Method and device for controlling autonomous vehicle

Abstract

According to the embodiment of the invention, a method and device for controlling an autonomous vehicle are provided. The method includes: in response to detecting a risk event associated with the autonomous vehicle, determining a type of the risk event, the type indicating a risk level of the risk event; determining a remote assistance state associated with the autonomous vehicle; determining a preset response action corresponding to the type of the risk event in response to the condition that the remote assistance state does not meet the preset condition; and controlling the autonomous vehicle to execute the preset response action. Based on the mode, the safety of the autonomous vehicle can be improved.

Description

Technical Field

[0001] The exemplary embodiments disclosed herein generally relate to the field of computers, and particularly to a method, apparatus, device, computer-readable storage medium, and computer program product for controlling autonomous vehicles. Background Technology

[0002] With the rapid development of transportation systems, autonomous vehicles capable of operating partially or completely without driver control have emerged. As an important branch of autonomous vehicles, self-driving cars can perform route planning, obstacle avoidance, and driverless operation through computer systems. In recent years, self-driving cars have been used as taxis or shared vehicles to provide services to users. For example, passengers can travel in self-driving cars, and goods can be transported by them. Summary of the Invention

[0003] In a first aspect of this disclosure, a method for controlling an autonomous vehicle is provided. The method includes: in response to detecting a risk event associated with the autonomous vehicle, determining a type of the risk event, the type indicating a risk level of the risk event; determining a remote assistance status associated with the autonomous vehicle; in response to the remote assistance status not meeting preset conditions, determining a preset response action corresponding to the type of the risk event; and controlling the autonomous vehicle to execute the preset response action.

[0004] In a second aspect of this disclosure, an apparatus for controlling an autonomous vehicle is provided. The apparatus includes: a risk determination module, a state determination module, an action determination module, and an action execution module. The risk determination module is configured to, in response to detecting a risk event associated with the autonomous vehicle, determine the type of the risk event, whereby the type indicates the risk level of the risk event; the state determination module is configured to determine a remote assistance state associated with the autonomous vehicle; the action determination module is configured to, in response to the remote assistance state not meeting preset conditions, determine a preset response action corresponding to the type of the risk event; and the action execution module is configured to control the autonomous vehicle to execute the preset response action.

[0005] In a third aspect of this disclosure, an electronic device is provided. The device includes at least one processing unit; and at least one memory coupled to the at least one processing unit and storing instructions for execution by the at least one processing unit. When executed by the at least one processing unit, the instructions cause the device to perform the method of the first aspect.

[0006] In a fourth aspect of this disclosure, a computer-readable storage medium is provided. The computer-readable storage medium stores a computer program that can be executed by a processor to implement the method of the first aspect.

[0007] In a fifth aspect of this disclosure, a computer program product is provided. The computer program product includes computer-executable instructions that, when executed by a processor, implement the method of the first aspect.

[0008] It should be understood that the content described in this summary section is not intended to limit the key or essential features of the embodiments of this disclosure, nor is it intended to restrict the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0009] The above and other features, advantages, and aspects of the embodiments of this disclosure will become more apparent from the accompanying drawings and the following detailed description. In the drawings, the same or similar reference numerals denote the same or similar elements, wherein: Figure 1 A schematic diagram of an identification system that can be implemented in accordance with embodiments of the present disclosure is shown; Figure 2 The illustration shows a schematic diagram of an exemplary scenario in which a vehicle-mounted device, representing some embodiments of the present disclosure, responds to a risk event; Figure 3 A schematic diagram of a remote assistance process for risk events is shown in some embodiments of this disclosure; Figure 4 A flowchart illustrating an example process for controlling an autonomous vehicle according to some embodiments of the present disclosure is shown; Figure 5 A schematic structural block diagram of an example device for controlling an autonomous vehicle according to some embodiments of the present disclosure is shown; and Figure 6 A block diagram of an apparatus capable of implementing several embodiments of the present disclosure is shown. Detailed Implementation

[0010] Embodiments of this disclosure will now be described in more detail with reference to the accompanying drawings. While some embodiments of this disclosure are shown in the drawings, it should be understood that this disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this disclosure. It should be understood that the accompanying drawings and embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of protection of this disclosure.

[0011] It should be noted that the headings of any section / subsection provided herein are not limiting. Various embodiments are described throughout this document, and embodiments of any type may be included under any section / subsection. Furthermore, embodiments described in any section / subsection may be combined in any way with any other embodiments described in the same section / subsection and / or different sections / subsections.

[0012] In the description of embodiments of this disclosure, the term "comprising" and similar terms should be understood as open-ended inclusion, i.e., "including but not limited to". The term "based on" should be understood as "at least partially based on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The term "some embodiments" should be understood as "at least some embodiments". Other explicit and implicit definitions may also be included below. The terms "first", "second", etc., may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0013] The embodiments of this disclosure may involve user data, data acquisition, and / or use. All of these aspects comply with applicable laws, regulations, and relevant provisions. In the embodiments of this disclosure, all data collection, acquisition, processing, manipulation, forwarding, and use are conducted with the user's knowledge and confirmation. Accordingly, in implementing the embodiments of this disclosure, the type, scope of use, and usage scenarios of any data or information that may be involved should be communicated to the user and their authorization obtained in accordance with relevant laws and regulations through appropriate means. The specific methods of notification and / or authorization may vary depending on the actual situation and application scenario, and the scope of this disclosure is not limited in this respect.

[0014] In this specification and the embodiments, any processing of personal information will be carried out only under the premise of legality (such as obtaining the consent of the personal information subject, or being necessary for the performance of a contract), and will only be carried out within the scope stipulated or agreed upon. A user's refusal to process personal information beyond what is necessary for basic functions will not affect the user's use of basic functions.

[0015] As briefly mentioned earlier, with the rapid development of transportation systems, autonomous vehicles can now provide services to users as taxis or shared vehicles. For example, passengers can travel by autonomous vehicles, and goods can be transported by autonomous vehicles.

[0016] In fully autonomous vehicle scenarios, a single remote device can correspond to multiple autonomous vehicles to handle their respective assistance requests. However, this process may encounter various anomalies, such as an excessive number of requests, low processing efficiency leading to lost assistance requests, dispatch system malfunctions, and service failures. Taking autonomous vehicles providing passenger services as an example, if assistance requests are not responded to in a timely manner during passenger transport, it may affect driving safety and pose certain safety risks to passengers.

[0017] In addition, environmental factors such as tunnels or equipment failures may cause instability in the vehicle-side network, which may lead to inaccurate or untimely assistance requests initiated by autonomous vehicles. It is also possible that remote assistance equipment may experience network outages, power outages, or equipment malfunctions, which may prevent timely processing of assistance requests. All of these may pose certain potential safety risks to autonomous vehicles.

