Vehicle remote takeover method, device and system

Abstract

The embodiment of the invention provides a vehicle remote takeover method, device and system, and relates to the technical field of automatic driving. The method is applied to a remote control end in a vehicle remote takeover system. The system further comprises an automatic control end loaded in a target vehicle; the method comprises the steps that the current vehicle state, sent by the automatic control end, of the target vehicle is received; in response to a first type of user instruction, determining a target parking level of the target vehicle based on the current state of the vehicle; and sending the target parking grade to the automatic control end, so that the automatic control end controls the target vehicle to park according to the target parking grade. Compared with the prior art, by applying the scheme provided by the embodiment of the invention, the vehicle can be controlled under the condition that the automatic driving system cannot control the vehicle to continue running.

Description

Technical Field

[0001] The present disclosure relates to the field of autonomous driving technology, and in particular to a vehicle remote takeover method, device and system. Background Art

[0002] At present, with the development of autonomous driving technology, autonomous driving vehicles are widely used in logistics, freight, passenger transportation and other fields. During the driving process, the autonomous driving vehicle is controlled by the automatic control system installed in the vehicle. However, the above automatic control system may have the problem that the autonomous driving system cannot control the vehicle to continue driving due to factors such as the road or other vehicles.

[0003] Therefore, when the autonomous driving system is unable to control the vehicle to continue driving, how to control the vehicle becomes a technical problem that needs to be solved urgently. Summary of the invention

[0004] The purpose of the embodiments of the present disclosure is to provide a vehicle remote takeover method, device and system to achieve control of the vehicle when the automatic driving system cannot control the vehicle to continue driving. The specific technical solution is as follows:

[0005] According to a first aspect of an embodiment of the present disclosure, a vehicle remote takeover method is first provided, which is applied to a remote control terminal in a vehicle remote takeover system, wherein the system further comprises: an automatic control terminal loaded in a target vehicle; the method comprises:

[0006] Receive the current vehicle status of the target vehicle sent by the automatic control end;

[0007] In response to a first type of user instruction, determining a target parking level for the target vehicle based on a current state of the vehicle;

[0008] The target parking level is sent to the automatic control end so that the automatic control end controls the target vehicle to park according to the target parking level.

[0009] According to a second aspect of the embodiment of the present disclosure, a vehicle remote takeover system is also provided, the system comprising a remote control terminal and an automatic control terminal loaded in a target vehicle;

[0010] The automatic control terminal is used to obtain the current status of the vehicle and send the current status of the vehicle to the remote control terminal;

[0011] The remote control terminal is used to receive the current state of the vehicle sent by the automatic control terminal; determine the target parking level of the target vehicle based on the current state of the vehicle in response to the first type of user instruction; and send the target parking level to the automatic control terminal;

[0012] The automatic control end is also used to receive the target parking level sent by the remote control end, and control the parking of the target vehicle according to the parking mode represented by the target parking level;

[0013] The remote control terminal is further used to send a remote control instruction to the automatic control terminal in response to the second type of user instruction;

[0014] The automatic control terminal is also used to receive remote control instructions sent by the remote control terminal and control the target vehicle according to the driving parameters indicated by the remote control instructions.

[0015] According to a third aspect of the embodiment of the present disclosure, a vehicle remote takeover device is also provided, which is applied to a remote control terminal in a vehicle remote takeover system, wherein the system further comprises: an automatic control terminal loaded in a target vehicle; the device comprises:

[0016] A status receiving module, used for receiving the current status of the target vehicle sent by the automatic control terminal;

[0017] a level determination module, for determining a target parking level of the target vehicle based on the current state of the vehicle in response to a first type of user instruction;

[0018] The vehicle control module is used to provide a target parking level to the automatic control end so that the automatic control end controls the target vehicle to park according to the target parking level.

[0019] According to a fourth aspect of the embodiments of the present disclosure, there is also provided an electronic device, including a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus;

[0020] Memory, used to store computer programs;

[0021] The processor is used to implement any vehicle remote takeover method provided in the first aspect when executing the program stored in the memory.

[0022] According to the fifth aspect of the embodiment of the present disclosure, a computer-readable storage medium is also provided, in which a computer program is stored. When the computer program is executed by a processor, any vehicle remote takeover method provided in the first aspect is implemented.

[0023] According to a sixth aspect of an embodiment of the present disclosure, there is also provided a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute any of the vehicle remote takeover methods provided in the first aspect above.

[0024] Beneficial effects of the embodiments of the present disclosure:

[0025] As can be seen from the above, the solution provided by the embodiment of the present disclosure can be applied to the remote control terminal in the vehicle remote takeover system, and the system also includes: an automatic control terminal loaded in the target vehicle. First, the current vehicle state of the target vehicle sent by the automatic control terminal can be received, and then, in response to the first type of user instructions, the target parking level of the target vehicle can be determined based on the received current vehicle state, thereby sending the target parking level to the automatic control terminal, so that the automatic control terminal controls the parking of the target vehicle according to the target parking level.

[0026] Based on this, by applying the solution provided by the embodiment of the present disclosure, the remote control terminal determines the target parking level of the target vehicle according to the received current state of the vehicle and the first type of user instruction. After receiving the target parking level, the automatic control terminal can control the parking of the target vehicle according to the target parking level. Furthermore, after the target vehicle is parked, the remote control terminal can remotely take over the target vehicle, thereby improving the vehicle safety during remote takeover. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present disclosure, and for ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

[0028] Figure 1 A schematic diagram of a flow chart of a first vehicle remote takeover method provided in an embodiment of the present disclosure;

[0029] Figure 2 A schematic flow chart of a second vehicle remote takeover method provided in an embodiment of the present disclosure;

[0030] Figure 3 A schematic diagram of a flow chart of a third vehicle remote takeover method provided in an embodiment of the present disclosure;

[0031] Figure 4 A schematic diagram of a fourth vehicle remote takeover method provided in an embodiment of the present disclosure;

[0032] Figure 5 A flowchart of a fifth vehicle remote takeover method provided in an embodiment of the present disclosure;

[0033] Figure 6 A flowchart of a sixth vehicle remote takeover method provided in an embodiment of the present disclosure;

[0034] Figure 7 A schematic diagram of a structure of a specific embodiment provided for the embodiment of the present disclosure;

[0035] Figure 8 A flowchart of a specific embodiment provided for the embodiment of the present disclosure;

[0036] Fig. 9 A schematic diagram of the structure of a vehicle remote takeover system provided in an embodiment of the present disclosure;

[0037] Fig.10 A signaling interaction diagram of a vehicle remote takeover system provided by an embodiment of the present disclosure;

[0038] Fig.11 A schematic diagram of the structure of a vehicle remote takeover device provided in an embodiment of the present application;

[0039] Fig.12 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present disclosure to clearly and completely describe the technical solutions in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field based on the present disclosure belong to the scope of protection of the present disclosure.

[0041] At present, with the development of autonomous driving technology, autonomous driving vehicles are widely used in logistics, freight, passenger transportation and other fields. During the driving process, the autonomous driving vehicle is controlled by the automatic control system installed in the vehicle. However, the above automatic control system may have the problem that the autonomous driving system cannot control the vehicle to continue driving due to factors such as the road or other vehicles. Therefore, how to control the vehicle when the autonomous driving system cannot control the vehicle to continue driving has become a technical problem that needs to be solved urgently.

[0042] In order to solve the above technical problems, an embodiment of the present disclosure provides a vehicle remote takeover method, which is applied to a remote control terminal in a vehicle remote takeover system. The system also includes: an automatic control terminal loaded in a target vehicle.

[0043] Among them, the method is applicable to various application scenarios of remote control of the vehicle by the remote control terminal. For example, when there is a fault in the automatic control terminal of the vehicle, the remote control terminal controls the vehicle to continue driving through remote control. In addition, the method can be applied to the remote control terminal in the vehicle remote takeover system, wherein the remote control terminal can be various electronic devices such as desktop computers and laptops, hereinafter referred to as electronic devices. Based on this, the embodiments of the present disclosure do not limit the application scenarios and execution subjects of the method.

