CN114924552A

CN114924552A - Control method, device, system, equipment and medium for automatically driving automobile

Info

Publication number: CN114924552A
Application number: CN202210429579.8A
Authority: CN
Inventors: 袁文建; 孟俊峰; 周添; 姜洪伟
Original assignee: FAW Group Corp
Current assignee: FAW Group Corp
Priority date: 2022-04-22
Filing date: 2022-04-22
Publication date: 2022-08-19

Abstract

The embodiment of the invention discloses a control method, a device, a system, equipment and a medium for automatically driving an automobile, wherein the method comprises the following steps: responding to the combined operation of a user on a preset vehicle running control assembly in a remote controller, and sending a remote control takeover control instruction to a target control vehicle so as to enable the target control vehicle to enter a remote control takeover mode; in the remote control takeover mode, determining a target control instruction according to the trigger operation of a user on any preset vehicle running control assembly and the operation attribute parameters of the trigger operation; and sending the target control instruction to the target control vehicle to realize the control of the target control vehicle. According to the technical scheme of the embodiment of the invention, the safety of the automatic driving vehicle during operation can be effectively improved, the automatic driving vehicle can be taken over and controlled by a user through operating the remote controller, and the problems of injury and damage caused by unpredictable operation during operation of the automatic driving vehicle are solved.

Description

Control method, device, system, equipment and medium for automatically driving automobile

Technical Field

The embodiment of the invention relates to the technical field of automatic control of automobiles, in particular to a method, a device, a system, equipment and a medium for controlling an automatic driving automobile.

Background

At present, developers in part of automatic driving industries explore and pre-develop L4-grade pure unmanned vehicles, traditional manual driving mechanisms in the vehicles, such as steering wheels, brakes and accelerator pedals, are often cancelled, or safety personnel are not arranged in the vehicles, and the pure unmanned vehicles can have unpredictable conditions in the automatic driving running process, so that collision, damage or injury can occur.

Therefore, it is very important to take necessary measures for the pure unmanned vehicle in emergency to reduce the damage and damage of the pure unmanned vehicle caused by unpredictable conditions in the automatic driving operation process and ensure the safety of the pure unmanned vehicle operation.

Disclosure of Invention

The embodiment of the invention provides a method, a device, a system, equipment and a medium for controlling an automatic driving vehicle, which are used for realizing remote control of the automatic driving vehicle and solving the safety problem when the automatic driving vehicle runs.

In a first aspect, an embodiment of the present invention provides an automatic driving automobile control method, where the method includes:

responding to the combined operation of a user on a preset vehicle running control assembly in a remote controller, and sending a remote control takeover control instruction to a target control vehicle so as to enable the target control vehicle to enter a remote control takeover mode;

in the remote control takeover mode, determining a target control instruction according to the trigger operation of a user on any preset vehicle running control assembly and the operation attribute parameters of the trigger operation;

and sending the target control instruction to the target control vehicle to realize the control of the target control vehicle.

In a second aspect, an embodiment of the present invention further provides an automatic driving automobile control device, where the device includes:

the control mode switching module is used for responding to the combined operation of a user on a preset vehicle running control assembly in a remote controller and sending a remote control takeover control instruction to a target control vehicle so as to enable the target control vehicle to enter a remote control takeover mode;

the control instruction determining module is used for determining a target control instruction according to the triggering operation of a user on any preset vehicle running control component and the operation attribute parameters of the triggering operation in the remote control takeover mode;

and the control instruction sending module is used for sending the target control instruction to the target control vehicle to realize the control of the target control vehicle.

In a third aspect, an embodiment of the present invention further provides an automatic driving automobile control system, where the system includes:

the remote controller is provided with a vehicle running control assembly, responds to the triggering operation of a user on any vehicle running control assembly and generates a corresponding operation signal;

the receiver is communicated with a remote controller and acquires the operation signal;

a signal converter that converts the operation signal into a control signal that matches a communication signal of a target control vehicle;

and the control unit receives and executes the control signal to realize the control method of the automatic driving automobile provided by any embodiment of the invention.

In a fourth aspect, an embodiment of the present invention further provides an onboard control device, where the onboard control device includes:

one or more processors;

a memory for storing one or more programs;

when the one or more programs are executed by the one or more processors, the one or more processors may be caused to implement an autopilot control method as provided by any of the embodiments of the invention.

In a fifth aspect, the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements an autopilot vehicle control method according to any embodiment of the present invention.

The embodiment of the invention has the following advantages or beneficial effects:

in the embodiment of the invention, a remote control takeover control instruction is sent to a target control vehicle by responding to the combined operation of a user on a preset vehicle running control assembly in a remote controller, so that the target control vehicle enters a remote control takeover mode; under the remote control takeover mode, determining a target control instruction according to the triggering operation of a user on any preset vehicle running control component and the operation attribute parameters of the triggering operation; and sending the target control instruction to the target control vehicle to realize the control of the target control vehicle. According to the technical scheme of the embodiment of the invention, the safety of the automatic driving vehicle during operation can be effectively improved, the automatic driving vehicle can be taken over and controlled by a user through operating the remote controller, and the problems of injury and damage caused by unpredictable operation during operation of the automatic driving vehicle are solved.

Drawings

FIG. 1 is a flow chart of a control method for an autonomous vehicle according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a remote controller according to an embodiment of the present invention;

FIG. 3 is a flowchart of a control method for automatically driving a vehicle according to a second embodiment of the present invention;

FIG. 4 is a flowchart of a control method for automatically driving a vehicle according to a third embodiment of the present invention;

FIG. 5 is a schematic structural diagram of an automatic driving vehicle control device according to a fourth embodiment of the present invention;

FIG. 6 is a schematic structural diagram of an automatic driving vehicle control system according to a fifth embodiment of the present invention;

fig. 7 is a schematic structural diagram of a computer device according to a sixth embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

Example one

Fig. 1 is a flowchart of a control method for an autonomous vehicle according to an embodiment of the present invention, which is applicable to control of an autonomous vehicle, and is particularly applicable to a scene where a pure unmanned vehicle is operated in an autonomous operation process due to unpredictable conditions to ensure the safety of the pure unmanned vehicle. The method can be executed by an automatic driving automobile control device, which can be realized by software and/or hardware and is integrated in a computer device with an application development function.