[0018] Embodiments of this disclosure propose a scheme for controlling an autonomous vehicle. The scheme includes: in response to detecting a risk event associated with the autonomous vehicle, determining the type of the risk event, where the type indicates the risk level of the risk event; determining a remote assistance status associated with the autonomous vehicle; in response to the remote assistance status not meeting preset conditions, determining a preset response action corresponding to the type of the risk event; and controlling the autonomous vehicle to execute the preset response action.

[0019] In this way, the embodiments of this disclosure can determine the corresponding preset response action based on the type of risk event when a risk event is detected and the remote assistance status does not meet the preset conditions, thereby controlling the autonomous vehicle according to the preset response action, effectively ensuring the driving safety of the autonomous vehicle, and thus improving the safety of the autonomous vehicle.

[0020] Example Environment Figure 1 A schematic diagram of an example environment 100 in which embodiments of the present disclosure can be implemented is shown. As shown, environment 100 may include an autonomous vehicle 110. The autonomous vehicle 110 may be a vehicle with autonomous driving capability (or driverless capability), also known as an unmanned vehicle, autonomous driving vehicle, etc.

[0021] In some embodiments, the autonomous vehicle 110 can be any type of vehicle capable of carrying people and / or goods and moving via a power system such as an engine, including but not limited to cars, trucks, buses, electric vehicles, motorhomes, etc. The autonomous vehicle 110 can be an automated driving vehicle (also known as an autonomous vehicle) that integrates functions such as environmental perception, planning and decision-making, and multi-level assisted driving.

[0022] In environment 100, the autonomous vehicle 110 is equipped with electronic equipment 120, which can communicate with remote assistance equipment 130. For example, electronic equipment 120 can communicate with remote assistance equipment 130 via appropriate wireless communication methods. Electronic equipment 120 can be any device with computing capabilities, capable of performing corresponding actions according to instructions issued by remote assistance equipment 130.

[0023] In some embodiments, the remote assistance device 130 may include, for example, a cloud service device or an edge computing device. Such a remote assistance device 130 may be configured to provide the autonomous vehicle 110 with supplemental perception information about the traffic environment, and / or provide guidance for the stranded autonomous vehicle 110 to extricate itself from trouble.

[0024] In environment 100, assistant 150 can interact directly with remote assistance device 130, or via an attachment device of remote assistance device 130. Remote assistance device 130 can present user interface 140 to assistant 150, allowing assistant 150 to view vehicle information, perform route planning, and determine action commands, etc.

[0025] In environment 100, electronic device 120 can also communicate with cloud device 160. For example, electronic device 120 can communicate with cloud device 160 via appropriate wireless communication methods. As an example, electronic device 120 can obtain configuration information associated with risk events from cloud device 160, and can also send an assistance request to cloud device 160 to identify the target remote assistance device 130 to establish a connection upon detecting a risk event associated with autonomous vehicle 110.

[0026] The cloud device 160 can communicate with multiple remote assistance devices 130 via appropriate wireless communication methods. For example, the cloud device 160 can create assistance tasks based on assistance requests from the autonomous vehicle 110, and can also select a target remote assistance device to assign the assistance task based on the task load status of the multiple remote assistance devices 130.

[0027] It should be understood that the structure and function of environment 100 are described for illustrative purposes only and do not imply any limitation on the scope of this disclosure.

[0028] Example Scenario Figure 2 A schematic diagram illustrates an exemplary scenario 200 of a vehicle-mounted device responding to a risk event according to some embodiments of the present disclosure. As an example, the vehicle-mounted device can be... Figure 1 The electronic device 120 shown.

[0029] Comprehensive reference Figure 1 and Figure 2 As shown, in example scenario 200, electronic device 120 includes at least fault detection module 210, alarm module 220 and assistance module 230.

[0030] In some embodiments, the fault detection module 210 is configured to detect execution faults of the autonomous vehicle 110, which may include risk events during the operation of the autonomous vehicle 110, such as risk event A, risk event B, risk event C, etc.

[0031] As an example, risk events may include, but are not limited to, risk events originating from the autonomous vehicle 110 and risk events originating from the external environment. For instance, risk events originating from the autonomous vehicle 110 may include, but are not limited to, sensor data deviations (e.g., data deviations caused by sensor malfunction or dirt), alarms triggered by passengers inside the vehicle, abnormal location data, and loss of connection by the autonomous vehicle 110. Risk events originating from the external environment may include, but are not limited to, collision risks and traffic violations.

[0032] In some embodiments of this disclosure, risk events include warning events independent of whether the autonomous vehicle is in a trapped state.

[0033] In some embodiments, the fault detection module 210 may generate an event message associated with a risk event in response to detecting a risk event related to the autonomous vehicle 110. As an example, the event message may include, but is not limited to, at least one of the following: the name, type, fault code, priority of the risk event, the current location coordinates of the autonomous vehicle 110, environmental images, map data, and other information.

[0034] In some embodiments, in response to detecting a risk event associated with the autonomous vehicle 110, the fault detection module 210 may determine the risk level corresponding to the risk event to determine the type of the risk event. As an example, the risk level may include any of the following: high risk, medium risk, low risk, no risk, etc.

[0035] In some embodiments, the fault detection module 210 can determine the risk level of a risk event based on the target fault code corresponding to the risk event, and thus determine the type of the risk event.

[0036] As an example, the fault detection module 210 can determine the risk level of a risk event based on the correspondence between fault codes and fields such as priority.

[0037] In some embodiments, the electronic device 120 can obtain configuration information associated with a risk event from the cloud device 160. This configuration information at least indicates the correspondence between fault codes and priorities. As an example, the configuration information may indicate the correspondence between the fault codes of a risk event and fields such as the processing priority and request type (e.g., the type of assistance request or the type of processing method).

[0038] As an example, electronic device 120 can establish a connection with cloud device 160 during the initialization phase and obtain configuration information from cloud device 160. At preset intervals, after each connection with cloud device 160, or upon detecting a risk event, electronic device 120 can verify the current configuration information with cloud device 160 to ensure that electronic device 120 retains the latest configuration information. This ensures that electronic device 120 can accurately determine the risk level and type information for the detected risk event.

[0039] As an example, if the configuration information currently stored in electronic device 120 is consistent with the configuration information on cloud device 160, then there is no need to update the configuration information. If the configuration information currently stored in electronic device 120 is inconsistent with the configuration information on cloud device 160, the latest configuration information is obtained from cloud device 160. Before the configuration information update is completed, in response to the detection of a risk event, electronic device 120 (fault detection module 210) can determine the corresponding event message based on the currently stored configuration information to obtain remote assistance or determine the corresponding preset response action to ensure driving safety.