[0044] A vehicle remote takeover method provided by an embodiment of the present disclosure may include the following steps:

[0045] Receive the current vehicle status of the target vehicle sent by the automatic control end;

[0046] In response to a first type of user instruction, determining a target parking level of the target vehicle based on a current state of the vehicle;

[0047] The target parking level is sent to the automatic control end so that the automatic control end controls the target vehicle to park according to the target parking level.

[0048] As can be seen from the above, the solution provided by the embodiment of the present disclosure can be applied to the remote control terminal in the vehicle remote takeover system, and the system also includes: an automatic control terminal loaded in the target vehicle. First, the current vehicle state of the target vehicle sent by the automatic control terminal can be received, and then, in response to the first type of user instructions, the target parking level of the target vehicle can be determined based on the received current vehicle state, thereby sending the target parking level to the automatic control terminal, so that the automatic control terminal controls the parking of the target vehicle according to the target parking level.

[0049] Based on this, by applying the solution provided by the embodiment of the present disclosure, the remote control terminal determines the target parking level of the target vehicle according to the received current state of the vehicle and the first type of user instruction. After receiving the target parking level, the automatic control terminal can control the parking of the target vehicle according to the target parking level. Furthermore, after the target vehicle is parked, the remote control terminal can remotely take over the target vehicle, thereby improving the vehicle safety during remote takeover.

[0050] In order to facilitate understanding of a vehicle remote takeover method, device and a vehicle remote takeover system provided by the embodiments of the present disclosure, various related terms in the embodiments of the present disclosure are specifically described below.

[0051] Autonomous driving means that a vehicle can drive autonomously without human intervention through an automatic control terminal installed on the vehicle.

[0052] The vehicle remote takeover system includes a remote control terminal, an automatic control terminal and a target vehicle. The system may also include a wireless communication device.

[0053] 1. The automatic control terminal is used to collect the vehicle status information of the target vehicle and the status information of the automatic control terminal through various sensors of the target vehicle, and to shoot the environmental image of the environment where the target vehicle is located through the vehicle camera. The acquired vehicle status information, the status information of the automatic control terminal and the environmental image are sent to the wireless communication device, and forwarded to the remote control terminal through the above wireless communication device.

[0054] Optionally, the automatic control terminal may include a sensing system, a server and a main controller:

[0055] The perception system is used to collect information about the target vehicle's surroundings through hardware such as cameras and lidar and send it to the server.

[0056] The server is used to calculate the driving paths and control instructions of the target vehicle corresponding to normal automatic driving and different parking levels based on the collected environmental information by using the multiple computing nodes being run; and the server is also used to monitor the working status of the perception system, that is, the second available status of various sensors of the target vehicle, so as to judge the first available status of each preset parking level based on the obtained monitoring results. In this way, the server can summarize the obtained control instructions and the operating status of the algorithm nodes, and send them to the main controller.

[0057] The main controller is used to collect the available status of each preset parking level, the vehicle movement status, and the status of each actuator of the vehicle fed back by the server, and forward it to the wireless communication device. In addition, the active controller is also used to receive the control command sent by the wireless communication device, and after determining the control command based on the above server, send the control command to the target vehicle.

[0058] The target vehicle executes the instructions of the main controller and feeds back the vehicle status to the main controller.

[0059] 2. A remote control terminal, which is used to receive the information forwarded by the wireless communication device and send control instructions to the wireless communication device based on the vehicle status information and the status information of the automatic control terminal.

[0060] In addition, the remote control terminal may include: a display screen, a steering wheel, an accelerator pedal, a brake pedal, a seat, and multiple buttons.

[0061] The display screen is used to display the environment image of the target vehicle captured by the vehicle camera, the vehicle status information and the status information of the automatic control terminal. In this way, the user can obtain the current vehicle status and environment information of the target vehicle in real time through the above display screen.

[0062] In addition, users can enter or exit the remote takeover mode and select the target parking level through different buttons.

[0063] The user can generate remote control instructions by controlling the steering wheel, accelerator pedal and brake pedal included in the remote control terminal, thereby realizing remote control of the target vehicle.

[0064] It should be noted that in order for users to better adapt to remote control of vehicles on the remote control end and to adapt to the wire control interfaces of different vehicles, the vehicle remote takeover system provided in the embodiment of the present disclosure allows users to adjust the correspondence between the device control instructions of the remote control end and the remote control instructions.

[0065] Among them, the device control instruction of the remote control terminal includes: steering wheel angle, accelerator pedal percentage and brake pedal percentage. For example, for the steering wheel angle, the above correspondence may include the ratio of the steering wheel angle of the user at the remote control terminal to the steering wheel angle of the target vehicle. Exemplarily, the ratio of the steering wheel angle included in the above correspondence is 5:6, then the steering wheel angle of the user at the remote control terminal is 15 degrees, and based on the above correspondence, the steering wheel angle of the target vehicle indicated by the generated remote control instruction is 18 degrees.

[0066] For another example, with respect to the percentage of the accelerator pedal, the above correspondence may include the correspondence between the user controlling the accelerator pedal at the remote control terminal and the vehicle acceleration instruction of the target vehicle, or the correspondence between the user controlling the accelerator pedal at the remote control terminal and the accelerator pedal request instruction. Exemplarily, in the case where the accelerator pedal percentage is mapped to the vehicle acceleration instruction of the target vehicle, if the user controls the accelerator pedal travel percentage at the remote control terminal to be 50%, then the device control instruction is characterized as a vehicle acceleration instruction, and the vehicle acceleration of the target vehicle will be requested according to the corresponding mapping relationship, such as 1.5m / s^2; in the case where the accelerator pedal travel percentage is mapped to the throttle opening percentage of the target vehicle, if the user controls the accelerator pedal travel percentage at the remote control terminal to reach 10%, then the device control instruction is characterized as an accelerator pedal request instruction, and the throttle opening percentage of the target vehicle will be requested according to the corresponding mapping relationship, such as 15%.

[0067] For another example, with respect to the percentage of the brake pedal, the above correspondence may include the correspondence between the brake pedal controlled by the user at the remote control end and the vehicle deceleration instruction of the target vehicle, or the correspondence between the brake pedal controlled by the user at the remote control end and the brake pedal request instruction. Exemplarily, in the case where the percentage of the brake pedal is mapped to the vehicle deceleration instruction of the target vehicle, if the percentage of the brake pedal stroke controlled by the user at the remote control end reaches 50%, it indicates that the device control instruction is a vehicle deceleration instruction, and at this time, the vehicle deceleration of the target vehicle will be requested according to the corresponding mapping relationship, such as -2m / s^2; in the case where the percentage of the brake pedal stroke is mapped to the brake pedal request instruction of the target vehicle, if the user controls the brake pedal stroke at the remote control end to reach 10%, it indicates that the device control instruction corresponds to the brake pedal request instruction, and at this time, the percentage of the brake pedal stroke of the target vehicle will be requested according to the corresponding mapping relationship, such as 15%.

[0068] 3. A wireless communication device, used to perform information and command interaction between the automatic control terminal and the remote control terminal. When receiving a control command sent by the remote control terminal, the control command is forwarded to the automatic control terminal in the form of a CAN (Controller Area Network) message, so that the automatic control terminal sends the message to the target vehicle after receiving the CAN message of the control command.

[0069] 4. The target vehicle is the part of the unmanned vehicle other than the automatic control terminal, which is mainly composed of the body and the wire-controlled chassis. The target vehicle communicates with the automatic control terminal through the CAN bus, thereby responding to the instructions issued by the automatic control terminal and executing the actions indicated by the above instructions, such as acceleration / deceleration, steering, and body accessory actions (for example, lighting up the turn signal, activating the horn), etc.

[0070] A vehicle remote takeover method provided by an embodiment of the present disclosure is described in detail below in conjunction with the accompanying drawings.

[0071] Figure 1 A flow chart of a vehicle remote takeover method provided in an embodiment of the present disclosure is provided. The method is applied to a remote control terminal in a vehicle remote takeover system. The system further includes: an automatic control terminal loaded in a target vehicle. The method may include the following steps S101-S103:

[0072] S101: Receive the current vehicle status of the target vehicle sent by the automatic control terminal.

