CN117985050A - Method and system for autonomous delivery of vehicles - Google Patents

Abstract

The invention relates to the technical field of automatic driving, in particular to a method and a system for autonomous escort of a vehicle. The method comprises the following steps: controlling the vehicle (100) to execute the escort task according to the escort request; and in response to an accident occurring during the execution of the arming task by the vehicle (100), determining an accident level, and performing a corresponding handling operation according to the determined accident level, wherein the corresponding handling operation comprises informing an accident-related party (P3) of the presence of the in-vehicle arming target (T) based on the accident level. The method and the system can realize safe and comfortable autonomous vehicle escort in multiple aspects, and can allow the unmanned vehicle to negotiate with accident related parties at least without the participation of a driver when autonomously executing the escort task, thereby realizing the rapid processing of slight traffic accidents.

Description

Method and system for autonomous delivery of vehicles

Technical Field

The present invention relates to the field of autopilot technology, and in particular to a method and system for autonomous delivery of a vehicle, an autopilot vehicle and a computer program product.

Background

When the automatic driving vehicle reaches the L4/L5 level, full-automatic unmanned driving can be realized. At this time, the vehicle can travel without the driver at all for transportation. Currently, there are solutions that use an autonomous vehicle to protect children to a destination. However, more safety measures are also considered during escort, particularly in connection with handling of an autonomous vehicle in the event of a traffic accident.

Disclosure of Invention

In this respect, the object of the present invention is to provide a method for autonomous escort of a vehicle, which is able to allow an unmanned vehicle to autonomously and safely perform the escort task.

According to a first aspect of the present invention there is provided a method for autonomous delivery of a vehicle, comprising:

-controlling the vehicle to perform the escort task in accordance with the escort request; and

Responsive to an accident occurring in the vehicle during the performance of the escort task, determining an accident level, and performing a corresponding handling operation in accordance with the determined accident level,

Wherein the corresponding processing operation includes notifying an accident-related party of the presence of the in-vehicle delivery target based on the accident level.

According to an alternative embodiment of the invention, the method comprises: the accident information is provided to the escort party.

According to an alternative embodiment of the invention, the method comprises: after the occurrence of an accident is detected by the vehicle, accident information is automatically collected by the vehicle.

According to an alternative embodiment of the invention, the method comprises: the accident information is uploaded to a background system and/or selectively alerted by the vehicle or the party involved in the arming, depending on the accident level.

According to an alternative embodiment of the invention, the method comprises: in the case where the accident-related party is a vehicle, an attempt is made to establish workshop communication therewith.

According to an alternative embodiment of the invention, the incident information comprises one or more of the following information: accident occurrence, geographical position of accident occurrence, corresponding progress of the arming task, damaged condition of the vehicle, information of accident related party, accident scene image and state of arming target in the vehicle.

According to an alternative embodiment of the invention, the method comprises: in the case where workshop communication cannot be established or the accident-related party is not a vehicle, the accident-related party is informed of the presence of the in-vehicle escort target in a voice manner.

According to an alternative embodiment of the invention, the method comprises creating a secure feeding atmosphere during the execution of the feeding task by at least one of the following operations: prompting to wear the safety belt; door and window locking which can be controlled by the protection and delivery related party; collecting the state of an in-car protection target in real time and pushing the state to a protection related party; and providing entertainment content to the in-vehicle escort target, the entertainment content optionally approved by the escort party and/or the in-vehicle escort target.

According to an alternative embodiment of the invention, the escort party initiates or learns the escort request, the escort task progress and the accident information via a personal device capable of communicating with the vehicle remotely.

According to an alternative embodiment of the invention, the navigation system is used to plan the route of travel and to infer the estimated time of arrival.

According to an alternative embodiment of the invention, at least one parameter of the escort task is allowed to be modified, in particular negotiated, by the escort party during the execution of the escort task.