[0040] In some scenarios, in response to the failure to update configuration information, electronic device 120 can generate and send a first failure message to cloud device 160; in response to the failure to find available configuration information from cloud device 160, electronic device 120 can generate and send a second failure message to the cloud.

[0041] In some scenarios, in response to the electronic device 120 having available configuration information and detecting a risk event, the fault detection module 210 can determine the risk level of the risk event based on the target fault code and configuration information corresponding to the risk event, and then determine the type of the risk event in order to determine the event message corresponding to the risk event.

[0042] As an example, an event message may include an event type value and / or subtype value, etc. For example, the fault detection module 210 may use a two-level type field to identify the event message: the Type field identifies the primary category of the risk event, and the RequestType field identifies the secondary category of the risk event.

[0043] like Figure 2 As shown, the fault detection module 210 can send the event message corresponding to the detected risk event to the alarm module 220. The alarm module 220 can be configured to generate an assistance message associated with the risk event (risk event A) based on the received event message (taking the event message corresponding to risk event A as an example). As an example, the assistance message may include structured information associated with the risk event.

[0044] In some embodiments, the assistance message generated by the alarm module 220 indicates at least one of the following: the type of risk event; the event source of the risk event; the message identifier of the assistance message; the conditions for terminating remote assistance associated with the risk event, etc.

[0045] In some embodiments, after receiving an event message, the alarm module 220 can improve the alarm rules corresponding to the risk event based on the risk event corresponding to the event message. For example, the alarm module 220 can determine the handling solution (e.g., remote assistance or autonomous avoidance) corresponding to the risk event, and can also determine the termination conditions corresponding to the risk event.

[0046] Then, the alarm module 220 can further integrate the alarm information associated with the risk event to generate corresponding structured information. As an example, the alarm information associated with the risk event may include, but is not limited to, at least one of the following: the target fault code, type, priority, and description information corresponding to the risk event. As an example, the description information may include real-world images associated with the risk event (such as in-vehicle images or external environment images), map data, and interactive object identifiers.

[0047] As an example, the structured information may include a risk event type identifier (e.g., a two-level type field), a priority identifier, a description identifier, etc. For example, the alarm module 220 can be configured to carry at least one piece of custom information (e.g., the identifier of the interactive object, the location coordinates associated with the risk event, real-world images, etc.) in the form of a key-value pair.

[0048] like Figure 2 As shown, the alarm module 220 can send the generated assistance message to the assistance module 230. In response to receiving the assistance message, the assistance module 230 can determine the remote assistance status associated with the autonomous vehicle 110, and determine the execution plan of the autonomous vehicle 110 corresponding to the risk event based on the remote assistance status.

[0049] In some embodiments, the remote assistance state includes any of the following: a first state indicating that the connection between the autonomous vehicle 110 and the remote assistance device 130 is disconnected; a second state indicating that the workload of the remote assistance device 130 associated with the autonomous vehicle 110 exceeds a threshold; a third state indicating that the assistance module 230 of the autonomous vehicle 110 is in a fault state; and a fourth state indicating that the autonomous vehicle 110 and the remote assistance device 130 are in a normal connection state.

[0050] In some scenarios, the electronic device 120 can use the aforementioned fourth state as a preset condition to determine whether the autonomous vehicle 110 can obtain remote assistance in response to a risk event.

[0051] In some embodiments, in response to the remote assistance status associated with the autonomous vehicle 110 not meeting preset conditions, the electronic device 120 may determine a preset response action corresponding to the type of risk event and control the autonomous vehicle 110 to execute the preset response action to ensure the driving safety of the autonomous vehicle 110.

[0052] In some embodiments, in response to a remote assistance state not meeting a preset condition, the electronic device 120 can set the autonomous vehicle 110 to a Minimum Risk Condition (MRC) state corresponding to the type of risk event; and determine a preset response action corresponding to the MRC state. As an example, the electronic device 120 can combine the remote assistance state not meeting the preset condition with the type of risk event to determine the corresponding MRC state, and then determine the corresponding preset response action.

[0053] In some scenarios, multiple types of risk events and their corresponding MRC statuses can be pre-configured in electronic device 120.

[0054] In some embodiments, the electronic device 120 may be configured to process at least one risk event with the highest priority (e.g., level one), as a high-risk type risk event. As an example, the MRC state corresponding to a high-risk type event may include autonomous vehicle parking. Exemplarily, high-risk type risk events may include, but are not limited to: a first collision event (e.g., a collision event occurs or the predicted collision probability is higher than a probability threshold), an energy threshold event (e.g., the current energy value reaches the minimum energy threshold), a vehicle loss of control event (e.g., the autonomous vehicle exits autonomous driving mode on its own), and a severe positioning anomaly event (e.g., the positioning error is higher than an error threshold).

[0055] In some embodiments, the electronic device 120 may also be configured to process at least one risk event with a second-highest priority (e.g., level two), as a medium-risk event. The MRC status corresponding to a medium-risk event may include: no autonomous parking required, but escape risk may exist without remote assistance. For example, a medium-risk event may include, but is not limited to: a second collision event (e.g., the predicted collision probability is lower than a probability threshold), a minor positioning anomaly (e.g., the positioning data error is higher than the safety error but lower than the error threshold), a traffic police event (e.g., detection of traffic police stopping information), etc.

[0056] In some embodiments, the electronic device 120 may also be configured to process at least one risk event with a second-lowest priority (e.g., level three), as a low-risk type risk event. The MRC state corresponding to the low-risk type event may include a collision risk below a probability threshold. For example, low-risk type risk events may include, but are not limited to: sensor contamination (e.g., the detected image clarity is below a clarity threshold), interaction risk events (e.g., the interaction response time is higher than a duration threshold), etc.

[0057] In some embodiments, the electronic device 120 may also be configured to process at least one risk event with the lowest priority (e.g., level four) as a risk event of the risk-free type. The MRC status corresponding to the risk-free type event may include: no risk event detected, or a risk event not directly related to driving safety detected. For example, risk events of the risk-free type may include, but are not limited to: minor violation events (e.g., crossing the line), entrapment events, passenger / cabin alarm events, etc.

[0058] In some scenarios, for different types of risk events, corresponding to different remote assistance states that do not meet preset conditions, electronic device 120 can be configured with corresponding preset response actions.

