. The remote information exchange system electronic control unit 501 is connected to at least the remote-controlled autonomous vehicle authorized takeover system electronic control unit 101, the human-machine interaction system electronic control unit 601, and the advanced driver assistance system electronic control unit 801 via signal transmission lines.

[0153] The human-machine interface system 6 can be used to: provide an interactive interface and a medium for information exchange between the vehicle and the user; acquire information on the working status of the electronic control units, sensors, and actuators in the vehicle and display this information to the user; acquire various instruction information from the user (including finger touch and / or gesture information), analyze the user's intentions, and convert the user's instruction requirements into control signals that are transmitted to the electronic control units and actuators in the vehicle control system to execute the user's control instructions and meet the user's needs; store historical information on vehicle status, historical information on the user's operation, or historical information on control instructions, and transmit vehicle status information and information that can be used to accurately identify the vehicle control system between the remote-controlled autonomous vehicle takeover control method and the remote information exchange system 5. The human-machine interface system 6 is connected to the remote-controlled autonomous vehicle takeover system 1 and the remote information exchange system 5 via signal transmission lines. The human-machine interface system 6 includes a human-machine interface system electronic control unit 601.

[0154] The human-machine interface system electronic control unit 601 is the signal processing and control signal generation module in the human-machine interface system 6. The human-machine interface system electronic control unit 601 can be used to: process, analyze, and convert various instruction information from the user (including finger contact and / or gesture information), analyze the vehicle user's intentions, and convert the user's instruction requirements into control signals that are transmitted to the electronic control unit and actuator devices in the vehicle control system to execute the user's control requirements and meet the user's needs; process and analyze vehicle status history information, vehicle user operation history information, or control instruction history information to generate vehicle status information in the takeover control method of the remote-controlled unmanned vehicle, as reference information for the control method; and store information that can be used to accurately identify the vehicle control system. The human-machine interface system electronic control unit 601 is connected to at least the remote-controlled unmanned vehicle authorized takeover system electronic control unit 101 and the remote information exchange system electronic control unit 501 via signal transmission lines.

[0155] The seat pressure sensor 701 can be used to measure the force on all seats in the vehicle and transmit signals describing the force on all seats to the remote-controlled autonomous vehicle takeover system 1 and the remote-controlled autonomous vehicle takeover system electronic control unit 101, as a basis for determining whether a suspected occupant is sitting in the driver's seat. The seat pressure sensor 701 is connected to the remote-controlled autonomous vehicle takeover system electronic control unit 101 at least via a signal transmission line. Furthermore, the seat pressure sensor 701 can also be connected to the vehicle electronic control unit 201 via a signal transmission line.

[0156] The advanced driver assistance system 8 can be used to: acquire and store the first, second, third, and fourth vehicle status information in the takeover control method for remotely controlled unmanned vehicles; acquire the remote-controlled unmanned vehicle takeover control command signal in the takeover control method for remotely controlled unmanned vehicles; based on the above vehicle status information and control command signals, through analysis, plan the movement and driving path of the unmanned vehicle, or make a rationality and safety judgment on the operation commands issued by the remotely authorized remote control personnel, and transmit the path planning information, operation command rationality reference opinions, warning information, or assisted driving information to the remote-controlled unmanned vehicle authorized takeover system 1 and the remote information exchange system 5; under the authorization of the vehicle user, based on the driving path planning analysis results of the unmanned vehicle, send control signals to the electronic control unit and actuator devices in the vehicle control system to control the unmanned vehicle to execute the corresponding unmanned or assisted driving commands and complete the corresponding driving actions (acceleration, deceleration, reversing, steering, avoiding pedestrians or obstacles, etc.). The advanced driver assistance system 8 is at least connected to the remote-controlled unmanned vehicle authorized takeover system 1, the vehicle electronic control unit 201, and the remote information exchange system 5 through signal transmission lines. The advanced driver assistance system 8 includes an advanced driver assistance system electronic control unit 801 and an advanced driver assistance system environmental perception sensor 802.