According to an alternative embodiment of the invention, the method further comprises: opening a door of a vehicle and completing an escort task after authentication of an escort related party at a destination is successful, wherein the data for authentication comprises: the key contained in the escort request is, in particular, an instant two-dimensional code presented on the window; and/or biometric information data of the escort-related party at the destination.

According to an alternative embodiment of the invention, the method further comprises: the method comprises the steps of contacting an escort related party in advance before completing an escort task, and controlling the vehicle to return to a departure place under the condition that contact of preset times fails.

According to a second aspect of the present invention there is provided a system for autonomous delivery of a vehicle, comprising:

-a receiving module for receiving a request for escort;

-a detection module for detecting the occurrence of an accident during the execution of the escort task by the vehicle;

-a control module for determining an accident level from the detected accident; and

-An execution module for executing a respective processing operation according to the accident level, wherein the respective processing operation comprises informing an accident-related party of the presence of the in-vehicle feeding target based on the accident level.

According to a third aspect of the present invention there is provided an autonomous vehicle comprising a system according to the present invention.

According to a fourth aspect of the present invention there is provided a computer program product comprising a computer program for implementing any of the methods according to the present invention when executed by at least one processor.

Drawings

The principles, features and advantages of the present invention may be better understood by describing the present invention in more detail with reference to the drawings. In the drawings of which there are shown,

FIG. 1 illustrates a flow diagram of a method for autonomous vehicle delivery in accordance with one embodiment of the present invention;

FIG. 2 illustrates a schematic structural diagram of a system for autonomous vehicle delivery in accordance with one embodiment of the present invention; and

Fig. 3 shows a schematic application scenario according to an embodiment of the invention.

Detailed Description

In order to make the technical problems, technical solutions and advantageous technical effects to be solved by the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings and exemplary embodiments. It should be understood that the description of the specific embodiments is intended for purposes of illustrating the principles of the invention and is not in limitation on the scope of the invention.

Fig. 1 and 2 show a method and a system according to the invention, respectively, and fig. 3 shows a schematic application scenario. An embodiment of the present invention will be described below with reference to fig. 1 to 3.

As shown in fig. 1 and 3, a method for autonomous escort of a vehicle according to an embodiment of the present invention includes:

step S1: controlling the vehicle 100 to perform the escort task according to the escort request; and

Step S2: in response to an accident occurring during the execution of the escort task by the vehicle 100, an accident level is determined, and a corresponding processing operation is performed according to the determined accident level,

Wherein the corresponding processing operation includes informing the accident-related party P3 of the presence of the in-vehicle delivery target T based on the accident level.

Accordingly, as shown in fig. 2, a system 10 for autonomous delivery of a vehicle according to one embodiment of the present invention includes:

a receiving module 11, configured to receive a request for protection;

a detection module 12 for detecting an occurrence of an accident during execution of the escort task by the vehicle 100;

A control module 13 for determining an accident level from the detected accident; and

An execution module 14 for executing a corresponding processing operation according to the accident level, wherein the corresponding processing operation includes notifying the accident-related party P3 of the presence of the in-vehicle delivery target T based on the accident level.

The modules CAN be connected with each other through a vehicle CAN bus.

In step S1 of the method, an escort request may be initiated by the escort-related party. As shown in fig. 3, the escort-related party includes an escort-related party P1 located at the departure place SP, i.e., a (escort request) consigner P1. The escort-related party also comprises an escort-related party P2, i.e. a (escort request) receiver P2, located at the destination DP. Herein, the escort target T may be a person, such as a child or an elderly person, who needs special care; but also articles such as valuables and the like.

Specifically, in step S1, the escort request may be initiated by one of the consigner P1 and the receiver P2 and pushed to the other. For example, in one embodiment, the consignee P1 may initiate an escort request via his personal device 200 (shown in FIG. 3), which the vehicle 100 may receive (labeled S11 in FIG. 3), and perform the escort task in accordance with various parameters in the escort request. At the same time, the escort request is also provided (labeled S12 in fig. 3) to the recipient P2, e.g. the recipient P2 may learn about and view the escort request through his personal device 200. It should be understood that the initiation of the escort request by the delegation party P1 is described herein by way of example only, but is not limited thereto, and the escort request may also be initiated by the receiver P2.