[0059] Taking the third state described above, where the assistance module 230 is in a fault state, as an example, the electronic device 120 can be configured to execute a first response action corresponding to all types of risk events. As an example, the first response action may include triggering a pullover in response to the fault state of the assistance module 230 reaching a first duration. For example, the first duration could be 30 seconds or 60 seconds, etc.

[0060] As an example, in response to the detection of the third state mentioned above, the electronic device 120 can execute the first response action without further determining whether a risk event has been detected.

[0061] In some embodiments, corresponding to the first state (the connection between the autonomous vehicle 110 and the remote assistance device 130 or the cloud device 160 is disconnected) or the second state (the workload of the remote assistance device 130 associated with the autonomous vehicle 110 exceeds a threshold), the electronic device 120 may be configured with different response actions for different types of risk events.

[0062] As an example, corresponding to a high-risk event in the first or second state, the electronic device 120 may be configured with a corresponding second response action. For example, the second response action may include controlling the autonomous vehicle 110 to stop immediately or pull over until the remote assistance state meets preset conditions or the risk event disappears.

[0063] As an example, corresponding to a medium-risk event in the first or second state, the electronic device 120 may be configured with a corresponding third response action. For example, the third response action may include controlling the autonomous vehicle 110 to pull over and stop in response to the second or third state lasting for a second duration, until the remote assistance state meets preset conditions or the risk event disappears.

[0064] As an example, corresponding to a low-risk type of risk event in the first or second state, the electronic device 120 may be configured with a corresponding fourth response action. For example, the fourth response action may include: in response to the second or third state lasting for a second duration, controlling the autonomous vehicle 110 to travel at a low speed (e.g., at a speed below a speed threshold) until the remote assistance state meets preset conditions or the risk event disappears.

[0065] As an example, corresponding to a risk event of a risk-free type in the first or second state, the electronic device 120 may be configured with a corresponding fifth response action. Exemplarily, the fifth response action may include controlling the autonomous vehicle 110 to continue driving. For example, the fifth response action may be controlling the autonomous vehicle 110 to travel at the lane-permitted speed based on road speed limit information or traffic conditions.

[0066] In some embodiments, corresponding to the second, third, fourth, and fifth response actions described above, the electronic device 110 can also determine whether the autonomous vehicle 110 has an ongoing order. In response to the autonomous vehicle 110 having an ongoing order, the electronic device 120 can control the autonomous vehicle 110 to stop accepting new orders after reaching the destination of the ongoing order. As an example, in response to the autonomous vehicle 110 reaching the destination of an ongoing order, a work order of a preset type (e.g., TELEASSIST_ERROR type) can be generated to block the flow of service orders.

[0067] In this way, the embodiments of this disclosure can determine the corresponding preset response action based on the type of risk event when a risk event is detected and the remote assistance status does not meet the preset conditions, thereby controlling the autonomous vehicle according to the preset response action, effectively ensuring the driving safety of the autonomous vehicle, and thus improving the safety of the autonomous vehicle.

[0068] In some implementation scenarios, in response to the remote assistance status associated with the autonomous vehicle 110 meeting preset conditions, such as the autonomous vehicle 110 being in a normal connection state with the remote assistance device 130, or in response to the remote assistance status being updated to meet preset conditions, the electronic device 120 can generate an assistance request associated with the risk event and send the assistance request to the cloud device 160 to obtain remote assistance for the risk event.

[0069] As an example, in response to the remote assistance status meeting preset conditions or the remote assistance status being updated to meet preset conditions, the assistance module 230 can generate a corresponding assistance request based on the assistance message and send the assistance request to the cloud device 160 to obtain remote assistance for risk events, so as to ensure the driving safety of autonomous vehicles in the face of risk events.

[0070] As an example, in response to receiving a reply message for an assistance request, electronic device 120 can determine the assisting device (e.g., remote assistance device 130) that responded to the assistance request based on the reply message. Furthermore, assistance module 230 can send basic information associated with the risk event (e.g., real-world images, map data, target fault codes, priorities, etc.) and alarm information to the assisting device.

[0071] As an example, the assistance module 230 can also receive response messages for assistance requests from the assistance device and control the operation of the autonomous vehicle based on the response messages.

[0072] Figure 3 A schematic diagram of a remote assistance scenario 300 for a risk event according to some embodiments of the present disclosure is shown. Scenario 300 can be implemented in example environment 100. References below... Figure 1 Describe scenario 300.

[0073] refer to Figure 3 As shown in block 311, electronic device 120 can detect risk events during the operation of autonomous vehicle 110. As an example, in response to detecting a risk event, electronic device 120 can execute block 312.

[0074] In box 312, electronic device 120 generates an assistance message. As an example, in response to detecting a risk event, electronic device 120 can generate an assistance message corresponding to the risk event based on associated information such as the type, priority, and description of the risk event, and then execute box 313.

[0075] In box 313, electronic device 120 may generate an assistance request and send the assistance request to cloud device 160 if it determines that it is connected to cloud device 160.

[0076] In some embodiments, in response to not receiving a response message for the assistance request after a preset time period, the electronic device 120 can control the autonomous vehicle to pull over to the side of the road.

[0077] As an example, after sending an assistance request to the cloud device 160, if no response message for the assistance request is received within a preset time, the electronic device 120 can determine the parking position of the autonomous vehicle 110 and control the autonomous vehicle 110 to park at that parking position.

[0078] In some scenarios, if the electronic device 120 does not receive a reply message (e.g., from cloud device 160) or a response message (e.g., from remote assistance device 130) for the assistance request, it may maintain the request status in response to not receiving an end signal for the assistance request.

[0079] In box 321, cloud device 160 receives an assistance request from electronic device 120 associated with the autonomous vehicle. As an example, in response to receiving the assistance request, cloud device 160 may execute box 322.

[0080] In box 322, cloud device 160 can create an assistance task based on the received assistance request, add the created assistance task to the task queue, and then execute box 323.

[0081] In box 323, cloud device 160 selects a target assisting device to perform the assisting task. As an example, cloud device 160 can determine the target assisting device from multiple candidate assisting devices based on the assisting tasks to be executed sequentially in the task queue.

[0082] For example, cloud device 160 may determine the target assistance device from multiple candidate assistance devices based on at least one of the following: the assistance request type corresponding to the assistance task, the idle status of the multiple candidate assistance devices, the task execution progress of the multiple candidate assistance devices, and the candidate assistance type of the multiple candidate assistance devices.

[0083] In response to identifying the target assisting device (e.g. Figure 1 The remote assistance device 130 shown) and the cloud device 160 can execute box 324.