[0157] The Advanced Driver Assistance System (ADAS) Electronic Control Unit 801 is the signal processing and control signal generation module in the ADAS 8. The ADAS Electronic Control Unit 801 can be used to: acquire environmental perception information collected by the ADAS environmental perception sensor 802; process and analyze the first vehicle status information, second vehicle status information, third vehicle status information, fourth vehicle status information, and remote-controlled autonomous vehicle takeover control command signals in the remote-controlled autonomous vehicle takeover control method; based on the aforementioned vehicle status information and control command signals, through analysis, to plan the movement and driving path of the autonomous vehicle, or to judge the rationality and safety of operation commands issued by remotely authorized remote control personnel, generating path planning information, operation command rationality reference opinions, warning information or assisted driving information, and autonomous or assisted driving control commands. The ADAS Electronic Control Unit 801 is connected to at least the remote-controlled autonomous vehicle authorized takeover system Electronic Control Unit 101, the vehicle Electronic Control Unit 201, the remote information exchange system Electronic Control Unit 501, and the ADAS environmental perception sensor 802 via signal transmission lines.

[0158] The advanced driver assistance system (ADAS) environmental perception sensor 802 is an environmental perception device within the ADAS 8. The ADAS environmental perception sensor 802 can be used to acquire information describing the vehicle's dynamic state during operation (such as straight-line speed and acceleration, yaw speed and acceleration, hop speed and acceleration, pitch speed and acceleration, etc.) or the driving environment (such as terrain changes, obstacles, pedestrian information, etc.). The ADAS environmental perception sensor 802 is connected at least to the remote-controlled autonomous vehicle authorized takeover system electronic control unit 101 and the ADAS electronic control unit 801 via signal transmission lines. The ADAS environmental perception sensor 802 may include sensor devices such as ultrasonic radar sensors, onboard cameras, infrared emitters or infrared thermal imagers, millimeter-wave radar, and lidar.

[0159] The technical solution of this embodiment solves the problem in the prior art where a vehicle cannot leave its parking position because the driver cannot reach the parking location. By establishing a safe and reliable authorization method and communication control method between the first communication control device, the second communication control device, the third communication control device and the vehicle, the solution effectively and safely controls the vehicle to be controlled when the driver cannot reach the parking location, thereby enabling the vehicle to be controlled to safely leave the parking location.

[0160] Example 2

[0161] Figure 5 This is a schematic diagram of a vehicle control device provided in Embodiment 2 of the present invention, as shown below. Figure 5 As shown, the device includes: a first vehicle status check module 510, a second vehicle status check module 520, a third vehicle status check module 530, a fourth vehicle status check module 540, and a vehicle control module 550, wherein:

[0162] The first vehicle status check module 510 is used to acquire a first control command sent by a first communication control device and a second control command sent by a second communication control device, and to perform a first vehicle status check on the vehicle to be controlled according to the first control command and the second control command.

[0163] The second vehicle status check module 520 is used to control the vehicle to be controlled to enter the first working mode and perform a second vehicle status check on the vehicle to be controlled when the inspection result of the first vehicle status check is qualified.

[0164] The third vehicle status check module 530 is used to send first vehicle status information and a third control command to the second communication control device when the second vehicle status check result is qualified; and to send second vehicle status information to the second communication control device according to the fourth control command fed back by the second communication control device based on the first vehicle status information and the third control command, and to obtain the third vehicle status information fed back by the second communication control device based on the second vehicle status information, so as to perform a third vehicle status check on the vehicle to be controlled based on the third vehicle status information.

[0165] The fourth vehicle status check module 540 is used to control the vehicle to be controlled to enter the second working mode when the inspection result of the third vehicle status check is qualified; to obtain the fifth control command sent by the third communication device, and to perform the fourth vehicle status check on the vehicle to be controlled according to the fifth control command.

[0166] The vehicle control module 550 is used to control the vehicle to be controlled to enter a third working mode when the inspection result of the fourth vehicle status check is qualified, and to obtain a sixth control command sent by the third communication control device, so as to control the vehicle to be controlled according to the sixth control command.

[0167] The technical solution of this embodiment solves the problem in the prior art where a vehicle cannot leave its parking position because the driver cannot reach the parking location. By establishing a safe and reliable authorization method and communication control method between the first communication control device, the second communication control device, the third communication control device and the vehicle, the solution effectively and safely controls the vehicle to be controlled when the driver cannot reach the parking location, thereby enabling the vehicle to be controlled to safely leave the parking location.

[0168] Optionally, the vehicle control device can also be used to: acquire fourth vehicle status information of the vehicle to be controlled, and send the fourth vehicle status information to the first communication control device and the second communication control device.

[0169] Optionally, the vehicle control device may also be used to: acquire a seventh control command sent by a third communication control device, send an eighth control command to a first communication control device and a second communication control device, and perform a fifth vehicle status check on the vehicle to be controlled.