The personal device 200 may be a cell phone, a wearable device (e.g., a smart watch), a computer, a desktop, etc., that is dedicated to the consignee P1 or the receiver P2, respectively. Wherein the personal device 200 is preferably a mobile phone. Related information, data, or content may be communicated by establishing a remote communication between personal device 200 and vehicle 100. Illustratively, the consigner P1 may set parameters related to the escort request in the personal device 200 (e.g. in the corresponding application APP), which parameters may then be stored in a corresponding background server from which the receiving module 11 of the system 10 may access and obtain the parameters and perform the escort task in accordance with the parameters.

Thus, the escort-related parties P1, P2 may initiate or learn the escort request, learn the progress of the escort task, and accident information, which will be described below, respectively, by their own personal devices 200.

The parameters to be set at the time of initiating the escort request may include information of the escort target T, information of the receiver P2, positions of the departure place SP and the destination DP, and start time of the escort task. The information of the escort target T may be the type and/or the number of escort targets T, etc. The receiver P2 may be specified by the delegator P1 and its information may include the contact means (e.g., cell phone number, ID number in the corresponding APP, etc.). The locations of the departure point SP and the destination DP may be used to plan a travel route of the vehicle 100 during the escort and estimate an estimated escort-receiving time in conjunction with a start time of the escort task.

In one embodiment, the travel route and the escrow reception time may be displayed in the personal device 200 of the consignor P1 after the consignor P1 sets the positions of the departure place SP and the destination DP and the start time of the escrow task, for example, in the page of the corresponding mobile phone APP. The escort request containing the above parameters may then be pushed to the receiver P2 according to the contact, for example, a notification is displayed in the corresponding mobile APP of the receiver P2. The receiver P2 can view the relevant escort request from the mobile phone APP after seeing the notification, thereby arranging its own journey so as to successfully receive the escort target T.

Alternatively, the planning of the travel route and the presumption of the predicted escrow reception time described above may be accomplished by means of a navigation system in the vehicle 100. For example, the vehicle 100, upon receiving the escort request, plans a travel route and presumes an estimated escort reception time based on the positions of the departure place SP and the destination DP, and pushes the route and the reception time to the personal devices 200 of the consignor P1 and the receiver P2.

In addition, the escort request may additionally contain data for verifying the identity of the receiver P2, for example, various forms of keys, such as passwords, bar codes, two-dimensional codes, etc. The receiver P2 can obtain the key, provide the key to the vehicle 100 to verify the identity when the vehicle 100 reaches the destination DP, and can open the door of the vehicle 100 only when the authentication is successful, thereby touching the escrow target T. Additionally or alternatively, the data for verifying the identity of the receiver P2 may be at least part of the mobile phone number of the receiver P2, and the identity verification of the receiver P2 may be completed by comparing at least part of the mobile phone number input by the receiver P2 with the mobile phone number included in the escort request.

For example, in one particular embodiment, the key may be an instant two-dimensional code presented on a vehicle window. Specifically, when the vehicle 100 arrives at the destination DP and the receiver P arrives beside the vehicle 100, the receiver P2 needs to determine (e.g., click in the corresponding mobile phone APP) that "has arrived beside the vehicle" by the personal device 200. When the vehicle 100 receives the information from the personal device 200, it automatically projects or displays a two-dimensional code (expiration date is 1 minute, for example) generated in real time on the window glass, and the receiver P2 needs to scan the two-dimensional code with the personal device 200 and input a password included in the escort request in the personal device 200, and after the password is verified successfully, the door is automatically opened, thereby completing the escort task. Thereafter, the vehicle 100 may provide the escort completion message to the consigner P1 and the receiver P2 through the personal device 200. However, when the password authentication fails, the door is kept closed, the receiver P2 needs to sweep the code again and input the password, and if the password authentication fails for a preset number of times, the authentication port is closed to prohibit the receiver P2 from continuing to operate, and notify the consignor P1. The principal P1 may have the right to release the prohibition.