[0073] When the target vehicle is driving automatically, the automatic control terminal will collect the current state of the vehicle in real time and send the acquired current state of the vehicle to the remote control terminal. In this way, the remote control terminal can obtain the current state of the target vehicle.

[0074] Optionally, after receiving the current status of the vehicle sent by the automatic control terminal, the remote control terminal may display the received current status of the vehicle on a display device corresponding to the remote control terminal.

[0075] S102: In response to a first type of user instruction, determining a target parking level of the target vehicle based on a current state of the vehicle;

[0076] S103: Sending the target parking level to the automatic control terminal, so that the automatic control terminal controls the target vehicle to park according to the target parking level.

[0077] After the remote control terminal receives the current state of the vehicle sent by the automatic control terminal, the user can send a first type of user instruction to the remote control terminal based on the current state of the vehicle. The first type of user instruction can be used to indicate a specific parking level. In this way, the remote control responds to the first type of user instruction and can determine the target parking level currently applicable to the target vehicle based on the received current state of the vehicle.

[0078] Then, the remote control end can send the determined target parking level to the automatic control end, so that after receiving the above target parking level, the automatic control end controls the parking of the above target vehicle according to the above target parking level, thereby providing a safe and stable driving environment for the subsequent remote control end to remotely take over the target vehicle.

[0079] In some cases, when the remote control terminal sends the first type of user instruction to the automatic control terminal, the automatic control terminal may fail to control the parking of the target vehicle according to the parking method represented by the target parking level indicated by the first type of user instruction due to a new fault in the vehicle or a new fault in the automatic control terminal. At this time, for the safety and stability of the target vehicle, the automatic control terminal can feedback the parking failure message to the remote control terminal. In this way, the remote control terminal can send a parking level with a safety level higher than the above target parking level to the automatic control terminal, so that the automatic control terminal controls the parking of the target vehicle according to the parking method represented by the received new parking level.

[0080] Based on this, optionally, in a specific implementation, a vehicle remote takeover method provided by an embodiment of the present disclosure may further include the following step 104:

[0081] Step 104: upon receiving the parking fault message fed back by the automatic control end, a designated parking level having a safety level higher than the target parking level is sent to the automatic control end, so that the automatic control end controls the target vehicle to park according to the parking method represented by the designated parking level.

[0082] Among them, the number of various sensors required for the parking method represented by the specified parking level is less than the number of various sensors required for the parking method represented by the target parking level; the parking fault message represents: the automatic control end fails to control the target vehicle to park according to the parking method represented by the target parking level.

[0083] In this specific implementation, when the automatic control terminal fails to control the parking of the target vehicle according to the parking method represented by the target parking level, a parking failure message can be fed back to the remote control terminal. In this way, when the remote control terminal receives the parking failure message, it can select a designated parking level with a higher safety level than the target parking level, and send the designated parking level with a higher safety level than the target parking level to the automatic control terminal, so that the automatic control terminal can control the parking of the target vehicle according to the parking method represented by the designated parking level.

[0084] The number of various sensors required for the parking method represented by the designated parking level is less than the number of various sensors required for the parking method represented by the target parking level.

[0085] That is to say, the above-specified parking level also satisfies the received current state of the vehicle, but the number of various sensors required to execute the parking method represented by the above-specified parking level is less.

[0086] Optionally, the designated parking level may be a preset level with the highest parking urgency, that is, the parking method represented by the emergency parking level has no limitation on the type and quantity of sensors required, as long as the target vehicle is controlled to stop within a specified time.

[0087] Optionally, in a specific implementation, the above-mentioned preset parking levels include: pull-over parking and emergency parking; wherein the safety level of emergency parking is higher than pull-over parking.

[0088] For example, when the automatic control end fails to control the parking of the target vehicle according to the parking mode of side parking, a parking failure message can be fed back to the remote control end. In this way, when the remote control end receives the parking failure message, it can send an emergency parking instruction with a higher safety level than side parking to the automatic control end, so that the automatic control end can control the parking of the target vehicle according to the parking mode indicated by the emergency parking instruction.

[0089] For another example, when the automatic control terminal fails to control the target vehicle to park according to the parking mode of pull-over parking, it can control the target vehicle to park according to the parking mode of emergency parking with a higher safety level than pull-over parking. If the emergency parking command issued by the remote control terminal is received at this time, the target vehicle is controlled to park according to the parking mode of emergency parking issued by the remote control terminal.

[0090] After the automatic control end controls the target vehicle to park according to the parking method represented by the target parking level sent by the remote control end, the remote control end can remotely take over the target vehicle.

[0091] Based on this, optionally, in a specific implementation, a vehicle remote takeover method provided by an embodiment of the present disclosure may further include the following step 105:

[0092] Step 105: In response to the second type of user instruction, a remote control instruction is sent to the automatic control terminal, so that the automatic control terminal controls the target vehicle according to the driving parameters indicated by the remote control instruction.

[0093] In this specific implementation, after the target vehicle stops, in response to the second type of user instruction issued by the user for instructing the automatic control terminal to control the target vehicle to move, the remote control terminal can send a remote control instruction for controlling the target vehicle to move to the automatic control terminal. In this way, after receiving the remote control instruction sent by the remote control terminal, the automatic control terminal can control the target vehicle according to the driving parameters indicated by the remote control instruction.

[0094] Optionally, the remote control terminal may include control devices such as a steering wheel, an accelerator, and a brake. In this way, the user can generate corresponding device control instructions by controlling the above control devices, thereby generating remote control instructions based on the above device control instructions, and remotely controlling the target vehicle through the generated remote control instructions.

[0095] In order to improve the accuracy of the operation performed by the target vehicle when the target vehicle is controlled according to the remote control instruction, the user can optionally pre-establish a corresponding relationship between the device control instruction and the remote control instruction. The device control instruction may include a steering wheel angle, an accelerator pedal percentage, and a brake pedal percentage.

[0096] In this way, before the remote control end takes over remotely, it can receive the current vehicle status of the target vehicle sent by the automatic control end during the process of controlling the driving of the target vehicle, thereby determining the parking method currently applicable to the target vehicle based on the received current vehicle status, and then the target vehicle can be parked using the determined parking method, so that when the remote control end subsequently takes over the above-mentioned target vehicle remotely, the possibility of the target vehicle skidding or losing control due to the large difference between the driving parameters indicated by the remote control instructions issued by the remote control end and the driving parameters indicated by the automatic control end before taking over is reduced, thereby improving the safety and stability of remote takeover.

[0097] As can be seen from the above, the solution provided by the embodiment of the present disclosure can be applied to the remote control terminal in the vehicle remote takeover system, and the system also includes: an automatic control terminal loaded in the target vehicle. First, the current vehicle state of the target vehicle sent by the automatic control terminal is received, and then, in response to the first type of user instruction, the target parking level of the target vehicle can be determined based on the received current vehicle state, thereby sending the target parking level to the automatic control terminal, so that the automatic control terminal controls the parking of the target vehicle according to the target parking level.

[0098] Based on this, by applying the solution provided by the embodiment of the present disclosure, the remote control terminal determines the target parking level of the target vehicle according to the received current state of the vehicle and the first type of user instruction. After receiving the target parking level, the automatic control terminal can control the parking of the target vehicle according to the target parking level. Furthermore, after the target vehicle is parked, the remote control terminal can remotely take over the target vehicle, thereby improving the vehicle safety during remote takeover.

[0099] Since there is information and command interaction between the automatic control terminal and the remote control terminal, however, due to the instability of communication, there may be a delay in the information and commands received by the automatic control terminal or the remote control terminal. For example, due to abnormal communication, there is a delay in the command sent by the remote control terminal received by the automatic control terminal, so that the automatic control terminal cannot control the target vehicle in time, resulting in low safety and stability of the target vehicle during driving.

[0100] Therefore, in order to ensure the communication quality between the automatic control end and the remote control end, thereby improving the safety and stability of the target vehicle during driving, the automatic control end can detect the communication between itself and the remote control end to determine whether there is any abnormality.

[0101] Based on this, optionally, in a specific implementation, the automatic control end may perform the following steps 11-12:

[0102] Step 11: According to a preset communication detection method, whether there is any abnormality in the communication between the automatic control terminal and the remote control terminal is detected;

[0103] Step 12: In response to the detection result indicating that the communication is abnormal, a notification message for prompting the communication abnormality is output.