[0170] Optionally, the vehicle control device can also be used to: control the vehicle to be controlled to enter the fourth working mode when the inspection result of the fifth vehicle status check is qualified and the ninth control command sent by the first communication control device is obtained, or when the inspection result of the fifth vehicle status check is qualified and the tenth control command sent by the second communication control device is obtained.

[0171] Optionally, the first vehicle status check module 510 can be specifically used to: determine a first time interval between the first control command and the second control command when it is determined that a first control command has been received and a second control command has been received; and perform a first vehicle status check on the vehicle to be controlled according to the first control command and the second control command if the first time interval meets a first preset time interval upper limit threshold; or perform a first vehicle status check on the vehicle to be controlled according to the first control command when it is determined that a first control command has been received but a second control command has not been received; or perform a first vehicle status check on the vehicle to be controlled according to the second control command if it is determined that a first control command has not been received but a second control command has been received; wherein, the first vehicle status check includes checking the validity of the first control command and / or the second control command, checking the device identification information of the first communication control device and / or the second communication control device, and checking the authorized entity identity identification information in the first control command and / or the second control command.

[0172] Optionally, the vehicle control device can also be used to: establish data communication between the devices required for vehicle operation after controlling the vehicle to be controlled to enter the first working mode, and control the devices required for vehicle operation to enter the standby preparation working state; after controlling the vehicle to be controlled to enter the fourth working mode, restore the working status parameters of the devices required for vehicle operation to the default values, and control the devices required for vehicle operation to exit the working state.

[0173] Optionally, the third vehicle status checking module 530 can be specifically used to: determine a second time interval between the time the fourth control command is received and the time the third control command is sent, when it is determined that a fourth control command has been received; and send the second vehicle status information to the second communication control device when the second time interval meets the upper limit threshold of the second preset time interval.

[0174] Optionally, the fourth vehicle status check module 540 can be specifically used to: determine a third time interval between the reception time of the fifth control command and the reception time of the fourth control command when it is determined that a fifth control command has been received; and perform a fourth vehicle status check on the vehicle to be controlled when the third time interval meets the upper limit threshold of the third preset time interval.

[0175] Optionally, the vehicle control module 550 can be specifically used to: acquire a sixth control command sent by a third communication control device when the vehicle movement technical conditions are met and no vehicle stop control command is received; and control the vehicle to be controlled according to the sixth control command when the sixth control command meets the validity conditions.

[0176] The vehicle control device provided in the embodiments of the present invention can execute the vehicle control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of executing the method.

[0177] Example 3

[0178] Figure 6 A schematic diagram of an electronic device 10, which can be used to implement embodiments of the present invention, is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0179] like Figure 6 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 can also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0180] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0181] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as vehicle control methods.

[0182] In some embodiments, the vehicle control method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the vehicle control method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the vehicle control method by any other suitable means (e.g., by means of firmware).

[0183] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), system-on-a-chip (SoCs), payload programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0184] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0185] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0186] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0187] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0188] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact via communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0189] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0190] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A vehicle control method, characterized in that, include: Obtain a first control command sent by a first communication control device and a second control command sent by a second communication control device, and perform a first vehicle status check on the vehicle to be controlled based on the first control command and the second control command; If the inspection result of the first vehicle status check is qualified, the vehicle to be controlled is controlled to enter the first working mode, and the vehicle to be controlled is subjected to a second vehicle status check. If the inspection result of the second vehicle status check is deemed satisfactory, the first vehicle status information and the third control command are sent to the second communication control device. According to the fourth control instruction fed back by the second communication control device based on the first vehicle status information and the third control instruction, the second communication control device sends the second vehicle status information to the second communication control device and obtains the third vehicle status information fed back by the second communication control device based on the second vehicle status information, so as to perform a third vehicle status check on the vehicle to be controlled based on the third vehicle status information. If the inspection result of the third vehicle status check is deemed satisfactory, the vehicle to be controlled is controlled to enter the second working mode; The system acquires a fifth control command sent by a third communication control device and performs a fourth vehicle status check on the vehicle to be controlled based on the fifth control command. If the inspection result of the fourth vehicle status check is qualified, the vehicle to be controlled is controlled to enter the third working mode, and the sixth control command sent by the third communication control device is obtained, so as to control the vehicle to be controlled according to the sixth control command.

2. The method according to claim 1, characterized in that, After controlling the vehicle to be controlled according to the sixth control command, the method further includes: The fourth vehicle status information of the vehicle to be controlled is obtained and sent to the first communication control device and the second communication control device.