Additionally, the data for authentication may also include biometric information data of the escort-related party P1, P2 at the destination DP. Here, the biometric information data may include face information and/or fingerprint information of the receiving side P2, etc. For example, the receiver P2 needs to make face recognition in advance, and corresponding face information may be stored in the vehicle 100. When the receiver P2 arrives beside the vehicle and determines that "has arrived beside the vehicle" through the personal device 200, the vehicle 100 may prompt the receiver P2 to face a specific camera outside the vehicle to collect face information, and after the face authentication is successful, the door is opened, so as to complete the protection procedure. The situation is also similar for fingerprint information. Thus, the method and system according to the present invention may provide an enhanced security mode.

It should be appreciated that the present invention may also relate to a request management application for autonomous vehicle delivery developed for a cell phone, smart wearable device, or computer, etc. In addition, instead of a separate application, the escort request may be provided to the consigner P1 and the receiver P2 in the form of a short message.

Optionally, the method according to the invention may comprise creating a safe arming atmosphere inside the vehicle during performing the arming task.

Specifically, in an alternative embodiment, the vehicle 100 may automatically turn on the escort mode upon reaching the start time of the escort task. In the event that the arming target T is a person, the system 10 of the vehicle 100 may issue a prompt, particularly a voice prompt, to prompt the belting in response to detecting that the arming target T is entering the vehicle. The consignee P1 or the escort target T may operate accordingly under prompt. Thereafter, the vehicle 100 may autonomously travel toward the destination DP using the navigation system and along the planned route.

Additionally, the real-time position of the vehicle 100 and parameters such as the progress of the delivery task determined based on the real-time position may be pushed by the personal device 200 to the delivery-related parties P1, P2, e.g. updated in real-time in the respective cell phones APP.

Additionally or alternatively, during performance of the arming task, the doors and windows of the vehicle 100 may be locked such that the doors and windows of the vehicle 100 cannot be opened inside the vehicle by the in-vehicle arming target T. Further, the consignor P1 and/or the receiver P2 can remotely control the locking state of the door and window through the personal device 200.

Additionally or alternatively, during execution of the arming task, the status of the in-vehicle arming target T may be collected in real-time by an in-vehicle camera and pushed to the arming interested party P1, P2. The consignee P1 and/or the receiver P2 can remotely view the status of the escort target T through the personal device 200.

Additionally or alternatively, during performance of the escort task, in case the escort target T is a person, entertainment content may be provided to the in-vehicle escort target T, which entertainment content is optionally approved by the escort related party P1, P2 and/or the in-vehicle escort target T. For example, when delivering a child, the vehicle 100 may first pre-select entertainment content suitable for the child and solicit comments from the delivering-related parties P1, P2 regarding the pre-selected content, which may be played in response to the child's needs if the delivering-related parties P1, P2 agree. Here, the solicitation opinion may be implemented in e.g. a corresponding mobile phone APP, whereas the needs of the child may be collected and confirmed by means of a voice interaction device in the vehicle. In addition, the opinion of the protection related parties P1 and P2 may be solicited against the needs of the child, and play may be started after the consent is obtained.

