Remote driving method and apparatus for autonomous vehicle

Abstract

The present disclosure relates to a remote driving method and apparatus for an autonomous vehicle. The method comprises: on the basis of vehicle model information of an autonomous vehicle, setting a safety marking line on the ground around a vehicle body of the autonomous vehicle; using a camera apparatus, which is mounted on the vehicle body, to acquire a first video picture which comprises image information of the safety marking line and image information of at least part of the vehicle body; displaying, on a display of a remote cab, the first video picture sent by the autonomous vehicle; drawing a safety assistance line on the basis of the image information of the safety marking line in the first video picture, and storing image information of the safety assistance line in a memory of the remote cab; when the autonomous vehicle is in a remote driving mode, display, on the display, a second video picture acquired by means of the camera apparatus; and calling the image information of the safety assistance line, and simultaneously displaying the second video picture and the safety assistance line, so as to assist a driver in remote driving. The present disclosure can ensure the travel safety of an autonomous vehicle.

Description

Remote driving method and device for autonomous driving vehicle

[0001] This application claims priority to Chinese patent application No. 2023107445363 filed with the China Patent Office on June 25, 2023, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present disclosure relates to the technical fields of autonomous driving and remote control, and in particular to a remote driving method and device for an autonomous driving vehicle. Background Art

[0003] As an important direction of intelligent transportation construction, remote driving has a wide range of application scenarios. It can not only be used in harsh environments and dangerous areas, but also as a supplement to autonomous driving, or for remote manual intervention when autonomous driving vehicles encounter abnormalities.

[0004] In related technologies, when an autonomous vehicle encounters an unexpected situation during autonomous driving, the driver in the remote cockpit needs to remotely control the vehicle by watching a video to ensure its safety. However, due to the shooting angle or the camera itself, there may be a discrepancy between the safe distance shown in the video and the actual distance, making it difficult for the driver to accurately control the autonomous vehicle, and thus unable to ensure its safety.

[0005] Summary of the Invention

[0006] In view of this, the embodiments of the present disclosure provide a remote driving method and device for an autonomous vehicle to solve the problem in the related art that when the autonomous vehicle is in remote driving mode, it is difficult for the driver in the remote cockpit to accurately control the autonomous vehicle based on the safe distance in the video, and thus the driving safety of the autonomous vehicle cannot be guaranteed.

[0007] According to a first aspect of an embodiment of the present disclosure, a remote driving method for an autonomous vehicle is provided, comprising: setting a safety marking line on the ground around the body of the autonomous vehicle based on the vehicle type information of the autonomous vehicle, wherein the distance between the safety marking line and the body is related to the vehicle type; acquiring a first video frame using a camera device installed on the body, wherein the first video frame includes image information of the safety marking line and image information of at least a portion of the body; receiving the first video frame sent by the autonomous vehicle, and displaying the first video frame on a display of a remote cockpit; drawing a safety auxiliary line based on the image information of the safety marking line in the first video frame displayed on the display, and storing the image information of the safety auxiliary line in a memory of the remote cockpit; displaying a second video frame acquired by the camera device on the display when the autonomous vehicle is in remote driving mode; calling the image information of the safety auxiliary line, and simultaneously displaying the second video frame and the safety auxiliary line on the display to assist the driver in remote driving.

[0008] According to a second aspect of an embodiment of the present disclosure, a remote driving device for an autonomous driving vehicle is provided, comprising: a setting module configured to set a safety marking line on the ground around the body of the autonomous driving vehicle based on the vehicle type information of the autonomous driving vehicle, wherein the distance between the safety marking line and the body is related to the vehicle type; an acquisition module configured to acquire a first video frame using a camera device installed on the body, wherein the first video frame includes image information of the safety marking line and image information of at least a portion of the body; a receiving module configured to receive the first video frame sent by the autonomous driving vehicle and display the first video frame on a display of a remote cockpit; a storage module configured to draw a safety auxiliary line based on the image information of the safety marking line in the first video frame displayed on the display, and store the image information of the safety auxiliary line in a memory of the remote cockpit; a display module configured to display a second video frame acquired by the camera device on the display when the autonomous driving vehicle is in remote driving mode; and a calling module configured to call the image information of the safety auxiliary line and simultaneously display the second video frame and the safety auxiliary line on the display to assist the driver in remote driving.

[0009] According to a third aspect of an embodiment of the present disclosure, an electronic device is provided, comprising at least one processor; and a memory for storing instructions executable by at least one processor; wherein the at least one processor is configured to execute instructions to implement the steps of the above method.

[0010] According to a fourth aspect of the embodiments of the present disclosure, a computer-readable storage medium is provided. When the instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is enabled to perform the steps of the above method.

[0011] At least one of the above-mentioned technical solutions adopted in the embodiments of the present disclosure can achieve the following beneficial effects: by setting a safety marking line on the ground around the body of the autonomous driving vehicle based on the vehicle model information of the autonomous driving vehicle, using a camera device installed on the body to obtain a first video frame including image information of the safety marking line and image information of at least a part of the body, displaying the first video frame sent by the autonomous driving vehicle on the display of the remote cockpit, drawing a safety auxiliary line based on the image information of the safety marking line in the first video frame and storing the image information of the safety auxiliary line, when the autonomous driving vehicle is in remote driving mode, calling the stored image information of the safety auxiliary line, and displaying the second video frame and the safety auxiliary line on the display at the same time to assist the driver in remote driving, so that the driver in the remote cockpit can accurately control the autonomous driving vehicle based on the safety auxiliary line in the video, thereby ensuring the driving safety of the autonomous driving vehicle and protecting the life and property safety of the safety officer on the autonomous driving vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0013] FIG1 is a schematic flow chart of a remote driving method for an autonomous vehicle provided by an exemplary embodiment of the present disclosure.

[0014] FIG2 a is a schematic diagram showing the position of a camera device of an autonomous driving vehicle according to an exemplary embodiment of the present disclosure.

[0015] FIG2 b is a schematic diagram showing the position of a camera device of an autonomous driving vehicle according to an exemplary embodiment of the present disclosure.

[0016] FIG3 is a schematic diagram showing the position of a safety marking line of an autonomous driving vehicle provided by an exemplary embodiment of the present disclosure.

[0017] FIG4 a is a schematic diagram showing the effect of the left video of an autonomous driving vehicle provided by an exemplary embodiment of the present disclosure.

