WO2018001276A1 - 车辆控制方法、装置、车辆及远程驾驶控制系统 - Google Patents

车辆控制方法、装置、车辆及远程驾驶控制系统 Download PDF

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Publication number
WO2018001276A1
WO2018001276A1 PCT/CN2017/090584 CN2017090584W WO2018001276A1 WO 2018001276 A1 WO2018001276 A1 WO 2018001276A1 CN 2017090584 W CN2017090584 W CN 2017090584W WO 2018001276 A1 WO2018001276 A1 WO 2018001276A1
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WIPO (PCT)
Prior art keywords
vehicle
controlled
master
control
controlled vehicle
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PCT/CN2017/090584
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English (en)
French (fr)
Inventor
刘恩阜
尚小良
刘芳
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比亚迪股份有限公司
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Publication of WO2018001276A1 publication Critical patent/WO2018001276A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces

Definitions

  • the present invention relates to the field of vehicle control, and in particular to a vehicle control method, apparatus, vehicle, and remote driving control system.
  • remote switch on-board equipment such as remotely turning on the air conditioner or remotely starting the engine.
  • Some vehicles are also equipped with assisted driving functions, such as intelligent reminding the driver to pay attention to the pedestrian or the distance is too close to remind the driver to pay attention to keep the distance.
  • assisted driving functions such as intelligent reminding the driver to pay attention to the pedestrian or the distance is too close to remind the driver to pay attention to keep the distance.
  • the above-mentioned remote switch vehicle equipment and assisted driving functions cannot help the driver to complete the driving. task. Because of the geographical location restrictions, it is also very inconvenient to turn to others. And, if it is in a sparsely populated area, it will add extra time and money.
  • a vehicle control method is provided, the method being applied to a master vehicle, and the method comprising: receiving a vehicle operation command; wherein the master vehicle is in a control mode Determining, according to the vehicle operation instruction, a control strategy for a controlled vehicle connected to the master vehicle, the control strategy for indicating an operation to be performed by the controlled vehicle; to the controlled vehicle And transmitting a control instruction including the control policy, the control instruction for controlling the controlled vehicle to perform an operation indicated by the control strategy.
  • a vehicle control method the method being applied to a controlled vehicle, and the method comprising: receiving and controlling the controlled vehicle in a controlled mode a control command sent by a master vehicle connected to the vehicle, the control command including a control strategy for indicating an operation to be performed by the controlled vehicle; acquiring the control policy from the control command; executing the control strategy Indicated action.
  • a vehicle control device configured in a master vehicle, and the device comprising: a first receiving module for receiving a vehicle operating instruction; and a control policy determining module for Determining, according to the vehicle operation instruction, a control strategy for a controlled vehicle connected to the master vehicle, where the master vehicle is in a control mode, the control strategy is used to indicate that the controlled vehicle is to be executed Operation; first And a sending module, configured to send, to the controlled vehicle, a control instruction including the control policy, where the control instruction is used to control the controlled vehicle to perform an operation indicated by the control policy.
  • a vehicle control apparatus configured in a controlled vehicle, and the apparatus comprising: a fifth receiving module, wherein the controlled vehicle is in a controlled mode Receiving a control command sent by the master vehicle connected to the controlled vehicle, the control command including a control strategy for indicating an operation to be performed by the controlled vehicle; a control strategy acquisition module for using the control Obtaining the control policy in an instruction; and executing an module, configured to perform an operation indicated by the control policy.
  • a vehicle comprising: a communication module for communicating with other vehicles; a vehicle controller comprising the vehicle control device provided according to the third aspect of the invention.
  • a vehicle comprising: a communication module for communicating with other vehicles; a vehicle controller comprising the vehicle control device provided according to the fourth aspect of the invention.
  • a remote driving control system comprising a master vehicle and a controlled vehicle, wherein the master vehicle is a vehicle provided according to the fifth aspect of the present invention,
  • the controlled vehicle is a vehicle provided in accordance with the sixth aspect of the invention.