Additionally or alternatively, the method according to the invention may comprise: during execution of the escort task, at least one parameter of the escort task is allowed to be modified, in particular negotiated, by the escort related party P1, P2. Here, the at least one parameter of the escort task refers in particular to the destination DP and/or the time of reception. Due to some temporary situations, the receiver P2 may not be able to receive the escort target T at a predetermined reception time or a predetermined destination DP after the escort task has been performed, i.e. the vehicle 100 has driven away from the departure place SP. In this regard, the method and system according to the invention allow the receiver P2 to modify the destination DP and the reception time received, which can be carried out by the personal device 200, in particular in the mobile phone APP. And the modification also needs to be pushed to the consignor P1 to solicit consent from the consignor P1. Here, multiple rounds of negotiation by both parties may be involved. After the negotiation is successful, the determined new destination DP and/or the reception time is provided to the vehicle 100, whereupon the vehicle 100 will re-plan the escort task, including for example re-planning the driving path, parking waiting or even returning to the departure place SP.

Additionally or alternatively, in one embodiment, the method according to the invention may further comprise: the escort related parties P1, P2 are contacted in advance before the escort task is completed, and in case of failure of contact for a preset number of times, the vehicle is controlled to return to the departure place SP. Specifically, before reaching the destination DP, for example, 5 to 10 minutes in advance, the vehicle 100 may contact the receiver P2 with the telephone number of the receiver P2 included in the escort request to prompt the vehicle 100 that the destination DP is to be reached and inquire whether it can be ready for reception on time. If the contact is not successful, the vehicle 100 will try again a preset number of times (e.g. 3 times), and if not, the vehicle 100 will inform the contact consignor P1 of this and request an indication. Thereafter, the vehicle 100 may continue the escort task according to the instruction of the consigner P1, such as waiting to a certain specific time at the destination or returning to the departure place SP, or the like. If it is not desirable to attempt to contact both the consigner P1 and the receiver P2 multiple times, the vehicle 100 may wait for a preset time (e.g., 15 to 30 minutes) at the place or destination DP, optionally continue to attempt to contact both the receiver P2 and the consigner P1 in turn during the waiting period, and the vehicle 100 may return to the departure place SP autonomously after the waiting time has ended. Finally, the vehicle 100 may inform the receiver P2 and the consignor P1 of this situation.

The above considers and perfects details in the vehicle autonomous escort method in multiple dimensions, which can advantageously make the vehicle autonomous escort solution more complete and safe.

During autonomous escort of an unmanned vehicle, once a traffic accident occurs, particularly if an accident related party exists, the vehicle is not provided with a driver, and the escort target T in the vehicle often cannot handle the accident like the driver, so that the accident cannot be rapidly handled, and the completion of the escort task, the increase of panic of the escort target T, the influence of traffic efficiency and the like are possibly influenced.

The method and system according to the invention thus take into account in particular the handling decisions for accidents.

In step S2, the occurrence of an accident may be detected by the detection module 12 of the system 10. Here, the detection may be performed using methods known in the art. For example, an airbag in a vehicle may automatically open to protect an occupant in the vehicle when a serious accident (such as a collision represented by a polygon in fig. 3) occurs, and the airbag may not automatically open when a slight accident (such as a scratch) occurs. Thus, in one embodiment, the occurrence and the level of the accident may be determined by the control module 13 by detecting the automatic opening of the airbag by the detection module 12. Further, by way of example, the occurrence of a collision may also be implemented by known methods of determining the amount of deceleration change of the vehicle. Further by way of example, the accident type and the accident level may also be determined using live environmental images or videos of the surroundings of the vehicle collected by means of a camera.

Thus, the detection module 12 may include cameras (in-vehicle and/or off-vehicle), lidar, millimeter wave radar, ultrasonic radar, etc. sensors, and the control module 13 may be or include an autopilot controller.

The control module 13 may determine accident levels, such as severe accidents and mild accidents, based on the accidents detected by the detection module 12. Alternatively, more than two accident levels may be provided, thereby subdividing the countermeasures of accidents of different severity. In addition, the accident level and corresponding countermeasures may be set in consideration of the type of accident-related party, such as road elements of vehicles, pedestrians, roadblocks, or curbs.