[0018] FIG4 b is a schematic diagram showing the effect of the right video of the autonomous driving vehicle provided by an exemplary embodiment of the present disclosure.

[0019] FIG4c is a schematic diagram showing the effect of the front video of an autonomous driving vehicle provided by an exemplary embodiment of the present disclosure.

[0020] FIG5 is a schematic structural diagram of a remote driving device for an autonomous driving vehicle provided by an exemplary embodiment of the present disclosure.

[0021] FIG6 is a schematic structural diagram of an electronic device provided by an exemplary embodiment of the present disclosure.

[0022] FIG7 is a schematic diagram of the structure of a computer system provided by an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0023] The following describes embodiments of the present disclosure in more detail with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are for illustrative purposes only and are not intended to limit the scope of protection of the present disclosure.

[0024] It should be understood that the various steps described in the method embodiments of the present disclosure may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present disclosure is not limited in this respect.

[0025] The term "including" and its variations used in this document are open inclusions, that is, "including but not limited to". The term "based on" means "based at least in part on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment"; the term "some embodiments" means "at least some embodiments". The relevant definitions of other terms will be given in the description below. It should be noted that the concepts of "first", "second", etc. mentioned in this disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0026] It should be noted that the modifications of "one" and "multiple" mentioned in the present disclosure are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise clearly indicated in the context, they should be understood as "one or more".

[0027] The names of the messages or information exchanged between multiple devices in the embodiments of the present disclosure are only used for illustrative purposes and are not used to limit the scope of these messages or information.

[0028] With technological advancements, autonomous driving is becoming increasingly commonplace in our lives. To improve the safety of autonomous driving, a remote cockpit is required. If an autonomous vehicle encounters an emergency (e.g., a system failure or vehicle entrapment), the remote cockpit must quickly take over. Otherwise, the vehicle could be put in a dangerous situation due to delayed takeover.

[0029] During remote driving, the driver controls the remote autonomous vehicle in the remote cockpit by operating simulators such as the steering wheel, pedals, and joysticks. To ensure that the remote control of the autonomous vehicle matches the actual planned trajectory, the driver is usually provided with a video reference. However, due to the shooting angle or the camera itself, there may be a discrepancy between the safe distance in the video and the actual distance, making it difficult for the driver to accurately control the autonomous vehicle, thereby reducing the driving safety of the autonomous vehicle.

[0030] A remote driving method and device for an autonomous driving vehicle according to an embodiment of the present disclosure will be described in detail below with reference to the accompanying drawings.

[0031] FIG1 is a flow chart of a remote driving method for an autonomous vehicle provided by an exemplary embodiment of the present disclosure. The remote driving method for an autonomous vehicle in FIG1 can be executed by a server or electronic device in a remote driving system. As shown in FIG1 , the remote driving method for an autonomous vehicle may include:

[0032] S101, based on the model information of the autonomous driving vehicle, setting a safety marking line on the ground around the autonomous driving vehicle, wherein the distance between the safety marking line and the vehicle body is related to the model;

[0033] S102, using a camera mounted on a vehicle body to capture a first video image, wherein the first video image includes image information of a safety marking line and image information of at least a portion of the vehicle body;

[0034] S103, receiving a first video image sent by the autonomous driving vehicle, and displaying the first video image on a display in the remote cockpit;

[0035] S104, drawing a safety auxiliary line based on the image information of the safety marking line in the first video frame displayed on the display, and storing the image information of the safety auxiliary line in a memory of the remote cockpit;

[0036] S105, when the autonomous driving vehicle is in the remote driving mode, displaying a second video image captured by the camera device on a display;

[0037] S106 , calling the image information of the safety auxiliary line, and simultaneously displaying the second video image and the safety auxiliary line on the display to assist the driver in remote driving.

[0038] Specifically, taking the server in the remote driving system as an example, in application scenarios such as open-pit mines, considering that the autonomous driving vehicle has a large body and a high driving position, resulting in a larger visual blind spot, the operator can pre-set safety marking lines on the ground around the body of the autonomous driving vehicle in the open-pit mine by spreading white lime, spraying paint, etc. based on the model information of the autonomous driving vehicle; the camera device on the body of the autonomous driving vehicle collects the safety marking lines around the body, and transmits the collected image information of the safety marking lines and at least a part of the image information of the body as the first video picture to the remote cockpit.

[0039] Here, the remote driving system, also known as a remote control driving system, monitors the vehicle's surroundings through a vehicle-side camera. The vehicle-mounted terminal transmits the monitored video to the remote control terminal, which displays it on the remote control terminal's display. The driver at the remote control terminal observes the vehicle's surroundings displayed on the display screen and controls the vehicle using the remote control terminal's cockpit simulator. For example, the remote control terminal sends control commands to the vehicle-mounted terminal, which then executes the corresponding control commands. In the disclosed embodiments, the remote driving system may include an autonomous vehicle and a remote cockpit.

[0040] The server can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers. It can also be a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery networks (CDNs), and big data and artificial intelligence platforms. The embodiments of the present disclosure do not limit this.

[0041] An autonomous vehicle, also known as an unmanned vehicle, computer-driven vehicle, or wheeled mobile robot, is an intelligent vehicle that uses a computer system to achieve unmanned operation. Autonomous vehicles use onboard sensor systems to perceive their surroundings and control their steering and speed based on perceived information about the road, vehicle position, and obstacles, enabling safe and reliable road travel. In the disclosed embodiments, autonomous vehicles may include, but are not limited to, wide-body vehicles equipped with cameras, large mining trucks, mining vehicles, and forklifts.

[0042] Vehicle model information characterizes the vehicle's characteristics, including but not limited to brand and model, dimensions, engine specifications, transmission type, vehicle configuration, and safety features. A vehicle's brand and model are essential for identifying it, and different brands and models have different characteristics and performance. Vehicle dimensions refer to dimensions such as length, width, height, and wheelbase, which affect the vehicle's handling and carrying capacity.

[0043] Safety markings are placed to ensure vehicle safety. They can be pre-placed. In practice, they can be manually applied using methods such as spreading whitewash or spraying. Spreading whitewash can be done by using a measuring tape and a flat shovel to spread the whitewash along the line; spraying can be done by applying paint or dye to the ground using a sprayer. The distance between the safety marking and the vehicle body generally depends on the vehicle type.