3. The method according to claim 1, characterized in that, The method further includes: The system acquires the seventh control command sent by the third communication control device, sends the eighth control command to the first and second communication control devices, and performs a fifth vehicle status check on the vehicle to be controlled.

4. The method according to claim 3, characterized in that, The method further includes: If the inspection result of the fifth vehicle status check is qualified and the ninth control command sent by the first communication control device is obtained, or if the inspection result of the fifth vehicle status check is qualified and the tenth control command sent by the second communication control device is obtained, the vehicle to be controlled is controlled to enter the fourth working mode.

5. The method according to claim 1, characterized in that, The step of performing a first vehicle status check on the vehicle to be controlled according to the first control command and the second control command includes: If it is determined that the first control command and the second control command have been received, a first time interval between the first control command and the second control command is determined, and if the first time interval meets a first preset time interval upper limit threshold, a first vehicle status check is performed on the vehicle to be controlled according to the first control command and the second control command; or If the first control command is received but the second control command is not received, a first vehicle status check is performed on the vehicle to be controlled according to the first control command; or If it is determined that the first control command has not been received, but the second control command has been received, a first vehicle status check is performed on the vehicle to be controlled according to the second control command. The first vehicle status check includes checking the validity of the first control command and / or the second control command, checking the device identification information of the first communication control device and / or the second communication control device, and checking the authorized entity identification information in the first control command and / or the second control command.

6. The method according to claim 4, characterized in that, The method further includes: After the vehicle to be controlled enters the first working mode, data communication between the devices required for vehicle operation is established, and the devices required for vehicle operation are controlled to enter the standby preparation state. After controlling the vehicle to be controlled to enter the fourth working mode, the working status parameters of the devices required for vehicle operation are restored to default values, and the devices required for vehicle operation are controlled to exit the working state.

7. The method according to claim 1, characterized in that, The step of sending second vehicle status information to the second communication control device based on the fourth control command fed back by the first vehicle status information and the third control command includes: If it is determined that the fourth control command has been received, a second time interval between the time of receiving the fourth control command and the time of sending the third control command is determined; If the second time interval meets the upper limit threshold of the second preset time interval, the second vehicle status information is sent to the second communication control device.

8. The method according to claim 1, characterized in that, The fourth vehicle status check performed on the vehicle to be controlled according to the fifth control command includes: If it is determined that the fifth control command has been received, a third time interval between the time of receiving the fifth control command and the time of receiving the fourth control command is determined; If the third time interval meets the upper limit threshold of the third preset time interval, a fourth vehicle status check is performed on the vehicle to be controlled.

9. The method according to claim 1, characterized in that, The step of acquiring the sixth control command sent by the third communication control device, and controlling the vehicle to be controlled according to the sixth control command, includes: If the vehicle movement technical conditions are met and no vehicle stop control command is received, the sixth control command sent by the third communication control device is acquired. If the sixth control command meets the validity conditions, the vehicle to be controlled is controlled according to the sixth control command.

10. A vehicle control device, characterized in that, include: The first vehicle status check module is used to acquire the first control command sent by the first communication control device and the second control command sent by the second communication control device, and to perform a first vehicle status check on the vehicle to be controlled according to the first control command and the second control command. The second vehicle status check module is used to control the vehicle to be controlled to enter the first working mode and perform a second vehicle status check on the vehicle to be controlled when the inspection result of the first vehicle status check is qualified. The third vehicle status check module is used to send first vehicle status information and a third control command to the second communication control device when the second vehicle status check result is qualified; and to send second vehicle status information to the second communication control device according to the fourth control command fed back by the second communication control device based on the first vehicle status information and the third control command, and to obtain the third vehicle status information fed back by the second communication control device based on the second vehicle status information, so as to perform a third vehicle status check on the vehicle to be controlled based on the third vehicle status information. The fourth vehicle status check module is used to control the vehicle to be controlled to enter the second working mode when the inspection result of the third vehicle status check is qualified; to obtain the fifth control command sent by the third communication control device, and to perform the fourth vehicle status check on the vehicle to be controlled according to the fifth control command. The vehicle control module is used to control the vehicle to be controlled to enter the third working mode when the inspection result of the fourth vehicle status check is qualified, and to obtain the sixth control command sent by the third communication control device, so as to control the vehicle to be controlled according to the sixth control command.

11. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the vehicle control method according to any one of claims 1-9.

12. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the vehicle control method of any one of claims 1-9.

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