[0084] In box 324, cloud device 160 can remove tasks to be executed from the task queue according to the order of tasks in the task queue and assign them to a predetermined target assistance device, such as remote assistance device 130.

[0085] As an example, in response to an assistance task being assigned to remote assistance device 130, cloud device 160 can return a response message to the electronic device (e.g., electronic device 120) corresponding to the assistance task in response to the assistance request. Exemplarily, this response message may include descriptive information corresponding to remote assistance device 130. For example, the descriptive information may include connection information corresponding to remote assistance device 130, such as connection address, connection verification information, etc.

[0086] As an example, in response to receiving a reply message from the cloud device 160 for an assistance request, the electronic device 120 can establish a connection with the remote assistance device 130 based on the reply message.

[0087] In box 331, the remote assistance device 130 first determines whether it has received an assistance task to be executed.

[0088] As an example, in response to receiving an assistance task, remote assistance device 130 can execute box 332.

[0089] As an example, in response to not receiving an assistance task, the remote assistance device 130 can send a corresponding message to the cloud device 160 to trigger the motion device 160 to assign an assistance task to be executed to the remote assistance device 130.

[0090] In block 332, in response to receiving an assistance task, the remote assistance device 130 determines that it can accept the assistance task. As an example, in response to receiving an assistance task, the remote assistance device 130 can determine the connection status between itself and the electronic device 120 corresponding to the assistance task. In response to a normal connection between the remote assistance device 130 and the electronic device 120, it obtains risk information associated with the assistance task from the electronic device 120, and then executes block 333.

[0091] As an example, the risk information may include the type of risk event corresponding to the assistance task, the target fault code, the priority, real-world images, map data, etc.

[0092] In box 333, remote assistance device 130 handles the assistance task.

[0093] As an example, the remote assistance device 130 can determine the operational instructions that the autonomous vehicle 110 can execute based on the aforementioned risk information, and send a response message to the electronic device 120 in response to the assistance request based on the operational instructions, so that the electronic device 120 can control the autonomous vehicle 110 to execute the operational instructions, thereby avoiding risk events and ensuring the driving safety of the autonomous vehicle 110.

[0094] As an example, refer to Figure 1 In the environment 100 shown, the remote assistance device 130 can present the aforementioned risk information to the user 150, determine the operation instructions for the assistance task based on the user 150's operation request, and then send the operation instructions to the electronic device 120.

[0095] As an example, in response to the termination condition of the assistance task being triggered, the remote assistance device 130 can execute box 334.

[0096] In box 334, remote assistance device 130 determines the type of termination that was triggered.

[0097] As an example, in response to determining that the triggered termination type is an automatic termination type, such as when the task processing progress reaches 100%, the remote assistance device 130 can terminate the assistance task and send a corresponding notification message to the cloud device 160. Exemplarily, the cloud device 160 can execute block 325 in response to receiving the notification message associated with the automatic termination type.

[0098] In box 325, cloud device 160 can mark the processing result of the assistance task as automatically terminated. As an example, cloud device 160 can also send a notification message or verification message to electronic device 120 regarding the automatic termination.

[0099] Returning to box 334, as an example, in response to determining that the triggered end type is a manual end type, such as an end operation triggered by user 150 received by remote assistance device 130, remote assistance device 130 can execute box 335.

[0100] In box 335, the remote assistance device 130 receives the termination operation and stops processing the assistance task, and then executes box 336.

[0101] In box 336, remote assistance device 130 can disconnect from electronic device 120.

[0102] In some embodiments, electronic device 120 may send an end signal to remote assistance device 130 to terminate the assistance request in response to a termination condition being met. As an example, the termination condition may be determined based on the type of risk event. Exemplarily, the termination condition may include detecting a termination event or receiving a user action to terminate the assistance request.

[0103] As an example, the aforementioned termination event may include, but is not limited to, at least one of the following: no termination signal is received after the assistance request is sent for a preset duration; the connection with the remote assistance device 130 is disconnected after the connection is established with the remote assistance device 130 but before a response message is received from the remote assistance device 130; the assistance request is terminated after its creation for reasons that do not meet the preset termination conditions.

[0104] In some embodiments, in response to detecting the aforementioned termination event, but the risk event corresponding to the assistance request still exists, the electronic device 120 may continue to send assistance requests corresponding to the termination event to the cloud device 160 or the remote assistance device 130.

[0105] In some scenarios, if no response message (e.g., from cloud device 160) or response message (e.g., from remote assistance device 130) is received in response to receiving a termination signal for the assistance request, such as a termination signal triggered by the detection of the disappearance of a risk event or by a passenger in the autonomous vehicle, the electronic device 120 may terminate the assistance request. For example, after receiving a response message from cloud device 160 but before receiving a response message from remote assistance device 130, the electronic device 120 may send a termination message for the assistance request to cloud device 160 or a termination signal for the assistance request to remote assistance device 130.

[0106] In some embodiments, to ensure the accuracy of the received end signal, the remote assistance device 130 may execute block 334 to present the end request corresponding to the end signal to the user 150 and receive the user 150's interactive operation on the end request to determine whether to end the current assistance task, that is, to determine whether to execute block 335.

[0107] In some embodiments, the electronic device 120 may stop sending assistance requests in response to receiving a rejection instruction for the assistance request before receiving a response message.

[0108] As an example, before receiving a response message that the task has been assigned to the target assisting device, in response to receiving a rejection instruction for the assistance request, electronic device 120 may stop sending the assistance request to cloud device 160.

[0109] As an example, after establishing a connection with the remote assistance device 130, in response to receiving a rejection instruction from the remote assistance device 130, the electronic device 120 can stop sending the assistance request to the remote assistance device 130. Exemplarily, in this case, the electronic device 120 can also continue sending assistance requests to the cloud device 160.

[0110] Example process Figure 4 A flowchart of an example process 400 for controlling an autonomous vehicle according to some embodiments of the present disclosure is shown. Process 400 can be implemented at example environment 100. References are made below. Figure 1 Describe the process 400.

[0111] like Figure 4 As shown, in block 410, electronic device 120, in response to detecting a risk event associated with the autonomous vehicle, determines the type of the risk event, the type indicating the risk level of the risk event.

[0112] In box 420, electronic device 120 determines the remote assistance status associated with the autonomous vehicle.

[0113] In box 430, electronic device 120 responds to the remote assistance state not meeting the preset conditions by determining a preset response action corresponding to the type of risk event.

[0114] In frame 440, electronic device 120 controls the autonomous vehicle to perform preset response actions.