As shown in fig. 1, the control method of the autonomous vehicle includes the steps of:

and S110, responding to the combined operation of a user on a preset vehicle running control assembly in a remote controller, and sending a remote control takeover control instruction to a target control vehicle so as to enable the target control vehicle to enter a remote control takeover mode.

Typically, the user of the remote control may be a professionally trained security officer or a passenger in a vehicle. The target control vehicle may be understood as an autonomous vehicle, such as a pure unmanned vehicle of the L4 class or another class of autonomous vehicles, which can be controlled by a remote control. The remote controller can be a handheld transmitting device of a vehicle safety worker and is used for realizing running control of the automatic driving vehicle when the automatic driving vehicle is required to be manually taken over. Specifically, the remote controller may be equipped with a plurality of vehicle driving control components, which may specifically include: the brake system comprises a steering control assembly, a driving control assembly, a braking control assembly and a gear control assembly. The functional implementation modes of each control assembly include various modes, as shown in fig. 2, in this embodiment, a trigger 111 is arranged on a remote controller for implementing control on driving and braking of the vehicle, which can be understood as a throttle lever of a pure unmanned vehicle; a steering wheel 112 is arranged on the remote controller, and the steering control of the vehicle is realized by rotating the steering wheel; the remote controller is provided with a knob 113, and the gear switching control of the vehicle is realized by rotating the knob. Or the control can be carried out by adopting a key and the like, and each control instruction corresponds to one key.

Exemplarily, the remote controller can realize remote control of the vehicle when unpredictable conditions are met in the automatic driving operation process through signal transmission and conversion and by combining a specific corresponding relation, and the operation safety of the pure unmanned vehicle is smoothly ensured. Specifically, when the safer operates different vehicle driving control components, the operated control components may correspond to different signals according to different specific operation objects and operation amplitudes; that is, when the same control module is operated, if the operation amplitude and the operation action of the security personnel are different, corresponding different signals are generated.

The remote control take-over mode can be understood as a mode in which a security officer uses a remote controller to complete the control of a control target to control the vehicle to run. In particular, the control unit in the remote control system and the control unit for autonomous driving may define a signal interaction logic, i.e. to enable switching from an autonomous driving mode to a remote control take-over mode. In the mode switching operation, in order to reduce the occurrence of the situation that the automatic driving mode is switched into the remote control takeover mode due to the mistaken touch of a security guard, the combined operation of the preset vehicle driving control components can be adopted, namely, only when the combined operation of all the preset vehicle driving control components is completed without errors, the remote control takeover control command can carry out signal transmission so as to realize the mode switching action that the target control vehicle smoothly enters the remote control takeover mode from the automatic driving mode.

Then, the remote control takeover control instruction may be a control instruction transmitted to the target control vehicle while the user smoothly completes the combined operation of the preset vehicle travel control components using the remote controller. The remote control takeover control command may cause the target control vehicle to enter a remote control takeover mode. After sending remote control takeover control command to the target control vehicle, realized that the target control vehicle gets into remote control takeover mode, the user can use the remote controller to realize the control to the braking of target control vehicle, drive, gear and turn to etc. specifically, the user can be through using the remote controller to get down multiple control command to the target control vehicle, and common control command includes: a brake control command, a drive control command, a shift control command, a steering control command, and the like.

The combination operation is understood to mean that the operation behavior of the vehicle travel control unit by the security guard is not single, and the operation behavior may be a combination of two or more operations. It should be noted that, in the case of misoperation, a security officer may also implement operation actions in the combined operation; in order to distinguish whether the misoperation is caused by a security officer, the completion sequence of the operation combination and the service time of the completion combination operation can be set, namely all operation actions in the combination operation are sequentially realized according to the completion sequence in the preset service time, and the combination operation of the preset vehicle driving control component is considered to be successfully completed.

And S120, under the remote control taking over mode, determining a target control instruction according to the triggering operation of a user on any preset vehicle running control component and the operation attribute parameters of the triggering operation.

The vehicle driving control component can be understood as that the main control components are a steering control component, a gear control component, a driving brake control component and the like.

And under the remote control takeover mode, determining a target control instruction according to the triggering operation of a user on any preset vehicle running control component and the operation attribute parameters of the triggering operation.

Further, when the operation attribute parameter is the operation action amplitude, the target control instruction may be determined according to the trigger operation of the user on any one of the preset vehicle travel control components and the operation attribute parameter of the trigger operation. Specifically, the process of determining the target control instruction is as follows: acquiring a first operation instruction of a user on a steering control assembly in the preset vehicle running control assembly, and determining the operation amplitude and the operation direction of the first operation instruction; determining steering angle increment information according to the operation amplitude of the first operation instruction, and determining a target steering angle; and taking the steering direction and the target steering angle corresponding to the operation direction of the first operation instruction as the target control instruction.

The steering control component mainly refers to a component for realizing direction conversion through a rotating mode, such as a steering wheel or a knob of a remote controller. Taking the steering wheel as an example, in the process of using the steering wheel of the remote controller, the steering angle increment information can be determined according to the operation amplitude of the steering wheel of the remote controller, and the target steering angle is determined, so that the problems that the stroke of the steering wheel of the remote controller is short and the stroke of the steering wheel of the remote controller is inconsistent with that of a common automobile steering wheel are solved.

The first operation instruction of the steering control assembly may be an operation instruction sent to the target control vehicle in response to a turning operation of a steering wheel on the remote controller by a user. The user can realize the steering control of the target control vehicle according to the first operation instruction of the steering control component in the preset vehicle running control component.

The operation amplitude can be understood as the amplitude of the steering wheel rotated by a user when the user uses the steering wheel on the remote controller. The steering angle increment information can be determined according to the operation amplitude of the first operation instruction, and the target steering angle can be determined. When the larger the operation amplitude of the first operation instruction of the user is, the larger the target steering angle of the target control vehicle is found to be after the steering angle increment information is determined.