In one embodiment, when a severe accident occurs, the on-board emergency call system 141 (shown in FIG. 2) in the system 10 may be triggered to automatically call (labeled S13 in FIG. 3) the emergency treatment backend system 300, thereby uploading accident information to the backend system 300.

In some embodiments, the in-vehicle emergency call system 141 may automatically place an alert call to seek assistance from the traffic police 400. At the same time, the system 10 may provide accident information to the escort-related parties P1, P2 via the personal device 200. The provision may be implemented by means of telephone, short message and/or corresponding APP. For example, the consignor P1 and/or the receiver P2 may remotely view the in-vehicle situation by means of in-vehicle camera shooting through the corresponding mobile phone app, and may also attempt to talk to the in-vehicle delivery target T through the in-vehicle communication system 142 (shown in fig. 2).

Additionally or alternatively, after detection of the occurrence of an accident by the vehicle, accident information may be automatically collected by the vehicle 100, for example by means of a camera in all directions. The accident scene can be recorded as accident information in the form of photographs or videos by means of these sensors. In some embodiments, images recorded in the event data recorder of the vehicle 100 for a period of time prior to the occurrence of the event may also be directly recalled and saved as event information or evidence.

Here, the accident information may include one or more of the following information: accident occurrence, geographical position of accident occurrence, corresponding progress of the arming task, damaged condition of the vehicle, information of accident related party, accident scene image and state of the arming target T in the vehicle.

The on-board emergency call system 141 will not be triggered when a minor accident occurs, but the vehicle 100 will activate cameras in all directions to record the scene in the form of photographs or videos. When the accident-related party P3 is a vehicle, it may attempt to establish workshop communication therewith.

If communication can be established, a message may be directly sent to the accident-related vehicle P3 informing it of the presence of the in-vehicle delivery target T, particularly a child or an elderly person, etc., and additionally informing it how to handle it, for example, please drive the vehicle to a nearest safe area for parking and please be patience waiting for a traffic police intervention. Alternatively, the location and/or visual evidence of the target safety zone may be issued by the vehicle 100 to the accident-related vehicle P3. The target safe area may be provided by an on-board map of the vehicle 100.

If the party P3 is not a vehicle in the case of establishing the shop communication or the accident related party P3, the presence of the in-vehicle delivery target T may be notified (marked S14 in fig. 3) in a voice manner to the accident related party P3. This may be implemented by means of an external loudspeaker of the vehicle 100 so that speech of the same or similar content as described above may be played back in a loop to inform the accident-related party P3 or other person outside the vehicle.

In addition, the vehicle 100 will automatically travel in a controlled manner to the nearest safe zone to stop. At the same time, the protection related parties P1 and P2 are contacted to inform the accident, and optionally, the image evidence and the parking position are sent to the protection related parties P1 and P2 to inform the protection related parties P1 and P2 to dial a traffic accident hot line (marked as S15 in fig. 3) to contact the traffic police 400 to intervene in the treatment. During parking waiting, the vehicle 100 may provide entertainment content agreed to by the escort party to the in-vehicle escort target T as has been described previously, thereby pacifying the emotion of the escort target T.

After the traffic police intervention, the system 10 may also query the escort party (particularly the consigner) via the personal device 200 whether the vehicle 100 needs to return to the origin SP or continue to perform the escort task. The system 10 performs the corresponding operation as directed by the party concerned upon receiving a reply from the party concerned.

By the method and the system, safe and comfortable autonomous vehicle escort can be realized in multiple aspects, and unmanned vehicles are allowed to negotiate with accident related parties at least without the participation of drivers when autonomous performing escort tasks, so that rapid processing of slight traffic accidents is realized.

The invention also provides an autonomous vehicle, in particular an L4, L5 class autonomous vehicle, comprising a system 10 according to the invention.

It should be appreciated that in the description herein, the terms "one embodiment," "some embodiments," and "example embodiments," etc., describe the particular features, structures, materials, or characteristics described in connection with the embodiment are included in at least one embodiment of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment.