[0115] In this way, the embodiments of this disclosure can determine the corresponding preset response action based on the type of risk event when a risk event is detected and the remote assistance status does not meet the preset conditions, thereby controlling the autonomous vehicle according to the preset response action, effectively ensuring the driving safety of the autonomous vehicle, and thus improving the safety of the autonomous vehicle.

[0116] In some embodiments, the type indicates the target fault code corresponding to the risk event, and the process 400 further includes: the electronic device 120 obtaining configuration information from a cloud device, the configuration information indicating the correspondence between fault codes and priorities; and in response to detecting a risk event associated with the autonomous vehicle, determining the risk level of the risk event based on the target fault code of the risk event and the configuration information.

[0117] In this way, the embodiments of this disclosure can obtain configuration information on the correspondence between fault codes and priorities from cloud devices, and then determine the risk level of risk events based on the target configuration information of risk events, thereby effectively ensuring the accuracy of risk levels, thereby ensuring the accuracy of risk event types, ensuring the accuracy of preset response actions performed by autonomous vehicles, and improving the driving safety of autonomous vehicles in response to risk events.

[0118] In some embodiments, determining the remote assistance status associated with an autonomous vehicle includes: generating an event message associated with a risk event in response to a fault detection module of the autonomous vehicle detecting a risk event; generating an assistance message based on the event message by an alarm module of the autonomous vehicle, the assistance message including structured information associated with the risk event; and determining the remote assistance status associated with the autonomous vehicle in response to the assistance module of the autonomous vehicle receiving the assistance message.

[0119] In this way, the embodiments of this disclosure can generate structured information associated with a risk event based on event messages associated with the risk event, which serves as an assistance message corresponding to the risk event. The structured form effectively ensures the accuracy of the assistance message. After determining the structured assistance message, the remote assistance status associated with the autonomous vehicle is then determined to determine whether to control the autonomous vehicle to execute a preset response action, thereby ensuring the accuracy of the autonomous vehicle's response to the risk event and improving the driving safety of the autonomous vehicle in response to the risk event.

[0120] In some embodiments, the assistance message indicates at least one of the following: the type of risk event; the source of the risk event; the message identifier of the assistance message; and the conditions for terminating remote assistance associated with the risk event.

[0121] In this way, the embodiments of this disclosure can effectively ensure the richness of the assistance message content by indicating various information such as the type of risk event, the event source, the message identifier, and the conditions for terminating remote assistance through the assistance message, thereby ensuring the accuracy of the corresponding preset response action and improving the driving safety of autonomous vehicles in response to risk events.

[0122] In some embodiments, the remote assistance state includes any of the following: a first state indicating that the connection between the autonomous vehicle and the remote assistance device is disconnected; a second state indicating that the workload of the remote assistance device associated with the autonomous vehicle exceeds a threshold; a third state indicating that the assistance module of the autonomous vehicle is in a fault state; and a fourth state indicating that the autonomous vehicle and the remote assistance device are in a normal connection state.

[0123] In this way, the embodiments of this disclosure can accurately identify a variety of different remote assistance states, effectively ensuring the accuracy of remote assistance state identification, and thus determining response measures for risk events under different remote assistance states, ensuring the driving safety of autonomous vehicles in response to risk events.

[0124] In some embodiments, a preset condition indicates that the remote assistance status is in the fourth state.

[0125] In this way, the present invention can determine the corresponding preset response action based on the type of risk event when the autonomous vehicle and the remote assistance device fail to connect normally, thereby controlling the autonomous vehicle according to the preset response action, effectively ensuring the driving safety of the autonomous vehicle, and thus improving the safety of the autonomous vehicle.

[0126] In some embodiments, in response to the remote assistance state not meeting preset conditions, a preset response action corresponding to the type of risk event is determined, including: in response to the remote assistance state not meeting preset conditions, setting the autonomous vehicle to the minimum risk control (MRC) state corresponding to the type of risk event; and determining the preset response action corresponding to the MRC state.

[0127] In this way, the embodiments of this disclosure can determine the corresponding preset response action based on the MRC status corresponding to the type of risk event when the remote assistance status does not meet the preset conditions, effectively ensuring the driving safety of autonomous vehicles in the event of risk when remote assistance cannot be obtained.

[0128] In some embodiments, process 400 further includes: electronic device 120 generating an assistance request associated with a risk event in response to a remote assistance state meeting a preset condition or the remote assistance state being updated to meet the preset condition; establishing a connection between the autonomous vehicle and the target assistance device in response to the assistance request being assigned to the target assistance device; receiving an assistance message from the target assistance device; and controlling the autonomous vehicle based on the assistance message.

[0129] In this way, the embodiments of this disclosure can obtain assistance messages from the target assistance device based on the assistance request when the remote assistance state meets the preset conditions, and control the autonomous vehicle accordingly, thereby effectively responding to risk events with the assistance of the target assistance device, effectively enriching the autonomous vehicle's handling measures for risk events, and improving the autonomous vehicle's driving safety in response to risk events.

[0130] In some embodiments, the target assisting device is determined from a plurality of candidate assisting devices based on an assisting request.

[0131] In this way, the embodiments of this disclosure can determine the target assistance device for processing the assistance request from multiple candidate assistance devices based on the assistance request, effectively ensuring the target assistance device's processing capability and efficiency for the assistance request, thereby ensuring the accuracy of the assistance request processing and improving the driving safety of autonomous vehicles in response to risk events.

[0132] In some embodiments, process 400 further includes: electronic device 120 determining the parking position of autonomous vehicle in response to not receiving assistance message for a preset time period; and controlling autonomous vehicle to park at the parking position.

[0133] In this way, the present invention can control the autonomous vehicle to stop at a parking position if no assistance message for the assistance request is received within a preset time period, thereby ensuring that the autonomous vehicle can stop in a timely manner, effectively avoiding safety hazards caused by delayed response to assistance requests, and improving the driving safety of the autonomous vehicle in response to risk events.

[0134] In some embodiments, process 400 further includes: before receiving an assistance message, electronic device 120 stops sending assistance requests in response to receiving a rejection instruction for the assistance request.

[0135] In this way, embodiments of this disclosure stop sending assistance requests for rejection instructions received before receiving assistance messages, so as to avoid unnecessary occupation and waste of communication resources.

[0136] In some embodiments, process 400 further includes: electronic device 120 terminating assistance request in response to termination condition being met, wherein termination condition is determined based on the type of risk event, and termination condition includes detecting termination event or receiving user action for terminating assistance request.

[0137] In this way, the embodiments of this disclosure can determine the termination conditions based on the type of risk event, and terminate the assistance request when the termination conditions are met, effectively ensuring the correlation between the termination conditions and the risk event, thereby ensuring the reliability of the termination of the assistance request and improving the driving safety of autonomous vehicles.