The operation direction can be understood as the direction of the steering wheel rotated by the user when using the steering wheel on the remote controller. Because the steering wheel on the remote controller can have two rotating directions, the forward rotating steering wheel can be regarded as a clockwise rotating steering wheel, and the backward rotating steering wheel can be regarded as an anticlockwise rotating steering wheel. The actual steering direction of the target control vehicle on the road corresponds to the rotation direction of the steering wheel on the remote controller; specifically, the corresponding manner of the actual steering direction and the turning direction of the steering wheel may be preset according to the habit of the user using the remote controller, for example, the left turning of the target control vehicle on the road corresponds to the forward turning of the steering wheel, and in the remote control take-over mode, when the user can turn the steering wheel on the remote controller forward, the actual turning of the target control vehicle on the road is left turning; and in the remote control take-over mode, when a user can rotate the steering wheel on the remote controller backwards, the target control vehicle actually turns to the right on the road.

In the steps, firstly, a first operation instruction of a user on a steering control assembly in preset vehicle running control assemblies is obtained, so that the operation amplitude and the operation direction of the first operation instruction can be determined; then, a target steering angle can be determined through the operation amplitude of the first operation instruction, and a steering direction can be determined through the operation direction of the first operation instruction; and finally, the steering direction and the target steering angle corresponding to the operation direction of the first operation instruction are used as target control instructions, so that a user can conveniently use the steering wheel on the remote controller to control the steering of the target control vehicle.

Further, steering angle increment information may be determined according to the operation amplitude, and a target steering angle may be determined. Specifically, the determination process is as follows: determining a corresponding interval steering angle increment according to a numerical interval in which the steering angle numerical value corresponding to the operation amplitude is located; and adding the steering angle numerical value corresponding to the operation amplitude and the interval steering angle increment to determine a target rotation angle.

The steering angle value can be understood as an angle value marked on the steering wheel, the steering angle value of the initial position of the steering wheel on the remote controller can be set to 0 degree by default, and if a mark such as an arrow exists on the steering wheel, and the steering wheel is located at the initial position, the steering angle value pointed by the mark is 0 degree. When the operation amplitude of the first operation instruction of the steering wheel is changed continuously, the numerical value of the steering angle pointed by the mark is changed continuously.

The numerical value interval can be understood as the steering angle numerical value of the steering wheel on the remote controller, and the interval division is carried out on the angle numerical value dimensionality by the user, namely, the numerical value intervals corresponding to different steering angle numerical values are possibly different.

The interval steering angle increment can be understood as the problem that when a user uses a steering wheel of a remote controller, the stroke of the steering wheel is short and is inconsistent with the stroke of a steering wheel of a common automobile, and at the moment, a certain steering angle needs to be added to make up the existing problem. Specifically, the steering angle values in different value intervals have different required interval steering angle increments, that is, the interval steering angle increments corresponding to different value intervals are different.

Further, the interval turning angle increment has a positive/negative division because it needs to correspond to the operation direction in the first operation instruction of the user. If the steering angle value is positive, the corresponding interval steering angle increment is also positive; if the steering angle value is negative, the corresponding interval steering angle increment is also negative. Specifically, the interval steering angle increment may exhibit a gradient change, that is, the absolute value of the required interval steering angle increment is larger when the absolute value of the steering angle value is larger and the absolute value of the corresponding numerical interval is larger.

The target rotation angle may be a rotation angle obtained by adding a steering angle value corresponding to the operation width to the interval steering angle increment. Specifically, according to the numerical interval in which the steering angle value corresponding to the operation amplitude is located, a corresponding interval steering angle increment is determined, that is, the current steering angle value is used as a reference, and the corresponding interval steering angle increment is added, so that the target rotation angle can be obtained.

Illustratively, if the steering wheel on the remote controller is in a full stroke state in both operating directions, the numerical range of the steering angle value that can be output is-100 degrees-0 degrees-100 degrees, and when the steering angle value is α, if the numerical range corresponding to α is 1 degree-30 degrees, the interval steering angle increment at this time is set to 2 degrees; if the numerical interval corresponding to the alpha is 31-60 degrees, the increment of the interval steering angle is set to be 3 degrees; if the numerical range corresponding to α is 61 degrees to 100 degrees, the increase in the range steering angle at this time is set to 5 degrees. Similarly, when the operation direction is changed, if the numerical interval corresponding to the alpha is-30 degrees-1 degree, the increment of the interval steering angle is set to-2 degrees; if the numerical interval corresponding to the alpha is-60 degrees-31 degrees, the interval steering angle increment is set to-3 degrees; if the numerical range corresponding to the alpha is-100 degrees-61 degrees, the increment of the steering angle of the range is set to-5 degrees. It should be noted that, the specific numerical value of the interval steering angle increment may be set by the user according to the actual situation.

And determining the target rotation angle according to the current steering angle numerical value and the corresponding interval steering angle increment based on the following formula:

β＝α+γ，

wherein α represents a current steering angle value; β represents a target rotation angle; γ represents the corresponding range steering angle increment.

In the steps, firstly, according to a numerical value interval where a steering angle numerical value corresponding to the operation amplitude is located, a corresponding interval steering angle increment is determined; and then, adding the steering angle value corresponding to the operation amplitude and the interval steering angle increment, and finally, adding the steering angle value and the interval steering angle increment to obtain the target rotation angle.

According to the technical scheme of the embodiment, a user determines a corresponding interval steering angle increment according to a numerical interval in which a steering angle numerical value corresponding to an operation amplitude is located by using a steering wheel on a remote controller; and adding the steering angle numerical value corresponding to the operation amplitude and the interval steering angle increment to determine the target rotation angle. The remote controller realizes steering control of a target control vehicle by a user through the steering wheel on the remote controller, solves the problems that the travel of the steering wheel of the remote controller is short and the travel of the steering wheel of the remote controller is inconsistent with that of a common automobile steering wheel, and achieves the effect of effectively improving the effect that the user operates the remote controller to take over and control the vehicle.