[0104] In this specific implementation, in order to ensure the communication quality between the automatic control terminal and the remote control terminal, the automatic control terminal can detect whether there is any abnormality in the communication between the automatic control terminal and the remote control terminal according to a preset communication detection method.

[0105] If the detection result indicates communication abnormality, it means that the information and instructions received and sent by the automatic control terminal or the remote control terminal may be delayed or lost. Therefore, in order to ensure the safety and stability of the target vehicle during driving, the automatic control terminal can output a notification message to prompt the user of the communication abnormality.

[0106] The automatic control terminal and the remote control terminal can communicate with each other via a wireless network. Both the automatic control terminal and the remote control terminal are provided with a wireless communication module for wireless communication. This is not specifically limited in the embodiments of the present disclosure.

[0107] Optionally, in order to ensure the safety and stability of the target vehicle during driving, when a communication anomaly is detected, the automatic control end may refuse to respond to any instructions issued by the remote control end, and when normal communication is detected, the remote control end may continue to execute a vehicle remote takeover method provided in an embodiment of the present disclosure.

[0108] Optionally, in a specific implementation, the above step 11 may include the following step 111:

[0109] Step 111: The automatic control end calculates the other bits in the received designated message except the preset check bit according to the preset calculation method, and determines whether the calculation result is consistent with the preset check bit; if within the first time period, the judgment results are inconsistent, it is determined that the detection result represents a communication abnormality between the automatic control end and the remote control end; wherein, the designated message includes: a message used to represent the parking level and a message used to represent the remote control instruction.

[0110] In this specific implementation method, in order to determine whether there is an abnormality in the communication between the automatic control end and the remote control end, the automatic control end can calculate the other bits in the received specified message except the preset check bit according to the preset calculation method, thereby judging whether the calculation result obtained after the calculation is consistent with the above-mentioned preset check bit.

[0111] Since communication is unstable, a time limit of the first time period can be preset. In this way, if the judgment results obtained within the first time period are inconsistent, the automatic control terminal can determine that the obtained detection results represent abnormal communication between the automatic control terminal and the remote control terminal.

[0112] During the first time period, only part of the obtained judgment results are inconsistent, and then it is determined that the detection result indicates that the communication between the automatic control terminal and the remote control terminal is normal.

[0113] Among them, since the instructions received by the automatic control end include: the target parking level and the remote control instruction sent by the remote control end, the above-mentioned designated message includes: a message for representing the parking level and a message for representing the remote control instruction.

[0114] Optionally, the above-mentioned preset calculation method may be a CRC (Cyclic redundancy check) algorithm, specifically a CRC-8 algorithm.

[0115] Optionally, the above-mentioned specified message may be a CAN message.

[0116] Optionally, in a specific implementation, the above step 11 may include the following step 112:

[0117] Step 112: The automatic control terminal counts the received designated messages in a loop according to the designated value range; if the value recorded each time is not continuous with the last recorded value within the second time period, it is determined that there is a communication anomaly between the automatic control terminal and the remote control terminal.

[0118] In this specific implementation, in order to determine whether there is any abnormality in the communication between the automatic control terminal and the remote control terminal, the automatic control terminal can pre-set a specified numerical range and perform a cyclic count on the received specified messages. In this way, it can be determined whether there is any abnormality in the communication between the automatic control terminal and the remote control terminal by judging whether the numerical value recorded each time is discontinuous with the previously recorded numerical value.

[0119] Since communication is unstable, a time limit with a second time period may be preset.

[0120] Therefore, after receiving the specified message, the automatic control terminal can cyclically count the received specified message according to the specified numerical range. If within the second time period, the value recorded each time is not continuous with the previously recorded value, it can be determined that the detection result indicates that there is an abnormality in the communication between the automatic control terminal and the remote control terminal.

[0121] Optionally, in a specific implementation, the above step 11 may include the following step 113:

[0122] Step 113: The automatic control terminal detects whether the designated message is received within the designated period; if the designated message is not received within the designated period, it is determined that there is an abnormality in the communication between the automatic control terminal and the remote control terminal.

[0123] In this specific implementation, in order to determine whether there is any abnormality in the communication between the automatic control end and the remote control end, the automatic control end can pre-set a specified period. In this way, the automatic control end can determine whether the above-mentioned specified message is received according to the above-mentioned specified period, thereby determining whether there is any abnormality in the communication between the automatic control end and the remote control end.

[0124] If the automatic control terminal does not receive the above-mentioned specified message within the specified period, it can be determined that there is an abnormality in the communication between the automatic control terminal and the remote control terminal.

[0125] In some cases, after the automatic control terminal has collected the available status of various sensors installed on the target vehicle and its own operating status, it can use the available status of various sensors as the vehicle status and send it together with its own operating status as the current vehicle status of the target vehicle to the remote control terminal. In this way, after the remote control terminal obtains the above vehicle current status, it can determine the parking level currently applicable to the target vehicle based on the above vehicle current status.

[0126] Based on this, optionally, in a specific implementation, the above step S102, in response to the first type of user instruction, determines the target parking level of the target vehicle based on the current state of the vehicle, and may include the following step 1011:

[0127] Step 1011: Acquire the vehicle operation status of the target vehicle sent by the automatic control terminal as the current status of the vehicle.

[0128] The vehicle operation status includes: the vehicle status of the target vehicle and the operation status of the automatic control terminal; the vehicle status includes: the second available status of various sensors loaded on the target vehicle.

[0129] In this specific implementation, the remote control terminal can obtain the vehicle state of the target vehicle sent by the automatic control terminal and the operating state of the automatic control terminal as the current vehicle state of the target vehicle. In this way, the parking level currently applicable to the target vehicle can be determined based on the second available state of various sensors installed on the target vehicle reflected by the vehicle state and the operating state of the automatic control terminal.

[0130] For example, the automatic control end will detect its own operating status and the vehicle status of the target vehicle in real time, and send the detection results to the remote control end, so that the remote control end can use the received detection results as the current vehicle status of the target vehicle.

[0131] In this way, the remote control end can determine the currently available types of sensors reflected by the vehicle status and the required parking time based on the vehicle operating status in the received detection results, thereby determining the parking level applicable to the target vehicle.

[0132] In order to improve the efficiency of the remote control end in remotely taking over the target vehicle, each preset parking level can be set in advance based on the various sensors and parking time required to execute each parking method. For each preset parking level, the state of the preset parking level will be in an available state only when the various sensors required for the parking method represented by the preset parking level are in an available state. In this way, after the automatic control end collects the available states of various sensors installed on the target vehicle and its own operating state, it can determine the available states of each preset parking level based on the collected state information, and then, it can send the determined available states of each preset parking level to the remote control end, so that the remote control end can obtain the available states of the above-mentioned preset parking levels as the current state of the vehicle.

[0133] Optionally, in a specific implementation, the above step S102, in response to the first type of user instruction, determining the target parking level of the target vehicle based on the current state of the vehicle, may include the following step 1012:

[0134] Step 1012: Acquire the first available state of each preset parking level sent by the automatic control terminal as the current state of the vehicle.

[0135] The first available state is determined according to the vehicle state, and each preset parking level is determined based on various sensors and parking time required to execute the parking method represented by each preset parking level.

[0136] In this specific implementation, after receiving the first available status of each preset parking level sent by the automatic control end, the remote control end can use the first available status of each preset parking level as the current status of the vehicle.

[0137] For example, if sensor A for sensing obstacles on the right side of the vehicle fails, the target vehicle cannot safely change lanes to the right. At this time, after the automatic control terminal detects that sensor B for sensing obstacles on the left side of the vehicle is in an available state, it can determine the preset parking levels corresponding to the parking method that requires sensor B, and send the first available state of each preset parking level determined to the remote control terminal as the current state of the vehicle.

[0138] In this way, the remote control terminal can directly determine the parking level applicable to the target vehicle based on the first available status of each preset parking level, thereby improving the efficiency of the remote control terminal in remotely taking over the target vehicle.