[0138] In some embodiments, risk events include warning events independent of whether the autonomous vehicle is in a trapped state.

[0139] In this way, the embodiments of this disclosure can determine the response actions of autonomous vehicles based on remote assistance status for risk events when the autonomous vehicle is in a non-stuck state, effectively ensuring the accuracy of responding to risk events and driving safety in a non-stuck state.

[0140] Example devices and equipment Figure 5 A schematic structural block diagram of a device 500 for controlling an autonomous vehicle according to certain embodiments of the present disclosure is shown. The device 500 may be implemented as or included in the example environment 100. The various modules / components in the device 500 may be implemented by hardware, software, firmware, or any combination thereof.

[0141] like Figure 5 As shown, the device 500 includes: a risk determination module 510, a state determination module 520, an action determination module 530, and an action execution module 540. The risk determination module 510 is configured to determine the type of a risk event in response to detecting a risk event associated with the autonomous vehicle, wherein the type indicates the risk level of the risk event; the state determination module 520 is configured to determine the remote assistance state associated with the autonomous vehicle; the action determination module 530 is configured to determine a preset response action corresponding to the type of risk event in response to the remote assistance state not meeting preset conditions; and the action execution module 540 is configured to control the autonomous vehicle to execute the preset response action.

[0142] In some embodiments, the type indicates the target fault code corresponding to the risk event, and the device 500 further includes an information acquisition module and an event determination module, wherein the information acquisition module is configured to acquire configuration information from a cloud device, the configuration information indicating the correspondence between fault codes and priorities; and the event determination module is configured to determine the risk level of the risk event based on the target fault code and configuration information of the risk event in response to detecting a risk event associated with the autonomous vehicle.

[0143] In some embodiments, the status determination module 520 is configured to: generate an event message associated with the risk event in response to the fault detection module of the autonomous vehicle detecting a risk event; generate an assistance message based on the event message by the alarm module of the autonomous vehicle, the assistance message including structured information associated with the risk event; and determine the remote assistance status associated with the autonomous vehicle in response to the assistance module of the autonomous vehicle receiving the assistance message.

[0144] In some embodiments, the assistance message indicates at least one of the following: the type of risk event; the source of the risk event; the message identifier of the assistance message; and the conditions for terminating remote assistance associated with the risk event.

[0145] In some embodiments, the remote assistance state includes any of the following: a first state indicating that the connection between the autonomous vehicle and the remote assistance device is disconnected; a second state indicating that the workload of the remote assistance device associated with the autonomous vehicle exceeds a threshold; a third state indicating that the assistance module of the autonomous vehicle is in a fault state; and a fourth state indicating that the autonomous vehicle and the remote assistance device are in a normal connection state.

[0146] In some embodiments, a preset condition indicates that the remote assistance status is in the fourth state.

[0147] In some embodiments, the action determination module 530 is configured to: in response to the remote assistance state not meeting preset conditions, set the autonomous vehicle to the minimum risk control (MRC) state corresponding to the type of risk event; and determine a preset response action corresponding to the MRC state.

[0148] In some embodiments, the apparatus 500 further includes a request generation module, a connection establishment module, and a vehicle control module, wherein the request generation module is configured to generate an assistance request associated with a risk event in response to a remote assistance status meeting a preset condition or the remote assistance status being updated to meet the preset condition; the connection establishment module is configured to establish a connection between the autonomous vehicle and the target assistance device in response to an assistance request being assigned to the target assistance device; receive an assistance message from the target assistance device; and the vehicle control module is configured to control the autonomous vehicle based on the assistance message.

[0149] In some embodiments, the target assisting device is determined from a plurality of candidate assisting devices based on an assisting request.

[0150] In some embodiments, the device 500 further includes a location determination module and a vehicle parking module, wherein the location determination module is configured to determine the parking position of the autonomous vehicle in response to not receiving an assistance message for a preset time period; and the vehicle parking module is configured to control the autonomous vehicle to park at the parking position.

[0151] In some embodiments, the apparatus 500 further includes a request to stop module configured to stop sending assistance requests in response to receiving a rejection instruction for the assistance request before receiving an assistance message.

[0152] In some embodiments, the apparatus 500 further includes a termination request module configured to terminate the assistance request in response to a termination condition being met, wherein the termination condition is determined based on the type of risk event and includes detecting a termination event or receiving a user action for terminating the assistance request.

[0153] In some embodiments, risk events include warning events independent of whether the autonomous vehicle is in a trapped state.

[0154] Figure 6 A block diagram is shown illustrating a computing device 600 in which one or more embodiments of the present disclosure may be implemented. It should be understood that... Figure 6 The computing device 600 shown is merely exemplary and should not be construed as limiting the functionality and scope of the embodiments described herein. Figure 6 The computing device 600 shown can be used to implement Figure 1 Example recognition system 100.

[0155] like Figure 6 As shown, computing device 600 is in the form of a general-purpose computing device. Components of computing device 600 may include, but are not limited to, one or more processors or processing units 610, memory 620, storage devices 630, one or more communication units 640, one or more input devices 650, and one or more output devices 660. Processing unit 610 may be a physical or virtual processor and is capable of performing various processes according to programs stored in memory 620. In a multiprocessor system, multiple processing units execute computer-executable instructions in parallel to improve the parallel processing capability of computing device 600.

[0156] Computing device 600 typically includes multiple computer storage media. Such media can be any accessible media that is accessible to computing device 600, including but not limited to volatile and non-volatile media, removable and non-removable media. Memory 620 can be volatile memory (e.g., registers, cache, random access memory (RAM)), non-volatile memory (e.g., read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory), or some combination thereof. Storage device 630 can be removable or non-removable media and can include machine-readable media, such as flash drives, disks, or any other media that can be used to store information and / or data (e.g., training data for training) and can be accessed within computing device 600.

[0157] The computing device 600 may further include additional removable / non-removable, volatile / non-volatile storage media. Although not explicitly stated... Figure 6 As shown, disk drives for reading from or writing to removable, non-volatile disks (e.g., "floppy disks") and optical disk drives for reading from or writing to removable, non-volatile optical disks can be provided. In these cases, each drive can be connected to a bus (not shown) via one or more data media interfaces. Memory 620 may include computer program product 625 having one or more program modules configured to perform various methods or actions of various embodiments of this disclosure.

[0158] The communication unit 640 enables communication with other computing devices via a communication medium. Additionally, the functionality of the components of the computing device 600 can be implemented as a single computing cluster or multiple computing machines capable of communicating via communication connections. Therefore, the computing device 600 can operate in a networked environment using logical connections to one or more other servers, networked personal computers (PCs), or another network node.