Further, when the operation attribute parameter is the operation amplitude, the target control instruction may be determined according to a trigger operation of a user on any one of the preset vehicle travel control components and the operation attribute parameter of the trigger operation, and the method further includes: acquiring a second operation instruction of a user on a driving control assembly or a braking control assembly in the preset vehicle running control assembly, and acquiring the operation amplitude of the second operation instruction; determining an acceleration value or a deceleration value in the driving control or braking control process according to the operation amplitude of the second operation instruction; and taking the second operation instruction and the corresponding acceleration value or deceleration value as the target control instruction.

The driving control assembly is mainly a trigger on a remote controller and can be called a throttle control lever. When the trigger on the remote controller is used, a deceleration value or an acceleration value during driving control or braking control may be determined according to the operation amplitude of the trigger on the remote controller.

Wherein the second operation instruction of the drive control assembly may be a push instruction transmitted to the target control vehicle in response to a push operation of a trigger on the remote controller by the user. And the user can realize the driving control of the target control vehicle according to the second operation instruction of the driving control component in the preset vehicle running control component.

Wherein the second operation command of the brake control assembly may be a pull command transmitted to the target control vehicle in response to a user's pulling operation of a trigger on the remote controller. And the user can control the turning brake of the target control vehicle according to a second operation instruction of the brake control component in the preset vehicle running control component.

Wherein the operation amplitude can be understood as the amplitude of pushing or pulling the trigger when the trigger on the remote controller is used by the user. An acceleration value or a deceleration value during drive control or brake control may be determined according to the operation magnitude of the second operation instruction, with the second operation instruction and the corresponding acceleration value or deceleration value as the target control instruction. When the magnitude of the operation of the second operation instruction by the user is larger, it is found that the acceleration value or the deceleration value of the target-control vehicle is also larger.

In the steps, firstly, a second operation instruction of a user on a driving control assembly or a braking control assembly in a preset vehicle running control assembly is obtained, and the operation amplitude of the second operation instruction is obtained; then, determining a deceleration value or an acceleration value in the driving control or braking control process according to the operation amplitude of the second operation instruction; and finally, taking the second operation instruction and the corresponding acceleration value or deceleration value as a target control instruction, so that the user can conveniently use a trigger on the remote controller to carry out drive control or brake control on the target control vehicle.

Further, the determining of the deceleration value or the acceleration value during the driving control or the braking control according to the operation amplitude of the second operation instruction may include: determining a numerical mapping coefficient of the operation amplitude and a deceleration numerical interval or an acceleration numerical interval according to the numerical interval of the operation amplitude of the second operation instruction; and operating the operation amplitude of the second operation instruction and the numerical value mapping coefficient to determine the deceleration value or the acceleration value.

Furthermore, for the convenience of operation of a user, the driving brake adopts an open-loop control strategy, meanwhile, in consideration of comfort control of a vehicle, a sectional control mode is adopted, a brake command of a remote controller can be output to a value of 0-100 as an example, the corresponding brake deceleration request is 0-8 m/s2, the value of the remote controller is divided into different intervals, when the value is 0-30, the corresponding deceleration is 0-1 m/s2, and the proportionality coefficient is k 1; when the value is 31-60, the corresponding deceleration is 1-4 m/s2, and the proportionality coefficient is k 2; when the value is 61-100, the corresponding deceleration is 4-8 m/s2, and the proportionality coefficient is k 3. The driving control part takes the driving control command of the remote controller as an example of 0-100 which can be output, under the premise of the current D gear, the maximum torque of the corresponding driving force is 1000Nm, and the proportionality coefficient is k 4; on the premise of the R gear, the maximum corresponding driving force torque is 500Nm, the proportionality coefficient is k5, the safety of a remote controller for controlling the vehicle needs to be considered, so that the maximum value of the motor torque which can be output is limited, and the maximum value of the motor torque is further reduced compared with the maximum value of the motor torque under the D gear in consideration of the comfort of the R gear control. It should be emphasized that from the trigger principle analysis of the remote controller, there is no state where the driving and braking commands of the remote controller exist simultaneously as non-0. It will be appreciated that the scaling factor is a mapping of the range of output values of the braking command from the remote control to the corresponding range of deceleration or acceleration values. The numerical value interval can be understood as the operation amplitude of the trigger on the remote controller by the user, and the interval division is performed on the numerical dimension, that is, the numerical value intervals corresponding to different operation amplitudes may be different. Wherein the value interval may comprise a deceleration value interval or an acceleration value interval.

According to the technical scheme of the embodiment, a user determines a numerical mapping coefficient of the operation amplitude and a deceleration numerical interval or an acceleration numerical interval according to the numerical interval in which the operation amplitude of the second operation instruction is located; and then, the operation amplitude of the second operation instruction and the numerical value mapping coefficient are operated to determine a deceleration value or an acceleration value, so that a user can conveniently use a trigger on a remote controller to perform braking control and driving control on the target control vehicle.

Further, when the operation attribute parameter is a time length of waiting for delay after operation, the determining a target control instruction according to the trigger operation of the user on any one of the preset vehicle driving control components and the operation attribute parameter of the trigger operation includes:

acquiring a third operation instruction of a user for a gear switching assembly in the preset vehicle running control assembly, and judging whether the time length of waiting delay after the operation of the third operation instruction is greater than a preset operation delay threshold value or not;

and when the time length of the waiting delay after the operation of the third operation instruction is greater than a preset operation delay threshold value, determining that the target control instruction is a gear switching instruction, and determining that the target switching gear is a gear corresponding to the third operation instruction.

And S130, sending the target control instruction to the target control vehicle to realize the control of the target control vehicle.

In the above steps, the control of the target control vehicle is realized by sending the target control instruction to the target control vehicle.