  • a computer readable storage medium having stored therein an executable program, when the program is executed by a processor, performing the method or the second aspect of the first aspect of the present invention At least one of the methods.
  • a vehicle comprising the computer storage medium according to the eighth aspect of the invention.
  • a communication connection can be established between the master vehicle and the controlled vehicle.
  • the driver of the master vehicle transmits the corresponding control command to the controlled vehicle by the master vehicle by operating the master vehicle locally, so that the controlled vehicle can perform the corresponding operation according to the operation of the driver of the master vehicle.
  • the driver of the master vehicle can be remotely assisted to complete the control.
  • the driving task of the vehicle is not limited by geographical location, and the operation is very convenient. Even in places where there are few people in the wild, drivers of controlled vehicles can get help in time, without having to spend too much time and money, and the user experience can be improved.
  • FIG. 1 is a schematic diagram of a remote driving control system according to an exemplary embodiment.
  • FIG. 2 is a flowchart of a vehicle control method according to an exemplary embodiment.
  • FIG. 3 is a flowchart of a vehicle control method according to an exemplary embodiment.
  • Figures 4 and 5 respectively show the relationship between the master vehicle and the controlled vehicle in two embodiments of establishing a connection. Schematic diagram of signaling interaction.
  • FIG. 6 is a flowchart of another vehicle control method according to an exemplary embodiment.
  • FIG. 7 is a flowchart of another vehicle control method according to an exemplary embodiment.
  • FIG. 8 is a flowchart of another vehicle control method according to an exemplary embodiment.
  • FIG. 9 is a flowchart of another vehicle control method according to an exemplary embodiment.
  • FIG. 10 is a block diagram of a vehicle control apparatus according to an exemplary embodiment.
  • FIG. 11 is a block diagram of a vehicle control apparatus according to an exemplary embodiment.
  • FIG. 1 is a schematic diagram of a remote driving control system according to an exemplary embodiment.
  • the system can include a first vehicle 100 and a second vehicle 200.
  • one of the first vehicle 100 and the second vehicle 200 serves as a master vehicle, and the other serves as a controlled vehicle, and the master vehicle is used to control the operation of the controlled vehicle.
  • the first vehicle 100 is a master vehicle and the second vehicle 200 is a controlled vehicle as an example.
  • a first communication module and a first vehicle controller are disposed in the first vehicle 100, and a second communication module and a second vehicle controller are disposed in the second vehicle 200.
  • the first vehicle 100 and the second vehicle 200 can communicate interactively through respective communication modules.
  • wireless communication may be performed between the first vehicle 100 and the second vehicle 200 via a Bluetooth network, a 2G network, a 3G network, a 4G network, a 5G network, a WiFi network, or the like.
  • a vehicle control device for the master vehicle is configured, and in the other, a vehicle control device for the controlled vehicle is configured .
  • the vehicle controller configured with the vehicle control device for the master vehicle may be used as the master, and the vehicle controller configured with the vehicle control device for the controlled vehicle may be used as the controlled party.
  • the first vehicle 100 may be a pure electric vehicle, a hybrid vehicle, or a fuel-type automobile (including a fuel automobile, a gas automobile, etc.), and the second vehicle 200 may be a pure electric vehicle, a hybrid vehicle, or a fuel type. Cars (including fuel cars, gas cars, etc.).
  • the first vehicle 100 may be a manual or automatic vehicle
  • the second vehicle 200 may be a manual or automatic vehicle. That is to say, in the present invention, the vehicle models of the first vehicle 100 and the second vehicle 200 may be the same or different.
  • FIG. 2 is a flowchart of a vehicle control method according to an exemplary embodiment.
  • the method can be applied to a host vehicle, such as the first vehicle 100 shown in FIG. As shown in FIG. 2, the method can include the following steps.
  • step 201 a vehicle operating command is received.
  • the driver of the master vehicle can apply a control operation to the master vehicle.