[0044] It should be noted that the width and color of the safety marking line can be set based on experience or actual needs, and the present embodiment does not impose any restrictions on this. Furthermore, it should be noted that the present embodiment is not limited to the above-described method of setting the safety marking line. For example, cones can also be placed on the ground around the body of the autonomous vehicle.

[0045] The camera device can be any device used to capture image information of the autonomous vehicle's travel area in the direction of travel, including but not limited to wide-angle cameras, binocular cameras, wireless cameras, zoom cameras, and dome cameras. The camera device can be installed in the front, rear, left, and right directions of the autonomous vehicle, or in multiple directions such as the roof, bottom, or front left or rear right. The present disclosure does not limit the installation location or number of camera devices. Preferably, in the present disclosure, the camera device can be installed at the front (center position 201 of the front of the vehicle as shown in FIG2a ), the front left end (left position 202 of the front of the vehicle as shown in FIG2a ), the front right end (right position 203 of the front of the vehicle as shown in FIG2a ), and the rear (bottom position 204 of the vehicle bed as shown in FIG2b ) of the autonomous vehicle. Furthermore, to ensure driving safety, the front left and front right camera devices should be installed at the corners of the front of the vehicle (approximately one-fifth of the front of the vehicle) and positioned toward the rear of the vehicle at an angle of approximately 120° to capture image information of the rear tires.

[0046] It should be noted that, in actual applications, if the camera device fails or the position of the camera device changes due to vibration or other reasons, it is necessary to reset and collect the safety marking line.

[0047] The first video frame is a video captured by a camera device of the autonomous vehicle's driving area. The first video frame may include image information of the safety marking line and image information of at least a portion of the vehicle body (approximately one-fifth of the vehicle body). It should be understood that the image information of the safety marking line and the image information of at least a portion of the vehicle body must be displayed in the same first video frame. This ensures that the next time the safety marking line is called up, the vehicle body can be used as a reference, that is, the vehicle body and the safety marking line are displayed simultaneously; otherwise, without the vehicle body as a reference, it will be difficult to depict or determine the position of the safety marking line.

[0048] Next, after receiving the first video frame sent by the autonomous driving vehicle, the remote cockpit displays the first video frame on its display. The technician can use software to draw safety auxiliary lines in the video based on the image information of the safety sign line in the first video frame, and store the image information of the drawn safety auxiliary lines in its memory; further, when the autonomous driving vehicle is in remote driving mode, when receiving the second video frame obtained by the camera device, the remote cockpit displays the second video frame on its display, calls the image information of the safety auxiliary lines, and displays the second video frame and the safety auxiliary lines on the display at the same time to assist the driver in remote driving.

[0049] Here, the remote cockpit refers to the cockpit used to remotely control the autonomous vehicle, through which the driver can remotely control the vehicle. The safety auxiliary line is an auxiliary line used to assist the driver in the remote cockpit in remote driving.

[0050] It should be noted that for the same model of autonomous driving vehicles, since the installation position and shooting angle of its camera device are always fixed, it is only necessary to store the position and shape of the safety auxiliary line.

[0051] The second video is a video captured by a camera device while the autonomous vehicle is in remote driving mode, capturing the area in which the autonomous vehicle is traveling. Unlike the first video, the second video may not include image information of safety markings.

[0052] In the disclosed embodiments, the method for simultaneously displaying the second video image and the safety guidance lines may include, but is not limited to, rendering the invoked safety guidance lines into the second video image, or displaying the invoked safety guidance lines in the second video image using a remote driving program. The remote driving program may be a computer program executed by a processor, and the remote driving program may be stored in a memory.

[0053] It should be noted that the disclosed embodiment does not require image recognition, but rather directly retrieves the image information of the safety guide lines from memory. Furthermore, it should be noted that a core prerequisite of the disclosed embodiment's remote driving method is to ensure that the image area captured by the camera remains unchanged from beginning to end. If the image area changes, the relative positional relationship of the safety guide lines stored in memory will also change, making this method meaningless.

[0054] According to the technical solution provided by the embodiment of the present disclosure, a safety marking line is set on the ground around the body of the autonomous driving vehicle based on the vehicle model information of the autonomous driving vehicle, and a first video frame including image information of the safety marking line and image information of at least a part of the body of the vehicle is obtained by using a camera device installed on the body of the vehicle. The first video frame sent by the autonomous driving vehicle is displayed on the display of the remote cockpit, and a safety auxiliary line is drawn based on the image information of the safety marking line in the first video frame and the image information of the safety auxiliary line is stored. When the autonomous driving vehicle is in remote driving mode, the stored image information of the safety auxiliary line is called, and the second video frame and the safety auxiliary line are displayed on the display at the same time to assist the driver in remote driving. The driver in the remote cockpit can accurately control the autonomous driving vehicle based on the safety auxiliary line in the video, thereby ensuring the driving safety of the autonomous driving vehicle and protecting the life and property safety of the safety officer on the autonomous driving vehicle.

[0055] In some embodiments, the safety marking line includes a first safety marking line, and based on the vehicle model information of the autonomous driving vehicle, the safety marking line is set on the ground around the body of the autonomous driving vehicle, including: extending the outer contour of the body to the left and / or right by a preset width to obtain an extended width; determining an area formed based on the extended width and the length of the body as a first safety area; and setting the first safety marking line on the ground along the outer contour of the first safety area.

[0056] Specifically, the width and length of the autonomous driving vehicle can be obtained based on the vehicle model information of the autonomous driving vehicle, and based on the width of the autonomous driving vehicle, the outer contour of the vehicle body can be extended to the left and / or right by a preset width to obtain the extended width; further, the area formed based on the extended width and the length of the vehicle body is determined as the first safety area, and a first safety marking line is set on the ground along the outer contour of the first safety area.

[0057] Here, the preset width can be a width pre-set by the user based on empirical data, or a width obtained by adjusting the preset width based on actual needs. The present disclosure does not limit this. Considering that the widths of different brands and models of autonomous vehicles vary, in the present disclosure, the preset width is model-dependent, and the extended width is the preset width.