It is noted that advantages and benefits of the present invention are not limited to the above-mentioned ones, and that other advantages and benefits not mentioned can be understood by those skilled in the art through the detailed description and claims.

Although specific embodiments of the invention have been described in detail herein, they are presented for purposes of illustration only and are not to be construed as limiting the scope of the invention. Various substitutions, alterations, and modifications can be made without departing from the spirit and scope of the invention.

Claims (10)

1. A method for autonomous delivery of a vehicle, comprising:

controlling the vehicle (100) to execute the escort task according to the escort request; and

In response to an accident occurring during the execution of the escort task by the vehicle (100), determining an accident level, and performing a corresponding handling operation according to the determined accident level,

Wherein the corresponding handling operation comprises informing the accident-related party (P3) of the presence of the in-vehicle arming target (T) based on the accident level.

2. The method according to claim 1, characterized in that the method comprises:

providing accident information to the escort-related party (P1, P2); and/or

After the accident is detected by the vehicle, accident information is automatically collected by the vehicle; and/or

Uploading accident information to a background system (300) and/or selectively alerting by a vehicle (100) or an escort party (P1, P2) according to the accident level; and/or

In the case where the accident-related party (P3) is a vehicle, an attempt is made to establish workshop communication therewith.

3. The method of claim 2, wherein the step of determining the position of the substrate comprises,

The incident information includes one or more of the following: the accident, the geographical position of the accident, the corresponding progress of the protective transmission task, the damaged condition of the vehicle, the information of the accident related party, the accident scene image and the state of the in-vehicle protective transmission target (T); and/or

The method comprises the following steps: in the case where workshop communication cannot be established or the accident-related party (P3) is not a vehicle, the presence of the in-vehicle delivery target (T) is notified to the accident-related party (P3) in a voice manner.

4. A method according to any of claims 1-3, characterized in that the method comprises creating a secure feeding atmosphere during the execution of the feeding task by at least one of the following operations:

Prompting to wear the safety belt;

Door and window locking which can be controlled by the protection related parties (P1, P2);

collecting the state of an in-car delivery target (T) in real time and pushing the state to delivery related parties (P1, P2); and

Entertainment content is provided to the in-vehicle delivery target (T), which entertainment content is optionally approved by the delivery-related party (P1, P2) and/or the in-vehicle delivery target (T).

5. The method according to any one of claims 1 to 4, wherein,

The escort related party (P1, P2) initiates or obtains the escort request and the escort task progress and accident information through the personal equipment (200) capable of being remotely communicated with the vehicle; and/or

Planning a driving route and presuming the expected arrival time by using a navigation system; and/or

During the execution of the escort task, at least one parameter of the escort task is allowed to be modified, in particular negotiated, by the escort related party (P1, P2).

6. The method according to any one of claims 1-5, further comprising:

Opening the door of the vehicle and completing the escort task after authentication of the escort-related party (P1, P2) at the Destination (DP), wherein the data for authentication comprises:

the key contained in the escort request is, in particular, an instant two-dimensional code presented on the window; and/or

And (c) sending the biometric data of the party (P1, P2) associated with the Destination (DP).

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

The escort related party (P1, P2) is contacted in advance before the escort task is completed, and in case of failure of contact of preset times, the vehicle is controlled to return to the departure place (SP).

8. A system (10) for autonomous escort of a vehicle, comprising:

a receiving module (11) for receiving a request for escort;

A detection module (12) for detecting the occurrence of an accident during the execution of the escort task by the vehicle;

A control module (13) for determining an accident level from the detected accident; and

-An execution module (14) for executing a respective processing operation according to the accident level, wherein the respective processing operation comprises informing an accident-related party (P3) of the presence of the in-vehicle arming target (T) based on the accident level.

9. An autonomous vehicle comprising a system (10) according to claim 8.

10. A computer program product comprising a computer program for implementing the method according to any of claims 1-7 when executed by at least one processor.