  • the control operation of the master vehicle by the driver of the master vehicle may be, for example but not limited to, a control operation of the accelerator pedal, a control operation of the brake pedal, Control operation of the clutch pedal, control operation of the steering wheel, shifting operation, control operation of the window glass, control operation of the wiper, control operation of the vehicle light, control operation of the vehicle multimedia system, and operation of the vehicle door Control operations and more.
  • the vehicle controller of the master vehicle may receive a corresponding vehicle operation command.
  • step 202 in the case that the master vehicle is in the control mode, a control strategy for the controlled vehicle connected to the master vehicle is determined according to the vehicle operation instruction, the control strategy is used to indicate an operation to be performed by the controlled vehicle .
  • the master vehicle can establish a communication connection with the controlled vehicle.
  • the vehicle controller of the master vehicle is triggered to enter the control mode.
  • the master vehicle is used to remotely control the controlled vehicle. That is to say, when the master vehicle is in the control mode, the vehicle operation command received by the master vehicle is for the controlled vehicle, not for the master vehicle itself, that is, the driver pair of the master vehicle at this time.
  • the control operation of the master vehicle is ineffective for the master vehicle itself.
  • the master vehicle can execute according to the received vehicle operation instruction. The corresponding operation. Therefore, in order to ensure the safety of the master vehicle, the master vehicle can be triggered to enter the control mode when in the parked state.
  • the master vehicle When the master vehicle is in the control mode, if the master vehicle receives the vehicle operation command, the master vehicle can determine the operation to be performed by the controlled command according to the vehicle operation instruction, and thereby determine the target vehicle Control Strategy.
  • step 203 a control command including a control strategy is transmitted to the controlled vehicle for controlling the controlled vehicle to perform the operation indicated by the control strategy.
  • FIG. 3 is a flowchart of a vehicle control method according to an exemplary embodiment.
  • the method can be applied to a controlled vehicle, such as the second vehicle 200 shown in FIG.
  • the method can include the following steps.
  • a control command sent by the master vehicle connected to the controlled vehicle is received with the controlled vehicle in a controlled mode
  • the control command may include a control strategy for indicating an operation to be performed by the controlled vehicle .
  • the master vehicle can establish a communication connection with the controlled vehicle.
  • the vehicle controller of the controlled vehicle is triggered to enter the controlled mode.
  • the controlled vehicle performs the corresponding operation under the control of the master vehicle. That is, when the controlled vehicle is in the controlled mode, the operation of the controlled vehicle by the driver of the controlled vehicle is ineffective for the controlled vehicle itself, which is based only on control from the host vehicle The instruction performs the operation. Only when the controlled vehicle exits the controlled mode, the operation of the controlled vehicle by the driver of the controlled vehicle is effective for the controlled vehicle itself, at which time the controlled vehicle can follow the control of the driver of the controlled vehicle. Take the appropriate action.
  • step 302 a control strategy is obtained from the control instructions.
  • step 303 the operation indicated by the control policy is performed.
  • the controlled vehicle may first parse the execution component corresponding to the operation to be performed by the controlled vehicle according to the control strategy. For example, when the control strategy is to control the acceleration of the controlled vehicle, the controlled vehicle can resolve the corresponding execution.
  • the line component is an accelerator pedal; when the control strategy is to control the deceleration of the controlled vehicle, the controlled vehicle can resolve the corresponding execution component as a brake pedal; when the control strategy is to control the controlled vehicle to perform a shift operation, the controlled vehicle
  • the corresponding execution component can be parsed as a shifting component, and so on. After parsing the corresponding execution component, the controlled vehicle can control the execution component to perform the operation indicated by the control strategy.
  • a communication connection can be established between the master vehicle and the controlled vehicle.
  • the driver of the master vehicle transmits the corresponding control command to the controlled vehicle by the master vehicle by operating the master vehicle locally, so that the controlled vehicle can perform the corresponding operation according to the operation of the driver of the master vehicle.
  • the driver of the master vehicle can be remotely assisted to complete the control.