[0058] The first safety zone refers to the left and / or right areas to ensure safe driving during the autonomous driving vehicle's operation. As shown in Figure 3, the first safety zone may include a left safety zone 30, a right safety zone 31, or both. This is not limited in the present embodiment. Preferably, in the present embodiment, to ensure the driving safety of the autonomous driving vehicle, the first safety zone includes the left safety zone 30 and the right safety zone 31.

[0059] The first safety marking line is used to indicate the safe distance of an autonomous vehicle in the width direction. As shown in Figure 3, the first safety marking line includes a first left marking line 301, a second left marking line 302, a first right marking line 311, and a second right marking line 312. The first left marking line 301 and the first right marking line 311 are longitudinal safety marking lines, while the second left marking line 302 and the second right marking line 312 are transverse safety marking lines.

[0060] It should be noted that the right blind spot of an autonomous vehicle is often much larger than the left blind spot. Therefore, considering factors such as construction costs, a safety zone and safety marking lines can be set only on the right side of the autonomous vehicle. Furthermore, it should be noted that the first safety zone and first safety marking lines can be set based on experience or actual needs, and the disclosed embodiments do not limit the number of first safety zones and first safety marking lines.

[0061] According to the technical solution provided in the embodiment of the present disclosure, by setting the first safety area based on the width and length of the autonomous driving vehicle, the safe driving area of ​​the autonomous driving vehicle can be accurately determined; further, by drawing the first safety marking line, the safe driving area can be made more obvious and the outline clearer, which is helpful for the subsequent drawing of safety auxiliary lines.

[0062] In some embodiments, the method further includes: taking the left rear wheel position and / or the right rear wheel position of the autonomous driving vehicle as a starting point, and setting a first safety marking line within the first safety area along the width direction of the vehicle body.

[0063] Specifically, as shown in Figure 3, after determining the safety area 30 and / or the right safety area 31, a first safety marking line can be set in the safety area 30 and / or the right safety area 31 along the width direction of the vehicle body with the left rear wheel position 303 and / or the right rear wheel position 313 of the autonomous driving vehicle as the starting point. The first safety marking line includes the left third marking line 304 and the right third marking line 314, and both the left third marking line 304 and the right third marking line 314 are transverse safety marking lines.

[0064] In actual applications, when an autonomous driving vehicle is operating in an open-pit mine, the video image captured by the camera installed at the left end of its front side is shown in Figure 4a. In this video image, the image of at least a portion of the left side of the vehicle body and the first left marking line 401, the second left marking line 402 and the third left marking line 403 can be clearly seen; the video image captured by the camera installed at the right end of its front side is shown in Figure 4b. In this video image, the image of at least a portion of the right side of the vehicle body and the first right marking line 404, the second right marking line 405 and the third right marking line 406 can be clearly seen.

[0065] According to the technical solution provided by the embodiments of the present disclosure, by setting a safety marking line based on the left rear wheel position and / or the right rear wheel position of the autonomous driving vehicle, the situation of the lower left rear position and / or the lower right rear position of the autonomous driving vehicle can be clearly and accurately known, thereby improving the driving safety of the autonomous driving vehicle.

[0066] In some embodiments, the safety marking line includes a second safety marking line. Based on the vehicle model information of the autonomous driving vehicle, the safety marking line is set on the ground around the body of the autonomous driving vehicle, including: extending the outer contour of the body to the front and / or rear by a first preset length to obtain a first extension length; determining an area formed based on the first extension length and the width of the body as a second safety area; and setting a second safety marking line on the ground along the outer contour of the second safety area.

[0067] Specifically, the width and length of the autonomous driving vehicle can be obtained based on the vehicle model information of the autonomous driving vehicle, and based on the length of the autonomous driving vehicle, the outer contour of the vehicle body can be extended forward and / or backward by a first preset length to obtain a first extension length; further, the area formed based on the first extension length and the width of the vehicle body is determined as a second safety area, and a second safety marking line is set on the ground along the outer contour of the second safety area.

[0068] Here, the first preset length refers to the distance between the safety marking line and the front of the vehicle. The first preset length can be a length pre-set by the user based on empirical data, or a length obtained by adjusting the preset length according to actual needs, and the present embodiment is not limited thereto. The first preset length can be any value within the range of 1 meter to 10 meters. Preferably, in the present embodiment, the first preset length is 2 meters, and the first extended length is the first preset length.

[0069] The second safety zone refers to the front and / or rear areas that ensure safe driving during the driving of the autonomous vehicle. As shown in Figure 3, the second safety zone may include the front first safety zone 32, the rear first safety zone 33, or both the front first safety zone 32 and the rear first safety zone 33, and this is not limited in the present embodiment. Preferably, in the present embodiment, in order to ensure the driving safety of the autonomous vehicle, the second safety zone includes the front first safety zone 32 and the rear first safety zone 33.

[0070] The second safety marking line is used to indicate the safe distance of the autonomous vehicle in the longitudinal direction. As shown in Figure 3, the second safety marking line includes a first front marking line 321, a second front marking line 322, a third front marking line 323, a first rear marking line 331, a second rear marking line 332, and a third rear marking line 333. The first front marking line 321, the second front marking line 322, the first rear marking line 331, and the second rear marking line 332 are longitudinal safety marking lines, while the third front marking line 323 and the third rear marking line 333 are transverse safety marking lines.

[0071] According to the technical solution provided in the embodiment of the present disclosure, by setting a second safety area based on the length and width of the autonomous driving vehicle, the safe driving area of ​​the autonomous driving vehicle can be accurately determined; further, by drawing a second safety marking line, the safe driving area can be made more obvious and the outline clearer, which facilitates the subsequent delineation of safety auxiliary lines.

[0072] In some embodiments, the safety marking line includes a third safety marking line, and the method further includes: extending the outer contour of the vehicle body to the front and / or rear by a second preset length to obtain a second extension length, wherein the second preset length is greater than the first preset length; determining an area formed based on the second extension length and the width of the vehicle body as a third safety area; setting a third safety marking line on the ground along the outer contour of the third safety area, wherein the color of the third safety marking line is different from the color of the second safety marking line.

[0073] Specifically, the outer contour of the vehicle body can be extended forward and / or backward by a second preset length to obtain a second extension length; further, the area formed based on the second extension length and the width of the vehicle body is determined as a third safety area, and a third safety marking line is set on the ground along the outer contour of the third safety area.