[0139] In some cases, when the current state of the vehicle received by the remote control end is the first available state of each preset parking level, the target parking level of the target vehicle can be directly determined among the preset parking levels where the first available state is available, thereby improving the efficiency of the remote control end in remotely taking over the target vehicle.

[0140] Optionally, in a specific implementation, when the current state of the vehicle includes: a first available state, such as Figure 2 FIG. 1 is a flow chart of a vehicle remote takeover method provided by an embodiment of the present disclosure. Figure 2 In the above step S102, in response to the first type of user instruction, determining the target parking level of the target vehicle based on the current state of the vehicle may include the following step S201:

[0141] S201: Determine a target parking level for a target vehicle among preset parking levels whose first available status is available.

[0142] In this specific implementation, since the automatic control end sends the first available state of each preset parking level, that is, the remote control end can determine, from the received preset parking levels, a preset parking level with a first available state as available as the target parking level of the target vehicle, thereby improving the efficiency of the remote control end in remotely taking over the target vehicle.

[0143] For example, the first available status of each preset parking level received by the remote control terminal includes: the first available status of preset parking level 1 is available; the first available status of preset parking level 2 is unavailable; the first available status of preset parking level 3 is unavailable. At this time, the remote control terminal can directly determine preset parking level 1 as the target parking level of the target vehicle.

[0144] In some cases, after receiving the current state of the vehicle sent by the automatic control terminal, the remote control terminal can display the received current state of the vehicle on the display device corresponding to the remote control terminal. In this way, after the user understands the current state of the vehicle through the above display screen, he can send the first type of user instructions to the remote control terminal based on his prior experience.

[0145] After receiving the first type of user instruction, the remote control terminal needs to determine whether the current state of the vehicle meets the parking conditions required by the parking level indicated by the first type of user instruction. For example, whether the currently available sensors reflected by the current state of the vehicle are the types of sensors required by the parking level. In this way, if the conditions are met, the parking level indicated by the first type of user instruction can be directly determined as the target parking level of the target vehicle.

[0146] Based on this, optionally, in a specific implementation, such as Figure 3 FIG. 1 is a flow chart of a vehicle remote takeover method provided by an embodiment of the present disclosure. Figure 3 In the above step S102, in response to the first type of user instruction, determining the target parking level of the target vehicle based on the current state of the vehicle may include the following step S1021:

[0147] S1021: In response to a first type of user instruction, when a current state of the vehicle satisfies a parking condition of the parking level indicated by the first type of user instruction, determining the parking level indicated by the first type of user instruction as a target parking level of the target vehicle.

[0148] In this specific implementation, since the first type of user instructions received by the remote control terminal are issued by the user based on prior experience according to the current state of the vehicle received by the remote control terminal, the current state of the vehicle may not meet the parking conditions required for the parking level indicated by the first type of user instructions issued by the user.

[0149] Therefore, after receiving the first type of user instruction issued by the user, the remote control terminal can determine whether the current state of the vehicle meets the parking conditions required by the parking level indicated by the first type of user instruction.

[0150] If satisfied, then the various sensors and actuators required to represent the above parking level are in an available state, and the automatic control end can control the target vehicle to execute the parking method represented by the parking level indicated by the above first type of user instruction. At this time, the remote control end can determine the parking level indicated by the above first type of user instruction as the target parking level of the target vehicle.

[0151] If not, some of the various sensors and actuators required to represent the above parking levels may be in an unavailable state. At this time, the automatic control end cannot control the target vehicle to execute the parking method represented by the parking level indicated by the above first type of user instructions. At this time, for the safety and stability of vehicle driving, the remote control end will refuse to respond to the above first type of user instructions.

[0152] For example, the parking condition of the parking level indicated by the first type of user instruction P issued by the user includes: the sensor A of the target vehicle is in an available state.

[0153] If the second available state of each sensor reflected by the current state of the vehicle received by the remote control terminal indicates that sensor B is in an available state, since the second available state does not include information that sensor A is in an available state, the current state of the vehicle does not meet the parking condition. At this time, for the safety and stability of vehicle driving, the remote control terminal will refuse to respond to the first type of user command.

[0154] If the second available state representation of various sensors reflected by the current state of the vehicle received by the remote control end is that sensor A is in an available state, then the current state of the above vehicle meets the parking condition that sensor A of the above target vehicle is in an available state. At this time, the remote control end determines the parking level indicated by the above first type of user instructions as the target parking level of the target vehicle.

[0155] Optionally, if the current state of the vehicle does not meet the parking conditions of the parking level indicated by the first type of user instructions, the remote control end outputs information to prompt the user to reselect the target parking level, so that the user can promptly change the issued first type of user instructions, thereby improving the efficiency of the remote control end in remotely taking over the target vehicle.

[0156] In some cases, in order to improve the efficiency of determining the target parking level of the remote control terminal, the user selects a parking level that satisfies the parking conditions of the current state of the vehicle from among the preset parking levels based on the current state of the vehicle received by the remote control terminal as the target parking level, thereby sending a first type of user instruction for indicating the target parking level to the remote control terminal.

[0157] Based on this, optionally, in a specific implementation, such as Figure 4 FIG. 1 is a flow chart of a vehicle remote takeover method provided by an embodiment of the present disclosure. Figure 4 In the above step S102, in response to the first type of user instruction, determining the target parking level of the target vehicle based on the current state of the vehicle may include the following step S1022:

[0158] S1022: Determine a target parking level of the target vehicle in response to a first type of user instruction sent by the user based on the current state of the vehicle.

[0159] In this specific implementation, after the remote control terminal receives the current state of the vehicle and displays it to the user through the display interface, the user can determine the first type of user instruction based on the current state of the vehicle. Therefore, the remote control terminal can directly respond to the first type of user instruction, thereby determining the parking level indicated by the first type of user instruction as the target parking level, thereby improving the efficiency of determining the target parking level of the remote control terminal.

[0160] For example, the second available state representation of various sensors reflected by the current state of the vehicle received by the remote control terminal is: sensor B is in an available state, then the user determines parking level I where the required sensor is sensor B as the target parking level, and sends a first type of user instruction for indicating the above target parking level to the remote control terminal, so that the remote control terminal responds to the above first type of user instruction and determines parking level I as the target parking level.

[0161] In some cases, in order to improve the safety and stability of the remote control terminal when taking over the parking of the target vehicle, the remote control terminal can also obtain the environmental image of the target vehicle. In this way, it can be determined based on the acquired environmental image whether the target vehicle is in a preset dangerous scene such as a traffic accident, pedestrian gathering, vehicle out of control, temporary traffic control section, etc., thereby determining the target parking level of the target vehicle.

[0162] Based on this, optionally, in a specific implementation, such as Figure 5 As shown, it is a flow chart of a vehicle remote takeover method provided by an embodiment of the present disclosure. Before the above step S102, in response to the first type of user instruction, determining the target parking level of the target vehicle, the vehicle remote takeover method provided by an embodiment of the present disclosure may further include the following step S501:

[0163] S501: Acquire an environment image of a target vehicle sent by an automatic control terminal, and display the environment image on a preset display device;

[0164] Accordingly, the above step S102, in response to the first type of user instruction, determines the target parking level of the target vehicle based on the current state of the vehicle, and may further include the following step S1023:

[0165] S1023: When it is determined according to the environment image that the target vehicle is in a preset dangerous scene, in response to a first type of user instruction, a target parking level of the target vehicle is determined.

[0166] In this specific implementation, in order to improve the safety and stability of the target vehicle when the remote control terminal controls the parking of the target vehicle, the automatic control terminal can collect the environmental image of the target vehicle's current environment and send it to the remote control terminal. In this way, the remote control terminal can determine whether the target vehicle is in a preset dangerous scene based on the acquired environmental image, and thus, when the target vehicle is in the preset dangerous scene, the target parking level of the target vehicle is determined in response to the first type of user instruction.

[0167] In some cases, when the current state of the vehicle received by the remote control terminal is the vehicle operating state, it can be determined whether the target vehicle has a fault based on the vehicle operating state. Thus, when the vehicle has a fault, the target parking level of the target vehicle is determined in response to the received first type of user instructions.