According to the technical scheme of the embodiment, a remote control takeover control instruction is sent to a target control vehicle by acquiring the combined operation of a user on a preset vehicle running control assembly in a remote controller, so that the target control vehicle enters a remote control takeover mode; then, under the remote control takeover mode, determining a target control instruction according to the triggering operation of a user on any preset vehicle running control component and the operation attribute parameters of the triggering operation; and sending the target control instruction to the target control vehicle to realize the control of the target control vehicle. The technical scheme of the embodiment of the invention solves the problems of safety guarantee, temporary takeover, vehicle moving and the like of a pure unmanned automobile, and realizes that a user can take over and control the automobile by operating the remote controller, thereby reducing the damage and damage of the automatic driving automobile caused by unpredictable running during running and ensuring the running safety of the automobile.

Example two

Fig. 2 is a flowchart of an automatic driving vehicle control method according to a second embodiment of the present invention, where the present embodiment and the automatic driving vehicle control method according to the foregoing embodiments belong to the same inventive concept, and further describe a process of implementing driving control and braking control of a target control vehicle by a security officer in an automatic driving operation process of a pure unmanned vehicle. The method can be executed by an automatic driving automobile control device, which can be realized by software and/or hardware and is integrated in a computer device with an application development function.

As shown in fig. 2, the control method of the autonomous vehicle includes the steps of:

and S210, when the target control vehicle is in a static state on a slope and a fourth operation instruction of the user on a drive control assembly in the remote controller is acquired, sending a brake control instruction to the target control vehicle.

Firstly, when the target control vehicle is on a slope, the phenomenon of slope slipping of the target control vehicle is avoided, and when the remote controller is used for controlling braking of the target control vehicle, the comfort of people in the vehicle can be ensured.

If the target control vehicle needs to start running from a static state on a slope, the control unit sends a braking control command and a deceleration request to control the target control vehicle to be in a pressure maintaining state all the time when the remote controller has a driving control command, and when the driving force F1 corresponding to the driving control command sent by the remote controller is equal to the component force F2 of the gravity of the vehicle along the slope and multiplied by a driving coefficient beta, the control unit cancels the braking control command, and the target control vehicle starts running according to the driving control command.

In the above step, when a fourth operation instruction of the drive control assembly in the remote controller is obtained by the user when the target control vehicle is in a stationary state on a slope, a brake control instruction is sent to the target control vehicle.

And S220, when the driving force corresponding to the fourth operation instruction is larger than or equal to the component force of the target control vehicle in the direction of the slope plane, cancelling the braking instruction and executing a driving control instruction corresponding to the fourth operation instruction.

In the above steps, when the driving force corresponding to the fourth operation command is greater than or equal to the component force of the target control vehicle in the plane direction of the slope, the braking command is cancelled and the driving control command corresponding to the fourth operation command is executed.

In one specific example, it is assumed that the drive request value of the remote controller is H; acquiring a longitudinal acceleration signal Ax from the vehicle; the radius of the wheel is r; the mass of the vehicle is m; the driving coefficient is beta; the slope angle is theta; the gravity acceleration is g; under the premise of the current D gear, the maximum corresponding driving force torque is 1000Nm, and the proportionality coefficient k at the moment is k 4; on the premise of the R range, the corresponding driving force maximum torque is 500Nm, and the proportionality coefficient k at this time is k 5.

1) The requested torque value T at the wheel end is H k (k is k4 in case of D gear and k is k5 in case of R gear)

2) Vehicle driving force in the hill direction F1 ═ H k/r

3) As is known from the operating principle of the gradient sensor, when the vehicle is stationary on a slope: ax ═ g × sin θ

4) Gravity along ramp component F2 ═ m × g × sin θ

5) When the hill-direction driving force F1 is F2 β, i.e., H k/r is m g sin θ β

At the moment, in a bottom layer control instruction sent by the control unit to the vehicle, a braking request is cancelled, namely, a braking system is depressurized, and the vehicle executes according to a driving instruction, namely, the phenomenon that the vehicle slips due to the fact that a remote controller has no braking instruction and the driving force output by the previous driving stroke is small is avoided.

It should be noted that the gradient value of the slope where the target control vehicle is located is within the gradient range where the target control vehicle can pass; the method only refers to the situation that the target control vehicle starts to run on the slope from a static state, does not include the situation that the target control vehicle runs on the slope, and only needs a security officer to slowly release the triggered trigger to realize the situation that the target control vehicle runs on the slope.

According to the technical scheme of the embodiment, when the target control vehicle is in a static state on a slope and a fourth operation instruction of a user on a drive control assembly in a remote controller is obtained, a brake control instruction is sent to the target control vehicle; then, when the driving force corresponding to the fourth operation command is greater than or equal to the component force of the target control vehicle in the direction of the slope plane, the braking command is cancelled and the driving control command corresponding to the fourth operation command is executed. The phenomenon that the target control vehicle slips is avoided, and the target control vehicle can be stably converted from a static state to a starting driving state on a slope.

EXAMPLE III

Fig. 3 is a flowchart of an automatic driving vehicle control method according to a third embodiment of the present invention, which belongs to the same inventive concept as the automatic driving vehicle control method according to the third embodiment of the present invention, and further describes that when a target control vehicle is in an automatic driving mode, it is ensured that a brake control instruction of a security officer is always in a priority level, so as to implement safety of pure unmanned vehicle operation. The method can be executed by an automatic driving automobile control device, which can be realized by software and/or hardware and is integrated in a computer device with an application development function.

As shown in fig. 3, the control method of the autonomous vehicle includes the steps of:

s310, when the target control vehicle is in an automatic driving mode, responding to the triggering operation of a user on a brake control component in the remote controller, sending a brake control instruction to a control unit of the target control vehicle, so that the target control vehicle shields a drive control instruction in the automatic driving mode, and executing the brake control instruction.

The trigger operation of the brake control assembly can be understood as the relative action of pulling the trigger backwards when the user uses the remote controller, and the trigger on the remote controller can realize the control of the driving and braking of the target control vehicle, wherein the trigger pushed forwards by the user can correspond to the driving of the target control vehicle, and the trigger pulled backwards by the user can correspond to the braking of the target control vehicle.