[0074] Here, the second preset length refers to the distance between the safety marking line and the front of the vehicle. The second preset length can be a length pre-set by the user based on empirical data, or a length obtained by adjusting the preset length according to actual needs, and the present embodiment is not limited thereto. The second preset length can be any value within the range of 1 meter to 10 meters. Preferably, in the present embodiment, the second preset length is 4 meters, the second extended length is the second preset length, and the second preset length is greater than the first preset length.

[0075] The third safety zone refers to the front and / or rear areas that ensure safe driving during the autonomous driving vehicle's operation. As shown in Figure 3, the third safety zone may include the front second safety zone 34, the rear second safety zone 35, or both the front second safety zone 34 and the rear second safety zone 35, and this is not limited in the present embodiment. Preferably, in the present embodiment, to ensure the driving safety of the autonomous driving vehicle, the third safety zone includes the front second safety zone 34 and the rear second safety zone 35.

[0076] The third safety marking line is used to indicate the safe distance of the autonomous vehicle in the longitudinal direction. As shown in Figure 3, the third safety marking line includes the fourth front marking line 341, the fifth front marking line 342, the sixth front marking line 343, the fourth rear marking line 351, the fifth rear marking line 352, and the sixth rear marking line 353. The fourth front marking line 341, the fifth front marking line 342, the fourth rear marking line 351, and the fifth rear marking line 352 are all longitudinal safety marking lines, while the sixth front marking line 343 and the sixth rear marking line 353 are transverse safety marking lines.

[0077] Optionally, after determining the second safety zone, the outer contour of the second safety zone can be extended forward and / or backward by a second preset length. Here, the second preset length refers to the distance between the safety marking line and the outer contour of the second safety zone. The second preset length can be any value in the range of 1 meter to 10 meters. The second preset length can be less than the first preset length, equal to the first preset length, or greater than the first preset length, and this is not limited in the present embodiment.

[0078] Optionally, in some embodiments, the outer contour of the vehicle body can be extended forward and / or backward by a third preset length to obtain a third extension length; further, the area formed based on the third extension length and the width of the vehicle body is determined as a fourth safety area, and a fourth safety marking line is set on the ground along the outer contour of the fourth safety area.

[0079] Here, the third preset length refers to the distance between the safety marking line and the front of the vehicle. The third preset length can be a length pre-set by the user based on empirical data, or a length obtained by adjusting the preset length according to actual needs, and the present embodiment is not limited thereto. The third preset length can be any value within the range of 1 meter to 10 meters. Preferably, in the present embodiment, the third preset length is 6 meters, the third extended length is the third preset length, and the third preset length is greater than the second preset length.

[0080] The fourth safety zone refers to the front and / or rear areas that ensure safe driving during the autonomous vehicle's operation. As shown in Figure 3, the fourth safety zone may include the front third safety zone 36, the rear third safety zone 37, or both, and this is not limited in the present embodiment. Preferably, in the present embodiment, to ensure the safety of the autonomous vehicle, the third safety zone includes the front third safety zone 36 and the rear third safety zone 37.

[0081] The fourth safety marking line is used to indicate the safe distance of the autonomous vehicle in the longitudinal direction. As shown in Figure 3, the fourth safety marking line includes the seventh front marking line 361, the eighth front marking line 362, the ninth front marking line 363, the seventh rear marking line 371, the eighth rear marking line 372, and the ninth rear marking line 373. The fourth front marking line 361, the fifth front marking line 362, the fourth rear marking line 371, and the fifth rear marking line 372 are all longitudinal safety marking lines, while the sixth front marking line 363 and the sixth rear marking line 373 are transverse safety marking lines.

[0082] Optionally, after determining the third safety zone, the outer contour of the third safety zone can be extended forward and / or backward by a third preset length. Here, the third preset length refers to the distance between the safety marking line and the outer contour of the third safety zone. The third preset length can be any value in the range of 1 meter to 10 meters. The third preset length can be less than the first preset length, equal to the first preset length, or greater than the first preset length, as is not limited in the present embodiment.

[0083] It should be noted that the number of safety zones in front of the vehicle and / or behind the rear of the vehicle can be set based on experience or actual needs. Preferably, in the embodiment of the present disclosure, the number of safety zones in front of the vehicle and / or behind the rear of the vehicle is 3.

[0084] According to the technical solution provided in the embodiments of the present disclosure, by setting the third safety area and / or the fourth safety area based on the length and width of the autonomous driving vehicle, the safe driving area of ​​the autonomous driving vehicle can be accurately determined; further, by drawing the third safety marking line and / or the fourth safety marking line, the safe driving area can be made more obvious and the outline clearer, thereby facilitating the subsequent delineation of safety auxiliary lines.

[0085] In some embodiments, image information of the safety assistance line is called, and a second video screen and the safety assistance line are displayed on the display at the same time to assist the driver in remote driving, including: based on the image information of the safety assistance line, rendering the safety assistance line to the second video screen to assist the driver in remote driving, wherein the safety assistance line is depicted based on the image information of the first safety sign line, the second safety sign line and / or the third safety sign line in the first video screen displayed on the display.

[0086] Specifically, after setting the first safety marking line, the second safety marking line and / or the third safety marking line, the camera device on the body of the autonomous driving vehicle collects the first safety marking line, the second safety marking line and / or the third safety marking line, and transmits the collected image information of the first safety marking line, the second safety marking line and / or the third safety marking line and the image information of at least a part of the body as a first video picture to the remote cockpit; after receiving the first video picture sent by the autonomous driving vehicle, the remote cockpit displays the first video picture on its display, and the technician can collect the image information of the first safety marking line, the second safety marking line and / or the third safety marking line based on the image information of the first safety marking line, the second safety marking line and / or the third safety marking line in the first video picture. The software depicts the first safety auxiliary line, the second safety auxiliary line and / or the third safety auxiliary line in the video, and stores the image information of the depicted first safety auxiliary line, the second safety auxiliary line and / or the third safety auxiliary line in its memory; further, when the autonomous driving vehicle is in remote driving mode, when the second video picture obtained by the camera device is received, the remote cockpit displays the second video picture on its display, and calls the image information of the first safety auxiliary line, the second safety auxiliary line and / or the third safety auxiliary line to render the first safety auxiliary line, the second safety auxiliary line and / or the third safety auxiliary line into the second video picture to assist the driver in remote driving.