[0168] Optionally, in a specific implementation, when the current state of the vehicle includes: the vehicle running state, such as Figure 6 FIG. 1 is a flow chart of a vehicle remote takeover method provided by an embodiment of the present disclosure. Figure 6In the above step S102, in response to the first type of user instruction, determining the target parking level of the target vehicle based on the current state of the vehicle may include the following step S601:

[0169] S601: When it is determined that a target vehicle has a fault according to the current state of the vehicle, a target parking level of the target vehicle is determined in response to a received first type of user instruction.

[0170] Among them, the faults include: vehicle fault or automatic control terminal fault.

[0171] After the remote control terminal obtains the vehicle operating status of the target vehicle, it can determine whether the target vehicle has a fault based on the above vehicle operating status. Thus, when the judgment result indicates that the above target vehicle has a vehicle fault or an automatic control terminal fault, the target parking level of the target vehicle is determined in response to the first type of user instruction received.

[0172] For example, if the vehicle operating status received by the remote control terminal reflects that sensor A installed on the target vehicle is faulty and is in an unusable state, and sensor B is running and is in an available state, then in response to the received first type of user instructions, the target parking level of the target vehicle is determined, wherein the sensor required for the target parking level is sensor B.

[0173] In order to facilitate understanding of a vehicle remote takeover method provided by an embodiment of the present disclosure, a vehicle remote takeover method of the present disclosure is specifically described below using a specific embodiment.

[0174] Figure 7 A schematic diagram of a specific embodiment of the present disclosure is shown in FIG. Figure 7 As shown, the remote cockpit is the remote control terminal provided in the embodiment of the present disclosure; the wireless communication device is the wireless communication module provided in the embodiment of the present disclosure; the automatic driving system is the automatic control terminal provided in the embodiment of the present disclosure; and the vehicle is the target vehicle provided in the embodiment of the present disclosure.

[0175] The remote cockpit and the autonomous driving system are connected in communication via a wireless communication device. That is, after the autonomous driving system obtains the vehicle's current status information, environmental images and other information, it sends the information to the wireless communication device, which is then forwarded to the remote cockpit. Based on the received information and in response to user instructions, the remote cockpit sends the target parking level and remote control instructions to the wireless communication device, which is then forwarded to the autonomous driving system. In this way, the autonomous driving system can control the vehicle based on the received target parking level and remote control instructions.

[0176] For example, Figure 8A schematic diagram of a specific embodiment of the present disclosure is provided. Figure 8 As shown, the vehicle state of the unmanned vehicle and the state of the automatic driving system are obtained in real time and sent to the remote cockpit, which is the current vehicle state of the target vehicle sent by the automatic control end in the process of controlling the driving of the target vehicle provided by the embodiment of the present disclosure; the remote end finds that the unmanned vehicle has a fault, which is the determination of whether the above-mentioned target vehicle has a fault based on the current vehicle state provided by the embodiment of the present disclosure; the remote end determines that the vehicle is about to enter a risk scene, which is the remote control end provided by the embodiment of the present disclosure determines whether the target vehicle is in a preset dangerous scene based on the acquired environmental image; if not, return to the step of receiving the current vehicle state of the target vehicle sent by the automatic control end in the process of controlling the driving of the target vehicle, and re-execute a vehicle remote takeover method provided by the embodiment of the present disclosure; if so, the remote driver selects a safe parking level according to the vehicle fault condition or scene, which is the response to the first embodiment of the present disclosure provided by the embodiment of the present disclosure. A type of user instruction determines the target parking level of the target vehicle; the unmanned vehicle main controller executes the corresponding level of safe parking, that is, the automatic control end provided in the embodiment of the present disclosure controls the parking of the target vehicle according to the parking method represented by the specified parking level; the unmanned vehicle detects that a vehicle or automatic driving system has a fault, resulting in the current safe parking level being unable to be executed normally, that is, the remote control end provided in the embodiment of the present disclosure receives a parking failure message fed back when the automatic control end fails to control the parking of the target vehicle according to the parking method represented by the target parking level; the unmanned vehicle main controller executes a higher level of safe parking, that is, the automatic control end provided in the embodiment of the present disclosure controls the parking of the target vehicle according to an emergency parking method higher than the side parking level; the step of the remote driver selecting a higher level of safe parking, this step is that the remote control end provided in the embodiment of the present disclosure selects a designated parking level with a safety level higher than the target parking level.

[0177] The status of the unmanned vehicle and the status of the autonomous driving system are obtained in real time and sent to the remote cockpit. After receiving the status of the unmanned vehicle and the status of the autonomous driving system, the remote cockpit can determine whether the unmanned vehicle has a fault or whether the vehicle is about to enter a risky scenario.

[0178] If not, the process returns to the step where the autonomous driving system obtains the status of the unmanned vehicle and the status of the autonomous driving system in real time and sends them to the remote cockpit.

[0179] If yes, the remote driver selects the safety parking level according to the vehicle fault condition or scenario. Thus, after selecting the corresponding level of safety parking, the selected corresponding level of safety parking is sent to the unmanned vehicle master controller.

[0180] After receiving the corresponding level of safe parking, the unmanned vehicle main controller executes the level of safe parking. If during the execution, the unmanned vehicle detects that the vehicle or the automatic driving system has a fault, the current level of safe parking cannot be executed normally.

[0181] The unmanned vehicle master controller can directly execute a higher level of safe parking. If at this time, the remote driver chooses a higher level of safe parking, the unmanned vehicle master controller will brake the unmanned vehicle according to the higher level of safe parking selected by the remote driver.

[0182] Corresponding to the vehicle remote takeover method provided by the above-mentioned embodiment of the present disclosure, the embodiment of the present disclosure also provides a vehicle remote takeover system, Fig. 9 A schematic diagram of a vehicle remote takeover system provided by an embodiment of the present disclosure is shown in FIG. Fig. 9 As shown, the system includes: a remote control terminal 910 and an automatic control terminal 930 loaded in a target vehicle 920 .

[0183] The automatic control terminal 930 is used to obtain the current state of the vehicle and send the current state of the vehicle to the remote control terminal 910;

[0184] The remote control terminal 910 is used to receive the current state of the vehicle sent by the automatic control terminal 930; in response to the first type of user instruction, determine the target parking level of the target vehicle 920 based on the current state of the vehicle; and send the target parking level to the automatic control terminal 930;

[0185] The automatic control terminal 930 is also used to receive the target parking level sent by the remote control terminal 910, and control the target vehicle 720 to park according to the parking method represented by the target parking level;

[0186] The remote control terminal 910 is further used to send a remote control instruction to the automatic control terminal 930 in response to the second type of user instruction;

[0187] The automatic control terminal 930 is also used to receive the remote control instruction sent by the remote control terminal 910, and control the target vehicle 920 according to the driving parameters indicated by the remote control instruction.

[0188] Next, in combination with the signaling interaction process between the remote control terminal 910 in the above vehicle remote takeover system and the automatic control terminal 930 installed in the target vehicle 920, Fig. 9 A vehicle remote takeover system provided by the embodiment of the present disclosure is specifically described.

[0189] Fig.10 A signaling interaction diagram of a vehicle remote takeover system provided by an embodiment of the present disclosure, such as Fig.10As shown, the interaction process between the remote control terminal 910 in the vehicle remote takeover system and the automatic control terminal 930 loaded in the target vehicle 920 may include the following steps S1001-S1008:

[0190] S1001: The automatic control terminal 930 obtains the current state of the vehicle;

[0191] S1002: The automatic control terminal 930 sends the current state of the vehicle to the remote control terminal 910;

[0192] S1003: The remote control terminal 910 receives the current state of the vehicle sent by the automatic control terminal 930;

[0193] S1004: The remote control terminal 910 determines a target parking level of the target vehicle 920 based on the current state of the vehicle in response to the first type of user instruction;

[0194] S1005: The remote control terminal 910 sends the target parking level to the automatic control terminal 930;

[0195] S1006: The automatic control terminal 930 receives the target parking level sent by the remote control terminal 910, and controls the target vehicle 920 to park according to the parking method represented by the target parking level;

[0196] S1007: the remote control terminal 910 sends a remote control instruction to the automatic control terminal 930 in response to the second type of user instruction;

[0197] S1008: The automatic control terminal 930 receives the remote control instruction sent by the remote control terminal 910, and controls the target vehicle 920 according to the driving parameters indicated by the remote control instruction.