[0159] Input device 650 can be one or more input devices, such as a mouse, keyboard, trackball, etc. Output device 660 can be one or more output devices, such as a monitor, speaker, printer, etc. Computing device 600 can also communicate as needed with one or more external devices (not shown) via communication unit 640. These external devices, such as storage devices, display devices, etc., can communicate with one or more devices that enable user interaction with computing device 600, or with any device that enables computing device 600 to communicate with one or more other computing devices (e.g., network card, modem, etc.). Such communication can be performed via input / output (I / O) interfaces (not shown).

[0160] According to an exemplary implementation of this disclosure, a computer-readable storage medium is provided that stores computer-executable instructions thereon, wherein the computer-executable instructions are executed by a processor to implement the methods described above. According to an exemplary implementation of this disclosure, a computer program product is also provided, which is tangibly stored on a non-transitory computer-readable medium and includes computer-executable instructions, which are executed by a processor to implement the methods described above.

[0161] Various aspects of this disclosure are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatuses, devices, and computer program products implemented according to this disclosure. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-readable program instructions.

[0162] These computer-readable program instructions can be provided to a general-purpose computer, a special-purpose computer, or other programmable vehicle parking type identification device processing unit to produce a machine such that, when executed by the computer or other programmable vehicle parking type identification device processing unit, they create means for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium that causes a computer, programmable vehicle parking type identification device, and / or other equipment to operate in a particular manner. Thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing aspects of the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0163] Computer-readable program instructions can be loaded onto a computer, other programmable vehicle parking type identification device, or other equipment to cause a series of operational steps to be performed on the computer, other programmable vehicle parking type identification device, or other equipment to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable vehicle parking type identification device, or other equipment to perform the functions / actions specified in one or more boxes of a flowchart and / or block diagram.

[0164] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of an instruction, which contains one or more executable instructions for implementing the specified logical function. In some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0165] Various implementations of this disclosure have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed implementations. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described implementations. The terminology used herein is chosen to best explain the principles, practical applications, or improvements to technology in the market, or to enable others skilled in the art to understand the various implementations disclosed herein.

Claims

1. A method for controlling an autonomous vehicle, comprising: In response to detecting a risk event associated with an autonomous vehicle, the type of the risk event is determined, the type indicating the risk level of the risk event; Determine the remote assistance status associated with the autonomous vehicle; In response to the remote assistance status not meeting the preset conditions, a preset response action corresponding to the type of the risk event is determined; as well as Control the autonomous vehicle to execute the preset response action.

2. The method of claim 1, wherein the type indicates the target fault code corresponding to the risk event, the method further comprising: Configuration information is obtained from a cloud device, which indicates the correspondence between fault codes and priorities; as well as In response to the detection of the risk event associated with the autonomous vehicle, the risk level of the risk event is determined based on the target fault code corresponding to the risk event and the configuration information.

3. The method according to claim 1, wherein, The determination of the remote assistance status associated with the autonomous vehicle includes: In response to the fault detection module of the autonomous vehicle detecting the risk event, an event message associated with the risk event is generated; The autonomous vehicle's alarm module generates an assistance message based on the event message, the assistance message including structured information associated with the risk event; and In response to the autonomous vehicle's assistance module receiving the assistance message, it determines the remote assistance status associated with the autonomous vehicle.

4. The method according to claim 3, wherein, The assistance message indicates at least one of the following: The type of the risk event; The event source of the risk event; The message identifier of the assistance message; Conditions for terminating remote assistance associated with the aforementioned risk event.

5. The method according to claim 1, wherein, The remote assistance status includes any of the following: The first state indicates that the connection between the autonomous vehicle and the remote assistance device has been disconnected; The second state indicates that the workload of the remote assistance device associated with the autonomous vehicle exceeds a threshold. The third state indicates that the assistance module of the autonomous vehicle is in a fault state; The fourth state indicates that the autonomous vehicle and the remote assistance device are in a normal connection state.

6. The method according to claim 5, wherein, The preset condition indicates that the remote assistance status is the fourth status.

7. The method according to claim 1, wherein, The response to the remote assistance status not meeting the preset conditions, determining the preset response action corresponding to the type of the risk event, includes: In response to the remote assistance state not meeting preset conditions, the autonomous vehicle is set to the minimum risk control (MRC) state corresponding to the type of the risk event; and Determine the preset response action corresponding to the MRC state.

8. The method according to claim 1, further comprising: In response to the remote assistance status meeting the preset conditions or the remote assistance device being updated to meet the preset conditions, an assistance request associated with the risk event is generated; In response to the assistance request being assigned to a target assistance device, a connection is established between the autonomous vehicle and the target assistance device; Receive a response message from the target assist device; as well as Based on the response message, the autonomous vehicle is controlled.

9. The method according to claim 8, wherein, The target assistance device is determined from a plurality of candidate assistance devices based on the assistance request.

10. The method of claim 8, further comprising: If no response message is received within a preset time period, the parking location of the autonomous vehicle is determined; as well as Control the autonomous vehicle to park at the parking location.

11. The method of claim 8, further comprising: Before receiving the response message, in response to receiving a rejection instruction for the assistance request, the sending of the assistance request is stopped.

12. The method according to claim 8, further comprising: In response to the fulfillment of a termination condition, the assistance request is terminated, wherein the termination condition is determined based on the type of the risk event, and the termination condition includes detecting a termination event or receiving a user action for terminating the assistance request.

13. The method according to claim 1, wherein, The risk events include warning events independent of whether the autonomous vehicle is in a trapped state.

14. A device for controlling an autonomous vehicle, comprising: A risk determination module is configured to, in response to detecting a risk event associated with an autonomous vehicle, determine the type of the risk event, the type indicating the risk level of the risk event; The status determination module is configured to determine the remote assistance status associated with the autonomous vehicle; The action determination module is configured to determine a response action corresponding to the type of the risk event in response to the remote assistance status not meeting a preset condition. as well as The action execution module is configured to control the autonomous vehicle to perform the response action.

15. An electronic device comprising: At least one processing unit; as well as At least one memory is coupled to at least one processing unit and stores instructions for execution by the at least one processing unit, which, when executed by the at least one processing unit, cause the electronic device to perform the method according to any one of claims 1 to 13.

16. A computer-readable storage medium having a computer program stored thereon, the computer program being executable by a processor to implement the method according to any one of claims 1 to 13.

17. A computer program product comprising computer-executable instructions, wherein the computer-executable instructions, when executed by a processor, implement the method according to any one of claims 1 to 13.

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