Then, when the target control vehicle is in the automatic driving mode and a trigger on the remote controller is pulled backwards by a user, the remote controller sends a braking control instruction to a control unit of the target control vehicle, so that the target control vehicle shields a driving control instruction in the automatic driving mode and executes the braking control instruction sent by the remote controller. Specifically, when the target control vehicle is in an automatic driving mode, in order to ensure the operation safety of the target control vehicle, it is necessary to take over the target control vehicle at any time and perform emergency braking on the target control vehicle, so as to reduce injury and damage caused by an unpredictable event. Therefore, when the brake control command is always valid and has the highest priority, that is, when the brake control command is transmitted to the target control vehicle, all the other control commands of the remote controller are invalid.

S320, when the deceleration value corresponding to the brake control instruction is smaller than a preset deceleration threshold value, the brake control instruction is a motor back-dragging brake control instruction; and when the deceleration value corresponding to the braking control instruction is greater than the preset deceleration threshold value, the braking control instruction is a hydraulic braking control instruction.

Specifically, when there is an operation action related to a trigger of the remote controller, the control unit of the target control vehicle immediately shields a longitudinal instruction in the automatic driving mode, and issues a brake control instruction of the remote controller to the target control vehicle, so that the target control vehicle is controlled to perform braking and deceleration at different degrees.

In particular, different braking modes can be adopted in the braking process, so that a rider can have better riding experience. Illustratively, the control unit will issue a braking control command corresponding to the depth of the operation action according to the depth of the actual operation action of the trigger of the remote controller by the user, and common control braking commands include: the motor back-dragging brake control command and the hydraulic brake control command. If the preset deceleration threshold value is a, when the deceleration value corresponding to the brake control command is smaller than the preset deceleration threshold value a, in order to ensure that the comfort of the braking of the vehicle after taking over can still be ensured under the condition of smaller deceleration value, a motor drag-back braking method is adopted, and the control unit issues the brake control command to the target control vehicle, wherein the brake control command is a motor drag-back braking control command; when the deceleration value corresponding to the brake control instruction is larger than a preset deceleration threshold value a, a hydraulic brake method is adopted, and the control unit issues the brake control instruction to the target control vehicle, wherein the brake control instruction is a hydraulic brake control instruction. By presetting the threshold value for the deceleration value corresponding to the brake control command, smooth transition between hydraulic brake and motor brake can be realized, wherein the deceleration threshold value is preset, and a user can change the deceleration value according to the performance and the requirement of a target control vehicle.

Illustratively, when the target control vehicle is in a static mode, a user rotates a gear knob of the remote controller to a preset position and simultaneously rotates a steering wheel of the remote controller forwards, and after receiving the two signals, the control unit processes the signals and transmits the signals to the automatic driving control unit, so that the target control vehicle enters an automatic driving control state; when the gear knobs of the remote controller rotate to the same preset positions, the steering wheels of the remote controller are rotated backwards, the control unit sends different signals to the automatic driving control unit, and then the vehicle enters a remote control take-over mode, so that the remote controller can control the vehicle to run.

Furthermore, a control unit in the remote control system is connected to a target control vehicle CAN bus, so that communication with a target control vehicle CAN be realized, and specifically, it should be noted that a user CAN set the response priority and logic of the combined operation of the preset vehicle running control components according to actual conditions.

According to the technical scheme of the embodiment, when the target control vehicle is in the automatic driving mode, in response to the triggering operation of a user on a brake control component in a remote controller, a brake control instruction is sent to a control unit of the target control vehicle, so that the target control vehicle shields a drive control instruction in the automatic driving mode and executes the brake control instruction; then when the deceleration value corresponding to the brake control instruction is smaller than a preset deceleration threshold value, the control instruction is a motor back-dragging brake control instruction; and when the deceleration value corresponding to the braking control command is larger than the preset deceleration threshold value, the braking control command is a hydraulic braking control command. In the automatic driving mode, the brake control command issued by a user by using a remote controller is still effective and has the highest priority, so that the running safety of the vehicle is ensured; by adopting the mode of presetting the deceleration threshold, the comfortable braking under the small deceleration connecting pipe is ensured, and the smooth transition of the hydraulic braking and the motor braking is realized.

The following is an embodiment of the control device for an autonomous vehicle according to an embodiment of the present invention, which belongs to the same inventive concept as the control method for an autonomous vehicle according to the above embodiments, and can implement the control method for an autonomous vehicle according to the above embodiments. Reference may be made to the above-described embodiments of the control method of an autonomous vehicle, for details which are not elaborated upon in the embodiments of the control device of an autonomous vehicle.

Example four

Fig. 5 is a schematic structural diagram of an automatic driving vehicle control apparatus according to a fourth embodiment of the present invention, which is applicable to a scene where the pure unmanned vehicle guarantees the safety of the pure unmanned vehicle due to unpredictable conditions during the automatic driving operation process, and the apparatus may be implemented in a software and/or hardware manner and integrated into a computer device having an application development function.

As shown in fig. 5, the automatic driving vehicle control device includes: a control mode switching module 510, a control instruction determining module 520, and a control instruction transmitting module 530.

The control mode switching module 510 is configured to send a remote control takeover control instruction to a target control vehicle in response to a user's combined operation on a preset vehicle driving control component in a remote controller, so that the target control vehicle enters a remote control takeover mode; a control instruction determining module 520, configured to determine, in the remote control takeover mode, a target control instruction according to a trigger operation of a user on any one of the preset vehicle driving control components and an operation attribute parameter of the trigger operation; and a control instruction sending module 530, configured to send the target control instruction to the target control vehicle, so as to implement control on the target control vehicle.

According to the technical scheme of the embodiment, a remote control takeover control instruction is sent to a target control vehicle by responding to the combined operation of a user on a preset vehicle running control assembly in a remote controller, so that the target control vehicle enters a remote control takeover mode; then, under a remote control takeover mode, determining a target control instruction according to the trigger operation of a user on any preset vehicle running control assembly and the operation attribute parameters of the trigger operation; and finally, sending the target control instruction to the target control vehicle to realize the control of the target control vehicle. The technical scheme of the embodiment of the invention solves the safety problem when the automatic driving vehicle runs, and realizes that a safety person can take over and control the vehicle by operating the remote controller in a certain range, thereby reducing the damage and damage caused by unpredictable running when the automatic driving vehicle runs and ensuring the running safety of the vehicle.