[0198] Based on this, by applying the solution provided by the embodiment of the present disclosure, the remote control terminal 910 determines the target parking level of the target vehicle 920 by receiving the current state of the vehicle and the first type of user instruction to which it responds. After receiving the target parking level, the automatic control terminal 930 can control the target vehicle 920 to park according to the target parking level. In this way, after the target vehicle 920 parks, the remote control terminal 910 can remotely take over the target vehicle, thereby improving the vehicle safety during remote takeover.

[0199] Optionally, in a specific implementation,

[0200] The automatic control terminal 930 is also used for:

[0201] According to the preset communication detection method, whether there is any abnormality in the communication between the automatic control terminal 930 and the remote control terminal 910 is detected;

[0202] In response to the detection result indicating that there is an abnormality in the communication, a notification message for prompting the abnormality in the communication is output.

[0203] Optionally, in a specific implementation,

[0204] The automatic control terminal 930 detects whether there is any abnormality in the communication between the automatic control terminal 930 and the remote control terminal 910 according to the preset communication detection method, including:

[0205] The automatic control terminal 930 calculates the other bits in the received designated message except the preset check bit according to the preset calculation method, and determines whether the obtained calculation result is consistent with the preset check bit; if the obtained judgment results are inconsistent within the first time period, it is determined that the detection result indicates that the communication between the automatic control terminal 930 and the remote control terminal 910 is abnormal; wherein the designated message includes: a message for representing the parking level and a message for representing the remote control instruction;

[0206] or,

[0207] The automatic control terminal 930 counts the received designated messages in a cycle according to the designated value range; if the values ​​recorded each time are not continuous with the values ​​recorded last time within the second time period, it is determined that there is an abnormality in the communication between the automatic control terminal 930 and the remote control terminal 910;

[0208] or,

[0209] The automatic control terminal 930 detects whether the designated message is received within the designated period; if the designated message is not received within the designated period, it is determined that there is an abnormality in the communication between the automatic control terminal 930 and the remote control terminal 910.

[0210] Optionally, in a specific implementation,

[0211] The remote control terminal 910 is used to respond to the first type of user instruction, and when the current state of the vehicle meets the parking conditions of the parking level indicated by the first type of user instruction, determine the parking level indicated by the first type of user instruction as the target parking level of the target vehicle 920;

[0212] or,

[0213] In response to a first type of user instruction sent by the user based on the current state of the vehicle, a target parking level of the target vehicle 920 is determined.

[0214] Optionally, in a specific implementation,

[0215] The remote control terminal 910 is further used to obtain the vehicle operation state of the target vehicle 920 sent by the automatic control terminal 930, or the first available state of each preset parking level, as the current state of the vehicle;

[0216] Among them, the vehicle operating status includes: the vehicle status of the target vehicle 920 and the operating status of the automatic control terminal 930; the vehicle status includes: the second available status of various sensors loaded on the target vehicle 920; each preset parking level is determined based on the various sensors and parking time required to execute the parking method represented by each preset parking level, and the first available status is determined according to the vehicle status.

[0217] Optionally, in a specific implementation, the current state of the vehicle includes: vehicle running state,

[0218] The remote control terminal 910 is further used to determine the target parking level of the target vehicle 920 in response to the received first type of user instruction when it is determined that the target vehicle 920 has a fault according to the current state of the vehicle;

[0219] Among them, the faults include: vehicle fault or automatic control terminal fault.

[0220] Optionally, in a specific implementation,

[0221] The remote control terminal 910 is also used to obtain the environment image of the target vehicle 920 sent by the automatic control terminal 930, and display the environment image in a preset display device;

[0222] The remote control terminal 910 determines the target parking level of the target vehicle 920 in response to the first type of user instruction, and further includes:

[0223] When it is determined according to the environment image that the target vehicle 920 is in a preset dangerous scene, a target parking level of the target vehicle 920 is determined in response to a first type of user instruction.

[0224] Optionally, in a specific implementation, the current state of the vehicle includes: a first available state;

[0225] The remote control terminal 910 is used to determine a target parking level for a target vehicle 920 among the preset parking levels whose first available status is available.

[0226] Optionally, in a specific implementation,

[0227] The remote control terminal 910 is further configured to send a designated parking level having a higher safety level than the target parking level to the automatic control terminal 930 upon receiving a parking fault message fed back by the automatic control terminal 930, so that the automatic control terminal 930 controls the target vehicle 920 to park according to the parking mode represented by the designated parking level;

[0228] Among them, the number of various sensors required for the parking method represented by the specified parking level is less than the number of various sensors required for the parking method represented by the target parking level; the parking failure message indicates that the automatic control terminal 930 fails to control the target vehicle 920 to park according to the parking method represented by the target parking level.

[0229] Optionally, in a specific implementation, each preset parking level includes: pull-over parking and emergency parking; wherein the safety level of emergency parking is higher than pull-over parking.

[0230] Based on the same inventive concept, corresponding to the above-mentioned embodiments of the present disclosure, Figure 1 A vehicle remote takeover method as shown in Fig.11 As shown, it is a structural schematic diagram of a vehicle remote takeover device provided by an embodiment of the present disclosure, which is applied to a remote control terminal in a vehicle remote takeover system. The system further includes: an automatic control terminal loaded in a target vehicle; the device includes:

[0231] The state receiving module 1110 is used to receive the current state of the target vehicle sent by the automatic control terminal;

[0232] A level determination module 1120, for determining a target parking level of a target vehicle based on a current state of the vehicle in response to a first type of user instruction;

[0233] The vehicle control module 1130 is used to provide a target parking level to the automatic control end, so that the automatic control end controls the target vehicle to park according to the target parking level.

[0234] As can be seen from the above, the solution provided by the embodiment of the present disclosure can be applied to the remote control terminal in the vehicle remote takeover system, and the system also includes: an automatic control terminal loaded in the target vehicle. First, the current vehicle state of the target vehicle sent by the automatic control terminal is received, and then, in response to the first type of user instruction, the target parking level of the target vehicle can be determined based on the received current vehicle state, thereby sending the target parking level to the automatic control terminal, so that the automatic control terminal controls the parking of the target vehicle according to the target parking level.

[0235] Based on this, by applying the solution provided by the embodiment of the present disclosure, the remote control terminal determines the target parking level of the target vehicle according to the received current state of the vehicle and the first type of user instruction. After receiving the target parking level, the automatic control terminal can control the parking of the target vehicle according to the target parking level. Furthermore, after the target vehicle is parked, the remote control terminal can remotely take over the target vehicle, thereby improving the vehicle safety during remote takeover.

[0236] Optionally, in a specific implementation, the level determination module 1120 is specifically configured to:

[0237] In response to a first type of user instruction, when the current state of the vehicle satisfies the parking condition of the parking level indicated by the first type of user instruction, determining the parking level indicated by the first type of user instruction as the target parking level of the target vehicle;

[0238] or,

[0239] In response to a first type of user instruction sent by a user based on a current state of the vehicle, a target parking level of the target vehicle is determined.

[0240] Optionally, in a specific implementation, the status receiving module 1110 is specifically configured to:

[0241] Acquire the vehicle running state of the target vehicle sent by the automatic control terminal, or the first available state of each preset parking level, as the current state of the vehicle;

[0242] Among them, the vehicle operating status includes: the vehicle status of the target vehicle and the operating status of the automatic control terminal; the vehicle status includes: the second available status of various sensors loaded on the target vehicle; each preset parking level is determined based on the various sensors and parking time required to execute the parking method represented by each preset parking level, and the first available status is determined according to the vehicle status.

[0243] Optionally, in a specific implementation, the current state of the vehicle includes: a vehicle operating state, and the level determination module 1120 is specifically used to:

[0244] When it is determined that the target vehicle has a fault according to the current state of the vehicle, in response to the received first type of user instruction, a target parking level of the target vehicle is determined;

[0245] Among them, the faults include: vehicle fault or automatic control terminal fault.