  • the driving task of the vehicle is not limited by geographical location, and the operation is very convenient. Even in places where there are few people in the wild, drivers of controlled vehicles can get help in time, without having to spend too much time and money, and the user experience can be improved.
  • step 401 the master vehicle first transmits a connection establishment request to the controlled vehicle.
  • a button can be configured on the master vehicle, and when the user presses the button, the master vehicle can send a connection establishment request to the controlled vehicle.
  • a virtual button may be displayed on the onboard display of the host vehicle, and when the user clicks the virtual button, the master vehicle may send a connection establishment request to the controlled vehicle.
  • the controlled vehicle may output the connection establishment request in step 402.
  • the manner of output may include, for example, but not limited to, display, voice broadcast, sound and light output, and the like.
  • the purpose of outputting the connection establishment request is to obtain confirmation from the user of the controlled vehicle.
  • step 403 the controlled vehicle receives a confirmation command from the user for the connection establishment request.
  • a button may be configured on the controlled vehicle, and when the user presses the button, the user approves the connection establishment request, and at this time, the controlled vehicle may receive confirmation for instructing the user to approve the connection establishment request. instruction.
  • a virtual button may be displayed on the on-board display of the controlled vehicle, and when the user clicks on the virtual button, the user approves the connection establishment request, and at this time, the controlled vehicle may receive the indication for the user to approve the connection. Establish a confirmation command for the request.
  • step 404 the controlled vehicle transmits a connection confirmation message for the connection establishment request to the master vehicle according to the received confirmation command, wherein the controlled vehicle is directed to the master when the confirmation instruction instructs the user to approve the connection establishment request
  • the controlling vehicle transmits a connection confirmation message indicating that the controlled vehicle approves the connection establishment request.
  • the master vehicle receives a connection confirmation message for the connection establishment request sent by the controlled vehicle, wherein when the connection confirmation message indicates that the controlled vehicle approves the connection establishment request, the communication connection between the master vehicle and the controlled vehicle is established.
  • step 501 the controlled vehicle first sends a connection establishment request to the master vehicle.
  • a button can be configured on the controlled vehicle, and when the user presses the button, the controlled vehicle can send a connection establishment request to the host vehicle.
  • a virtual button may be displayed on the onboard display of the controlled vehicle, and when the user clicks on the virtual button, the controlled vehicle may send a connection establishment request to the host vehicle.
  • the master vehicle may output the connection establishment request in step 502.
  • the manner of output may include, for example, but not limited to, display, voice broadcast, sound and light output, and the like.
  • the purpose of outputting the connection establishment request is to obtain confirmation from the user of the master vehicle.
  • step 503 the master vehicle receives a confirmation command from the user for the connection establishment request.
  • a button may be configured on the master vehicle, and when the user presses the button, the user approves the connection establishment request, and at this time, the master vehicle may receive confirmation for instructing the user to approve the connection establishment request. instruction.
  • a virtual button may be displayed on the vehicle display screen of the master vehicle, and when the user clicks the virtual button, the user approves the connection establishment request, and at this time, the master vehicle may receive the user's approval for the connection. Establish a confirmation command for the request.
  • step 504 the master vehicle transmits a connection confirmation message for the connection establishment request to the controlled vehicle according to the received confirmation command, wherein when the confirmation instruction instructs the user to approve the connection establishment request, the master vehicle is subject to The controlling vehicle transmits a connection confirmation message for instructing the master vehicle to approve the connection establishment request.
  • the controlled vehicle receives a connection confirmation message sent by the master vehicle for the connection establishment request, wherein when the connection confirmation message indicates that the master vehicle approves the connection establishment request, the communication connection between the master vehicle and the controlled vehicle is established.
  • a communication connection between the master vehicle and the controlled vehicle can be established.
  • the communicating parties can also obtain each other's IP addresses in order to exchange data in the future.
  • the connection establishment request may include the identity identification information of the sender of the connection establishment request. Wherein the identification information is used to identify the sender by the recipient of the connection establishment request.
  • the master vehicle when the master vehicle actively initiates a connection establishment request to the controlled vehicle, the master vehicle may include identification information for indicating the master vehicle in the connection establishment request and transmit to the controlled vehicle.