Optionally, when the operation attribute parameter is an operation action amplitude, the control instruction determining module 520 is specifically configured to:

acquiring a first operation instruction of a user on a steering control assembly in the preset vehicle running control assemblies, and determining the operation amplitude and the operation direction of the first operation instruction;

determining steering angle increment information according to the operation amplitude of the first operation instruction, and determining a target steering angle;

and taking the steering direction and the target steering angle corresponding to the operation direction of the first operation instruction as the target control instruction.

Optionally, the control instruction determining module 520 is further configured to:

determining a corresponding interval steering angle increment according to a numerical interval in which the steering angle numerical value corresponding to the operation amplitude is located;

and adding the steering angle value corresponding to the operation amplitude and the interval steering angle increment to determine a target rotation angle.

Optionally, when the operation attribute parameter is an operation amplitude, the control instruction determining module 520 is specifically configured to:

acquiring a second operation instruction of a user on a driving control assembly or a braking control assembly in the preset vehicle running control assembly, and acquiring the operation amplitude of the second operation instruction;

determining an acceleration value or a deceleration value in the driving control or braking control process according to the operation amplitude of the second operation instruction;

and taking the second operation instruction and the corresponding acceleration value or deceleration value as the target control instruction.

Optionally, the control instruction determining module 520 may further specifically be configured to:

determining a numerical mapping coefficient of the operation amplitude and a deceleration numerical interval or an acceleration numerical interval according to the numerical interval of the operation amplitude of the second operation instruction;

and calculating the operation amplitude of the second operation instruction and the numerical value mapping coefficient to determine the deceleration value or the acceleration value.

Optionally, when the operation attribute parameter is a time length of a waiting delay after the operation, the control instruction determining module 520 is specifically configured to:

acquiring a third operation instruction of a user on a gear switching assembly in the preset vehicle running control assembly, and judging whether the time length of waiting delay after the operation of the third operation instruction is greater than a preset operation delay threshold value or not;

Further, the automatic driving automobile control device further comprises an uphill starting control module, which is used for:

when the target control vehicle is in a static state on a slope and a fourth operation instruction of a user on a drive control assembly in the remote controller is obtained, a brake control instruction is sent to the target control vehicle;

and when the driving force corresponding to the fourth operation instruction is larger than or equal to the component force of the target control vehicle in the direction of the slope plane, canceling the braking instruction and executing a driving control instruction corresponding to the fourth operation instruction.

Further, the automatic driving automobile control device further comprises a braking control command execution module, which is used for:

when the target control vehicle is in an automatic driving mode, responding to the triggering operation of a user on a brake control assembly in the remote controller, sending a brake control instruction to a control unit of the target control vehicle, so that the target control vehicle shields a drive control instruction in the automatic driving mode, and executing the brake control instruction.

Optionally, the automatic driving automobile control device is specifically configured to:

when the deceleration value corresponding to the brake control instruction is smaller than a preset deceleration threshold value, the brake control instruction is a motor back-dragging brake control instruction;

and when the deceleration value corresponding to the brake control command is larger than the preset deceleration threshold value, the brake control command is a hydraulic brake control command.

The automatic driving automobile control device provided by the embodiment of the invention can execute the automatic driving automobile control method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.

EXAMPLE five

Fig. 6 is a schematic structural diagram of an automatic driving automobile control system according to a fifth embodiment of the present invention. As shown in fig. 6, the automatic driving vehicle control system may specifically include: a remote controller 100, a receiver 200, a signal converter 300, and a control unit 400.

The remote controller 100 is provided with vehicle running control components, responds to the triggering operation of a user on any one vehicle running control component, and generates a corresponding operation signal; a receiver 200 communicating with the remote controller 100 and acquiring the operation signal; a signal converter 300 converting the operation signal into a control signal matched with a communication signal of a target control vehicle; and the control unit 400 receives and executes the control signal 400 to realize the control method of the target vehicle.

The remote controller 100 may be a handheld mechanism of a vehicle security officer, and is used for implementing the running control of the target control vehicle in a state of manually taking over the control vehicle. Specifically, the remote controller 100 is equipped with various vehicle driving control components, and a common vehicle driving control component includes: the steering control assembly, the driving control assembly, the braking control assembly, the gear switching assembly and the like can realize control functions through different assembly forms. For example, a trigger on the remote control 100 is used to implement drive control and brake control for the target control vehicle; the steering wheel on the remote controller 100 is used for realizing steering control on the target control vehicle; the knobs on the remote control 100 are used to implement gear control for the target control vehicle. Signals corresponding to the operation actions of the control components can be generated according to different operation actions of different control components by a security officer.

The receiver 200 may be a signal receiving device installed and arranged in the target control vehicle, and particularly, the installation and arrangement position of the receiver 200 is required to satisfy the signal non-shielding. Specifically, the receiver 200 and the remote controller 100 may implement wireless short-frequency communication, the remote controller 100 transmits a signal, and the receiver 200 may receive the signal from the remote controller 100 and output a corresponding Pulse Width Modulation (PWM) signal. Pulse Width Modulation (PWM) can be a technique for controlling analog circuits using digital outputs of microprocessors, and is currently widely used in many fields ranging from measurement, communications, to power control and conversion.

The signal converter 300 may be understood as a device capable of performing signal conversion. The receiver 200 may transmit a Pulse Width Modulation (PWM) signal, and the signal converter 300 may receive the Pulse Width Modulation (PWM) signal transmitted by the receiver 200 and convert the received Pulse Width Modulation (PWM) signal into a vehicle communication signal. Among the common vehicle communication signals are CAN signals.

Certain algorithms and logic are integrated in the control unit 400, and meanwhile, the control unit CAN be connected to a finished automobile CAN communication network to realize signal interaction with controllers for controlling braking, driving, steering, gear positions, automobile body accessories and the like of the automobile. The control unit 400 may send a control instruction to an actuator of the target control vehicle, which controls the target control vehicle to implement the response action. Specifically, the signal converter 300 may transmit the vehicle communication signal to the control unit 400, and the control unit 400 may receive the vehicle communication signal transmitted by the signal converter 300 and transmit the control instruction to the actuator of the target control vehicle.