[0246] Optionally, in a specific implementation, the device further includes:

[0247] An image display module is used to obtain the environment image of the target vehicle sent by the automatic control terminal and display the environment image in a preset display device;

[0248] The level determination module 1120 is further configured to:

[0249] When it is determined according to the environment image that the target vehicle is in a preset dangerous scene, a target parking level of the target vehicle is determined in response to a first type of user instruction.

[0250] Optionally, in a specific implementation, the current state of the vehicle includes: a first available state; and the level determination module 1120 is specifically configured to:

[0251] Among the preset parking levels in which the first available status is available, a target parking level for the target vehicle is determined.

[0252] Optionally, in a specific implementation method, the device further includes:

[0253] The designated control module is used to send a designated parking level with a safety level higher than the target parking level to the automatic control end when receiving a parking fault message fed back by the automatic control end, so that the automatic control end controls the target vehicle to park according to the parking mode represented by the designated parking level;

[0254] Among them, the number of various sensors required for the parking method represented by the specified parking level is less than the number of various sensors required for the parking method represented by the target parking level; the parking fault message represents: the automatic control end fails to control the target vehicle to park according to the parking method represented by the target parking level.

[0255] Optionally, in a specific implementation method, each preset parking level includes: pull-over parking and emergency parking; wherein the safety level of emergency parking is higher than pull-over parking.

[0256] Corresponding to a vehicle remote takeover method provided by an embodiment of the present disclosure, an electronic device is also provided by an embodiment of the present disclosure, such as Fig.12 As shown, it includes a processor 1201, a communication interface 1202, a memory 1203 and a communication bus 1204, wherein the processor 1201, the communication interface 1202, and the memory 1203 communicate with each other through the communication bus 1204.

[0257] Memory 1203, used for storing computer programs;

[0258] The processor 1201 is used to implement the steps of any vehicle remote takeover method provided in the above-mentioned embodiments of the present application when executing the program stored in the memory 1203.

[0259] The communication bus mentioned in the above electronic device can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0260] The communication interface is used for communication between the above electronic device and other devices.

[0261] The memory may include a random access memory (RAM) or a non-volatile memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0262] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0263] In another embodiment provided by the present disclosure, a computer-readable storage medium is also provided, in which a computer program is stored. When the computer program is executed by a processor, the steps of any of the above-mentioned vehicle remote takeover methods are implemented.

[0264] In another embodiment provided by the present disclosure, a computer program product including instructions is also provided, which, when executed on a computer, enables the computer to execute any of the vehicle remote takeover methods in the above embodiments.

[0265] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented by software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present disclosure is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state hard disk Solid State Disk (SSD)), etc.

[0266] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0267] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiment, electronic device embodiment, system embodiment, computer-readable storage medium embodiment, and computer program product embodiment, since they are basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0268] The above description is only a preferred embodiment of the present disclosure and is not intended to limit the protection scope of the present disclosure. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present disclosure are included in the protection scope of the present disclosure.

Claims

1. A vehicle remote takeover method, characterized in that: A remote control terminal used in a vehicle remote takeover system, the system further comprising: an automatic control terminal loaded in a target vehicle; the method comprising: Receiving the current vehicle state of the target vehicle sent by the automatic control terminal; In response to a first type of user instruction, determining a target parking level of the target vehicle based on a current state of the vehicle; The target parking level is sent to the automatic control end, so that the automatic control end controls the target vehicle to park according to the target parking level.

2. The method according to claim 1, characterized in that The step of determining the target parking level of the target vehicle in response to the first type of user instruction includes: In response to a first type of user instruction, when the current state of the vehicle satisfies a parking condition of the parking level indicated by the first type of user instruction, determining the parking level indicated by the first type of user instruction as a target parking level of the target vehicle; or, In response to a first type of user instruction sent by a user based on a current state of the vehicle, a target parking grade of the target vehicle is determined.

3. The method according to claim 1, characterized in that The receiving the current state of the vehicle sent by the automatic control terminal includes: Acquire the vehicle running state of the target vehicle sent by the automatic control terminal, or the first available state of each preset parking level, as the current state of the vehicle; Among them, the vehicle operating state includes: the vehicle state of the target vehicle and the operating state of the automatic control terminal; the vehicle state includes: the second available state of various sensors loaded on the target vehicle; each preset parking level is determined based on the various sensors and parking time required to execute the parking method represented by each preset parking level, and the first available state is determined according to the vehicle state.

4. The method according to claim 3, characterized in that The current state of the vehicle includes: the running state of the vehicle, and the determining the target parking level of the target vehicle in response to the first type of user instruction includes: When it is determined that the target vehicle has a fault according to the current state of the vehicle, in response to the received first type of user instruction, determining a target parking level of the target vehicle; The faults include: vehicle faults or automatic control terminal faults.

5. The method according to claim 3, characterized in that: The method further comprises: Acquire the environment image of the target vehicle sent by the automatic control terminal, and display the environment image on a preset display device; The step of determining the target parking level of the target vehicle in response to the first type of user instruction further includes: When it is determined according to the environment image that the target vehicle is in a preset dangerous scene, a target parking level of the target vehicle is determined in response to a first type of user instruction.

6. The method according to claim 4 or 5, characterized in that: The current state of the vehicle includes: the first available state; and determining the target parking level of the target vehicle includes: A target parking level for the target vehicle is determined among the preset parking levels for which the first available status is available.

7. The method according to any one of claims 3 to 6, characterized in that: The method further comprises: Upon receiving a parking fault message fed back by the automatic control end, sending a designated parking level having a safety level higher than the target parking level to the automatic control end, so that the automatic control end controls the target vehicle to park according to the parking mode represented by the designated parking level; Among them, the number of various sensors required for the parking method represented by the specified parking level is less than the number of various sensors required for the parking method represented by the target parking level; the parking fault message indicates that: the automatic control end fails to control the target vehicle to park according to the parking method represented by the target parking level.

8. The method according to claim 7, characterized in that The preset parking levels include: pull-over parking and emergency parking; wherein the safety level of the emergency parking is higher than that of the pull-over parking.

9. A vehicle remote takeover system, characterized in that: The system includes a remote control terminal and an automatic control terminal loaded in a target vehicle; The automatic control terminal is used to obtain the current state of the vehicle and send the current state of the vehicle to the remote control terminal; The remote control terminal is configured to receive the current state of the vehicle sent by the automatic control terminal; determine the target parking level of the target vehicle based on the current state of the vehicle in response to a first type of user instruction; and send the target parking level to the automatic control terminal; The automatic control end is further used to receive the target parking level sent by the remote control end, and control the parking of the target vehicle according to the parking mode represented by the target parking level; The remote control terminal is further used to send a remote control instruction to the automatic control terminal in response to a second type of user instruction; The automatic control end is also used to receive the remote control instruction sent by the remote control end, and control the target vehicle according to the driving parameters indicated by the remote control instruction.

10. The system according to claim 9, characterized in that The automatic control terminal is also used for: According to a preset communication detection method, detecting whether there is an abnormality in the communication between the automatic control terminal and the remote control terminal; In response to the detection result indicating the communication anomaly, a notification message for prompting the communication anomaly is output.

11. The system according to claim 10, characterized in that The automatic control terminal detects whether there is an abnormality in the communication between the automatic control terminal and the remote control terminal according to a preset communication detection method, including: The automatic control terminal calculates the other bits in the received designated message except the preset check bit according to the preset calculation method, and determines whether the obtained calculation result is consistent with the preset check bit; if the obtained judgment results are inconsistent within the first time length, it is determined that the detection result represents the abnormal communication between the automatic control terminal and the remote control terminal; wherein the designated message includes: a message for representing the parking level and a message for representing the remote control instruction; or, The automatic control terminal counts the received designated messages in a cycle according to the designated value range; if the values ​​recorded each time are not continuous with the last recorded values ​​within the second time period, it is determined that there is a communication anomaly between the automatic control terminal and the remote control terminal; or, The automatic control terminal detects whether the designated message is received within a designated period; if the designated message is not received within the designated period, it is determined that there is a communication anomaly between the automatic control terminal and the remote control terminal.

12. An electronic device, characterized in that: It includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus; Memory, used to store computer programs; A processor, for implementing any one of the methods described in claims 1-8 when executing a program stored in a memory.

13. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, any one of the methods described in claims 1-8 is implemented.

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