[0087] Here, the colors of the safety auxiliary lines can be the same or different, and this is not limited in the present embodiment. For example, the colors of the first, second, and third safety auxiliary lines can all be red; alternatively, the colors of the first safety auxiliary line can be red, the colors of the second safety auxiliary line can be yellow, and the colors of the third safety auxiliary line can be green; alternatively, the colors of the first and second safety auxiliary lines can be red, and the colors of the third safety auxiliary line can be yellow. Preferably, in the present embodiment, the colors of the first, second, and third safety auxiliary lines are different from each other.

[0088] Optionally, in some embodiments, the pilot of the remote cockpit can select the first safety auxiliary line, the second safety auxiliary line, and / or the third safety auxiliary line to be displayed on the display screen by pressing a button on the remote cockpit key panel. For example, the pilot can select to display any one of the first safety auxiliary line, the second safety auxiliary line, and the third safety auxiliary line, or any two of the first safety auxiliary line, the second safety auxiliary line, and the third safety auxiliary line, or can select to display the first safety auxiliary line, the second safety auxiliary line, and the third safety auxiliary line simultaneously, and the embodiments of the present disclosure are not limited to this.

[0089] According to the technical solution provided by the embodiment of the present disclosure, by displaying safety auxiliary lines of different colors on the display, the driver can be reminded of the road conditions in different safety areas in a timely and effective manner, thereby assisting the driver to drive the vehicle more safely, thereby improving driving safety.

[0090] In some embodiments, the method also includes: obtaining a steering angle signal of the autonomous driving vehicle, and determining the driving direction of the autonomous driving vehicle based on the steering angle signal; generating a safety guide line based on the driving direction and driving speed of the autonomous driving vehicle, and displaying the safety guide line on a display to assist the driver in remote driving.

[0091] Specifically, the steering angle sensor on the autonomous vehicle can obtain the steering angle signal of the autonomous vehicle. Based on the obtained steering angle signal, the steering angle, rotation direction and speed of the steering wheel can be identified, thereby determining the driving direction of the autonomous vehicle; further, a safety guide line can be generated based on the driving direction and speed of the autonomous vehicle, and displayed on the display of the remote cockpit to assist the driver in remote driving.

[0092] Here, the steering angle signal is emitted when the autonomous vehicle's wheels change direction. This steering angle signal can be acquired by a steering angle sensor installed on the autonomous vehicle. A steering angle sensor is a device used to detect the steering angle and direction of the autonomous vehicle's steering wheel. It primarily consists of a photoelectric coupling element and a slotted plate. Left or right turns of the steering wheel are detected by the steering angle sensor. The steering wheel's rotation angle provides a basis for steering the autonomous vehicle, enabling it to follow the driver's steering intent.

[0093] The safety guide line is a directional guide for autonomous vehicles, used to guide the vehicle's navigation path. The safety guide line has a certain length, which can be set based on actual conditions. The safety guide line can be the same color as the safety auxiliary line or a different color, as is not limited in the present disclosure.

[0094] In actual application, when an autonomous vehicle is operating in an open-pit mine, a video image captured by a camera mounted on the front side of the vehicle (i.e., in the middle of the vehicle's front) is shown in Figure 4c. This video image clearly shows the images of the first front safety zone 40, the second front safety zone 41, and the third front safety zone 42 in front of the vehicle, as well as the safety guide line 407.

[0095] According to the technical solution provided in the embodiments of the present disclosure, by generating a safety guide line based on the steering angle signal and driving speed of the autonomous driving vehicle, the driver can control the autonomous driving vehicle to drive safely under the guidance of the safety guide line, thereby reducing the risk of scratching obstacles and improving driving safety.

[0096] All of the above optional technical solutions can be combined in any way to form optional embodiments of the present disclosure, and will not be described in detail here. In addition, the order of the sequence numbers of the steps in the above embodiments does not imply a specific order of execution. The order of execution of each process should be determined by its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present disclosure.

[0097] In the case of dividing each functional module into corresponding functional modules, an embodiment of the present disclosure provides a remote driving device for an autonomous vehicle. The remote driving device for an autonomous vehicle can be a server or a chip used for a server. Figure 5 is a schematic diagram of the structure of a remote driving device for an autonomous vehicle provided by an exemplary embodiment of the present disclosure. As shown in Figure 5, the remote driving device 500 of the autonomous vehicle includes:

[0098] A setting module 501 is configured to set a safety marking line on the ground around the body of the autonomous driving vehicle based on the vehicle model information of the autonomous driving vehicle, wherein the distance between the safety marking line and the body of the autonomous driving vehicle is related to the vehicle model;

[0099] An acquisition module 502 is configured to acquire a first video frame using a camera device mounted on a vehicle body, wherein the first video frame includes image information of a safety marking line and image information of at least a portion of the vehicle body;

[0100] a receiving module 503 configured to receive a first video frame sent by the autonomous driving vehicle and display the first video frame on a display of the remote cockpit;

[0101] a storage module 504 configured to draw a safety auxiliary line based on the image information of the safety marking line in the first video frame displayed on the display, and store the image information of the safety auxiliary line in a memory of the remote cockpit;

[0102] The display module 505 is configured to display the second video image captured by the camera device on the display when the autonomous driving vehicle is in the remote driving mode;

[0103] The calling module 506 is configured to call the image information of the safety auxiliary line and display the second video image and the safety auxiliary line on the display at the same time to assist the driver in remote driving.

[0104] According to the technical solution provided by the embodiment of the present disclosure, a safety marking line is set on the ground around the body of the autonomous driving vehicle based on the vehicle model information of the autonomous driving vehicle, and a first video frame including image information of the safety marking line and image information of at least a part of the body of the vehicle is obtained by using a camera device installed on the body of the vehicle. The first video frame sent by the autonomous driving vehicle is displayed on the display of the remote cockpit, and a safety auxiliary line is drawn based on the image information of the safety marking line in the first video frame and the image information of the safety auxiliary line is stored. When the autonomous driving vehicle is in remote driving mode, the stored image information of the safety auxiliary line is called, and the second video frame and the safety auxiliary line are displayed on the display at the same time to assist the driver in remote driving. The driver in the remote cockpit can accurately control the autonomous driving vehicle based on the safety auxiliary line in the video, thereby ensuring the driving safety of the autonomous driving vehicle and protecting the life and property safety of the safety officer on the autonomous driving vehicle.