In the technical solution of this embodiment, by using an automatic driving vehicle control system, the process of controlling the running of the target control vehicle described in the above embodiment of the automatic driving vehicle control method is implemented in a state where a security officer takes over the control of the vehicle. The safety problem when the automatic driving vehicle runs is solved, a safety worker can take over and control the vehicle by operating the remote controller within a certain range, and the running safety of the vehicle is ensured.

EXAMPLE six

Fig. 7 is a schematic structural diagram of a computer device according to a sixth embodiment of the present invention. FIG. 7 illustrates a block diagram of an exemplary computer device 12 suitable for use in implementing embodiments of the present invention. The computer device 12 shown in fig. 7 is only an example and should not bring any limitations to the functionality or scope of use of the embodiments of the present invention.

As shown in FIG. 7, computer device 12 is in the form of a general purpose computing device. The components of computer device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.

Bus 18 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures. By way of example, such architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, micro-channel architecture (MAC) bus, enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

Computer device 12 typically includes a variety of computer system readable media. Such media may be any available media that is accessible by computer device 12 and includes both volatile and nonvolatile media, removable and non-removable media.

The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)30 and/or cache memory 32. Computer device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 7 and commonly referred to as a "hard drive"). Although not shown in FIG. 7, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. System memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.

A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in system memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of the described embodiments of the invention.

Computer device 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), with one or more devices that enable a user to interact with computer device 12, and/or with any devices (e.g., network card, modem, etc.) that enable computer device 12 to communicate with one or more other computing devices. Such communication may be through an input/output (I/O) interface 22. Also, computer device 12 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network such as the Internet) via network adapter 20. As shown, the network adapter 20 communicates with the other modules of the computer device 12 over the bus 18. It should be appreciated that although not shown in FIG. 7, other hardware and/or software modules may be used in conjunction with computer device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, to name a few.

The processing unit 16 executes various functional applications and data processing by executing programs stored in the system memory 28, for example, to implement the method for controlling an autonomous vehicle provided by the embodiment of the present invention, the method including:

under the remote control takeover mode, determining a target control instruction according to the triggering operation of a user on any preset vehicle running control component and the operation attribute parameters of the triggering operation;

EXAMPLE seven

The seventh embodiment provides a computer-readable storage medium, on which a computer program is stored, the program, when executed by a processor, implementing the method for controlling an autonomous driving vehicle according to any embodiment of the present invention, including:

Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer-readable storage medium may be, for example but not limited to: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, 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 disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.

Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).

It will be understood by those skilled in the art that the modules or steps of the present invention described above can be implemented by a general purpose computing device, they can be centralized in a single computing device or distributed over a network of multiple computing devices, and they can alternatively be implemented by program code executable by a computing device, so that they can be stored in a storage device and executed by a computing device, or they can be separately fabricated into various integrated circuit modules, or multiple modules or steps thereof can be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A method of controlling an autonomous vehicle, the method comprising:

2. The method according to claim 1, wherein when the operation attribute parameter is an operation action amplitude, the determining a target control instruction according to a trigger operation of a user on any one of the preset vehicle travel control components and the operation attribute parameter of the trigger operation comprises:

3. The method of claim 2, wherein determining steering angle increment information and determining a target steering angle based on the operational magnitude comprises:

4. The method according to claim 1, wherein when the operation attribute parameter is an operation amplitude, the determining a target control instruction according to a trigger operation of a user on any one of the preset vehicle travel control components and the operation attribute parameter of the trigger operation further comprises:

5. The method according to claim 4, wherein the determining a deceleration value or an acceleration value during drive control or brake control according to the operation magnitude of the second operation command includes:

determining a numerical mapping coefficient between the operation amplitude and a deceleration numerical interval or an acceleration numerical interval according to the numerical interval where the operation amplitude of the second operation instruction is located;

and operating the operation amplitude of the second operation instruction and the numerical value mapping coefficient to determine the deceleration value or the acceleration value.

6. The method according to claim 1, wherein when the operation attribute parameter is a duration of a waiting delay after an operation, the determining a target control instruction according to a trigger operation of a user on any one of the preset vehicle travel control components and the operation attribute parameter of the trigger operation includes:

7. The method according to any one of claims 1-6, further comprising:

and when the driving force corresponding to the fourth operation instruction is larger than or equal to the component force of the target control vehicle in the plane direction of the slope, canceling the braking instruction and executing the driving control instruction corresponding to the fourth operation instruction.

8. The method of claim 1, further comprising:

when the target control vehicle is in an automatic driving mode, responding to the triggering operation of a user on a brake control assembly in the remote controller, and sending a brake control instruction to a control unit of the target control vehicle, so that the target control vehicle shields a drive control instruction in the automatic driving mode and executes the brake control instruction.

9. The method according to claim 8, characterized in that when the deceleration value corresponding to the brake control command is smaller than a preset deceleration threshold value, the brake control command is a motor back-dragging brake control command; and when the deceleration value corresponding to the brake control command is larger than the preset deceleration threshold value, the brake control command is a hydraulic brake control command.

10. An autonomous driving vehicle control apparatus, characterized in that the apparatus comprises:

the control instruction determining module is used for determining a target control instruction according to the triggering operation of a user on any preset vehicle running control assembly and the operation attribute parameters of the triggering operation in the remote control takeover mode;

11. An automatic driving control system, characterized in that the system comprises:

the receiver is communicated with the remote controller and acquires the operation signal;

a control unit receiving and executing the control signal to implement the control method for the target vehicle according to any one of claims 1 to 9.

12. A computer device, characterized in that the computer device comprises:

one or more processors;

a memory for storing one or more programs;

when executed by the one or more processors, cause the one or more processors to implement the autopilot vehicle control method of any of claims 1-9.

13. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the autopilot vehicle control method according to one of claims 1 to 9.