[0105] In some embodiments, the safety marking line includes a first safety marking line. The setting module 501 of Figure 5 extends the outer contour of the vehicle body to the left and / or right by a preset width to obtain an extended width; determines the area formed based on the extended width and the length of the vehicle body as a first safety area; and sets the first safety marking line on the ground along the outer contour of the first safety area.

[0106] In some embodiments, the setting module 501 of Figure 5 takes the left rear wheel position and / or the right rear wheel position of the autonomous driving vehicle as the starting point, and sets a first safety marking line within the first safety area along the width direction of the vehicle body.

[0107] In some embodiments, the safety marking line includes a second safety marking line. The setting module 501 of Figure 5 extends the outer contour of the vehicle body to the front and / or rear by a first preset length to obtain a first extension length; determines the area formed based on the first extension length and the width of the vehicle body as a second safety area; and sets a second safety marking line on the ground along the outer contour of the second safety area.

[0108] In some embodiments, the safety marking line includes a third safety marking line. The setting module 501 of Figure 5 extends the outer contour of the vehicle body to the front and / or rear by a second preset length to obtain a second extension length, wherein the second preset length is greater than the first preset length; an area formed based on the second extension length and the width of the vehicle body is determined as a third safety area; and a third safety marking line is set on the ground along the outer contour of the third safety area, wherein the color of the third safety marking line is different from the color of the second safety marking line.

[0109] In some embodiments, the calling module 506 of Figure 5 renders the safety assistance line to the second video screen based on the image information of the safety assistance line to assist the driver in remote driving, wherein the safety assistance line is depicted based on the image information of the first safety sign line, the second safety sign line and / or the third safety sign line in the first video screen displayed on the display.

[0110] In some embodiments, the remote driving device 500 of the autonomous driving vehicle of Figure 5 also includes a generation module 507, wherein the acquisition module 502 acquires the steering angle signal of the autonomous driving vehicle and determines the driving direction of the autonomous driving vehicle based on the steering angle signal; the generation module 507 generates a safety guide line based on the driving direction and driving speed of the autonomous driving vehicle, and displays the safety guide line on the display to assist the driver in remote driving.

[0111] The implementation process of the functions and effects of each module in the above-mentioned device is specifically described in the implementation process of the corresponding steps in the above-mentioned method, and will not be repeated here.

[0112] An embodiment of the present disclosure also provides an electronic device, comprising: at least one processor; a memory for storing instructions executable by at least one processor; wherein the at least one processor is used to execute instructions to implement the steps of the above-mentioned remote driving method of the autonomous driving vehicle disclosed in the embodiment of the present disclosure.

[0113] Figure 6 is a schematic diagram of the structure of an electronic device provided by an exemplary embodiment of the present disclosure. As shown in Figure 6, the electronic device 600 includes at least one processor 601 and a memory 602 coupled to the processor 601. The processor 601 can execute the corresponding steps in the above method disclosed in the embodiment of the present disclosure.

[0114] The processor 601 can also be referred to as a central processing unit (CPU), which can be an integrated circuit chip with signal processing capabilities. Each step in the above method disclosed in the embodiment of the present disclosure can be completed by the hardware integrated logic circuit in the processor 601 or by instructions in the form of software. The processor 601 can be a general-purpose processor, a digital signal processor (DSP), an ASIC, a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor. The steps of the method disclosed in the embodiment of the present disclosure can be directly embodied as being executed by a hardware decoding processor, or can be executed by a combination of hardware and software modules in the decoding processor. The software module can be located in the memory 602, such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, or other mature storage media in the art. The processor 601 reads the information in the memory 602 and completes the steps of the above method in combination with its hardware.

[0115] In addition, when various operations / processes according to the present disclosure are implemented via software and / or firmware, the programs constituting the software can be installed from a storage medium or a network to a computer system having a dedicated hardware structure, such as the computer system 700 shown in FIG7 . When the various programs are installed, the computer system can perform various functions, including those described above. FIG7 is a schematic diagram of the structure of a computer system provided by an exemplary embodiment of the present disclosure.

[0116] Computer system 700 is intended to represent various forms of digital electronic computer equipment, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. Electronic equipment can also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0117] As shown in FIG7 , a computer system 700 includes a computing unit 701 that can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 702 or a computer program loaded from a storage unit 708 into a random access memory (RAM) 703. Various programs and data required for the operation of the computer system 700 may also be stored in the RAM 703. The computing unit 701, the ROM 702, and the RAM 703 are connected to each other via a bus 704. An input / output (I / O) interface 705 is also connected to the bus 704.

[0118] Multiple components within computer system 700 are connected to I / O interface 705, including an input unit 706, an output unit 707, a storage unit 708, and a communication unit 709. Input unit 706 can be any type of device capable of inputting information into computer system 700. Input unit 706 can receive input numeric or character information and generate key input signals related to user settings and / or function control of an electronic device. Output unit 707 can be any type of device capable of presenting information and may include, but is not limited to, a display, a speaker, a video / audio output terminal, a vibrator, and / or a printer. Storage unit 708 may include, but is not limited to, a magnetic disk or an optical disk. Communication unit 709 allows computer system 700 to exchange information / data with other devices over a network, such as the Internet, and may include, but is not limited to, a modem, a network card, an infrared communication device, a wireless communication transceiver and / or chipset, such as a Bluetooth™ device, a WiFi device, a WiMax device, a cellular communication device, and / or the like.

[0119] The computing unit 701 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 701 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units that run machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 701 performs the various methods and processes described above. For example, in some embodiments, the above-mentioned method disclosed in the embodiments of the present disclosure may be implemented as a computer software program, which is tangibly included in a machine-readable medium, such as a storage unit 708. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 700 via the ROM 702 and / or the communication unit 709. In some embodiments, the computing unit 701 may be configured to perform the above-mentioned method disclosed in the embodiments of the present disclosure by any other appropriate means (e.g., by means of firmware).

[0120] An embodiment of the present disclosure further provides a computer-readable storage medium, wherein when instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is enabled to execute the above method disclosed in the embodiment of the present disclosure.

[0121] The computer-readable storage medium in the embodiment of the present disclosure can be a tangible medium, which can contain or store a program for use by an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. The above-mentioned computer-readable storage medium can include but is not limited to electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the above. More specifically, the above-mentioned computer-readable storage medium can include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0122] The computer-readable medium may be included in the electronic device, or may exist independently without being incorporated into the electronic device.

[0123] The embodiments of the present disclosure further provide a computer program product, including a computer program, wherein when the computer program is executed by a processor, the method disclosed in the embodiments of the present disclosure is implemented.

[0124] In embodiments of the present disclosure, computer program code for performing the operations of the present disclosure may be written in one or more programming languages ​​or combinations thereof, including but not limited to object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer.

[0125] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, program segment, or a part of code, and the module, program segment, or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of the boxes in the block diagram and / or flowchart, can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0126] The modules, components, or units described in the embodiments of the present disclosure may be implemented in software or hardware. The names of the modules, components, or units do not necessarily limit the modules, components, or units themselves.

[0127] The functions described above herein may be performed, at least in part, by one or more hardware logic components. For example, and without limitation, exemplary hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), and the like.

[0128] The above descriptions are merely some embodiments of the present disclosure and an illustration of the technical principles employed. Those skilled in the art should understand that the scope of disclosure involved in the present disclosure is not limited to the technical solutions formed by a specific combination of the above-mentioned technical features, but also encompasses other technical solutions formed by any combination of the above-mentioned technical features or their equivalents without departing from the above-mentioned disclosed concepts. For example, a technical solution formed by replacing the above-mentioned features with (but not limited to) technical features with similar functions disclosed in the present disclosure.

[0129] Although some specific embodiments of the present disclosure have been described in detail by way of examples, those skilled in the art will appreciate that the above examples are for illustrative purposes only and are not intended to limit the scope of the present disclosure. Those skilled in the art will appreciate that modifications may be made to the above embodiments without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.

Claims

1. A remote driving method for an autonomous vehicle, characterized in that: include: Based on the model information of the autonomous driving vehicle, setting a safety marking line on the ground around the body of the autonomous driving vehicle, wherein the distance between the safety marking line and the body of the vehicle is related to the model; Acquire a first video image by using a camera device installed on the vehicle body, wherein the first video image includes image information of the safety sign line and image information of at least a portion of the vehicle body; Receiving the first video picture sent by the autonomous driving vehicle, and displaying the first video picture on a display of a remote cockpit; drawing a safety auxiliary line based on the image information of the safety sign line in the first video picture displayed on the display, and storing the image information of the safety auxiliary line in a memory of the remote cockpit; When the autonomous driving vehicle is in a remote driving mode, displaying a second video image acquired by the camera device on the display; The image information of the safety auxiliary line is called, and the second video image and the safety auxiliary line are simultaneously displayed on the display to assist the driver in remote driving.

2. The method according to claim 1, characterized in that The safety marking line includes a first safety marking line, and the safety marking line is set on the ground around the body of the autonomous driving vehicle based on the vehicle type information of the autonomous driving vehicle, including: Extending the outer contour of the vehicle body to the left and / or right by a preset width to obtain an extended width; determining an area formed by the extension width and the length of the vehicle body as a first safety area; The first safety marking line is arranged on the ground along the outer contour of the first safety area.

3. The method according to claim 2, characterized in that The method further comprises: Taking the left rear wheel position and / or the right rear wheel position of the autonomous driving vehicle as a starting point, the first safety marking line is set in the first safety area along the width direction of the vehicle body.

4. The method according to claim 2, characterized in that: The safety marking line includes a second safety marking line, and the safety marking line is set on the ground around the body of the autonomous driving vehicle based on the vehicle type information of the autonomous driving vehicle, including: Extending the outer contour of the vehicle body forward and / or backward by a first preset length to obtain a first extended length; determining an area formed by the first extension length and the width of the vehicle body as a second safety area; The second safety marking line is arranged on the ground along the outer contour of the second safety area.

5. The method according to claim 4, characterized in that The safety marking line includes a third safety marking line, and the method further includes: Extending the outer contour of the vehicle body toward the front and / or the rear by a second preset length to obtain a second extended length, wherein the second preset length is greater than the first preset length; determining an area formed by the second extension length and the width of the vehicle body as a third safety area; The third safety mark line is arranged on the ground along the outer contour of the third safety area, wherein the color of the third safety mark line is different from the color of the second safety mark line.

6. The method according to claim 5, characterized in that The calling of the image information of the safety auxiliary line and simultaneously displaying the second video image and the safety auxiliary line on the display to assist the driver in remote driving includes: Based on the image information of the safety assistance line, the safety assistance line is rendered to the second video screen to assist the driver in remote driving, wherein the safety assistance line is depicted based on the image information of the first safety sign line, the second safety sign line and / or the third safety sign line in the first video screen displayed on the display.

7. The method according to any one of claims 1 to 6, characterized in that The method further comprises: Acquiring a steering angle signal of the autonomous driving vehicle, and determining a driving direction of the autonomous driving vehicle based on the steering angle signal; A safety guide line is generated based on the driving direction and driving speed of the autonomous driving vehicle, and the safety guide line is displayed on the display to assist the driver in remote driving.

8. A remote driving device for an autonomous vehicle, characterized in that: include: a setting module configured to set a safety marking line on the ground around a body of the autonomous driving vehicle based on the vehicle type information of the autonomous driving vehicle, wherein a distance between the safety marking line and the body of the autonomous driving vehicle is related to the vehicle type; an acquisition module, configured to acquire a first video image by using a camera installed on the vehicle body, wherein the first video image includes image information of the safety sign line and image information of at least a portion of the vehicle body; a receiving module, configured to receive the first video picture sent by the autonomous driving vehicle and display the first video picture on a display of a remote cockpit; a storage module configured to draw a safety auxiliary line based on the image information of the safety sign line in the first video picture displayed on the display, and store the image information of the safety auxiliary line in a memory of the remote cockpit; A display module is configured to display a second video image acquired by the camera device on the display when the autonomous driving vehicle is in a remote driving mode; The calling module is configured to call the image information of the safety auxiliary line and display the second video image and the safety auxiliary line on the display at the same time to assist the driver in remote driving.

9. An electronic device, characterized in that: include: at least one processor; a memory for storing the at least one processor-executable instruction; The at least one processor is configured to execute the instructions to implement the method as claimed in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: When the instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is enabled to perform the method as claimed in any one of claims 1 to 7.

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