  • the controlled vehicle can identify the master vehicle according to the identification information included therein to determine whether the master vehicle is legal.
  • the identification information is the vehicle identification code of the host vehicle.
  • the connection establishment request is output again to be confirmed by the driver of the controlled vehicle.
  • the controlled vehicle may directly transmit a connection confirmation message to the master vehicle indicating that the controlled vehicle rejects the connection establishment request.
  • the master vehicle cannot obtain permission from the controlled vehicle, and remote control of the controlled vehicle cannot be performed.
  • the controlled vehicle may also directly output a connection establishment request, so that the user of the controlled vehicle can know the identification information of the master vehicle and manually determine whether the master vehicle is legal.
  • the identification information is image information of a driver of the host vehicle.
  • the controlled vehicle when a connection establishment request is actively issued to the host vehicle by the controlled vehicle, the controlled vehicle can be used for The identification information indicating the controlled vehicle is included in the connection establishment request and transmitted to the master vehicle.
  • the master vehicle can identify the controlled vehicle according to the identification information included therein to determine whether the controlled vehicle is legal.
  • the identification information is a vehicle identification code of the controlled vehicle.
  • the connection establishment request is output again to be confirmed by the driver of the master vehicle.
  • the master vehicle may directly transmit a connection confirmation message to the controlled vehicle indicating that the master vehicle rejects the connection establishment request.
  • the controlled vehicle cannot obtain the permission of the master vehicle, and the remote control of the master vehicle cannot be obtained.
  • the master vehicle may also directly output a connection establishment request, so that the user of the master vehicle can know the identification information of the controlled vehicle and manually determine whether the controlled vehicle is legal.
  • the identification information is image information of a driver of the controlled vehicle.
  • the master vehicle and the controlled vehicle may be the same type of vehicle.
  • the vehicle information between the master vehicle and the controlled vehicle is the same, and the corresponding control strategy is also the same.
  • the master vehicle and the controlled vehicle can also be different types of vehicles.
  • the master vehicle is a manual vehicle and the controlled vehicle is an automatic vehicle.
  • the control strategy and operation method of the vehicle may be different depending on factors such as the manufacturer and the model of the main vehicle and the controlled vehicle. Therefore, in order to ensure the accuracy of the remote driving control, in the preferred embodiment of the present invention, the control strategy and the operation method of the master vehicle and the controlled vehicle can be matched one by one by means of the vehicle information matching manner, thereby realizing the master control.
  • the vehicle information of the master vehicle and the vehicle information of the controlled vehicle may be acquired in advance, wherein the vehicle information may include, for example, a control strategy capable of meeting the vehicle control requirements of the corresponding vehicle, including an accelerator pedal control strategy, Dynamic pedal control strategy, clutch pedal control strategy, shift control strategy, and various other vehicle control strategies.
  • the two vehicle information are matched to obtain a control strategy matching protocol between the master vehicle and the controlled vehicle.
  • a control strategy conforming to the vehicle information of the master vehicle can be converted into a corresponding control strategy conforming to the vehicle information of the controlled vehicle.
  • FIG. 6 is a flowchart of another vehicle control method according to an exemplary embodiment.
  • the method can be applied to a host vehicle, such as the first vehicle 100 shown in FIG. As shown in FIG. 6, the method can include the following steps.
  • step 601 a vehicle operating command is received.
  • step 602 in the event that the master vehicle is in the control mode, a control strategy for the controlled vehicle is determined based on the vehicle operating command and a control strategy matching protocol between the master vehicle and the controlled vehicle.
  • the master vehicle may first derive the first control strategy according to its own vehicle information. Then, the master vehicle can perform policy conversion on the first control policy according to the foregoing control policy matching protocol to obtain a second control policy, where the obtained second control policy is a control policy for the controlled vehicle.
  • the master vehicle is a manual vehicle and the controlled vehicle is an automatic vehicle.
  • the master vehicle can obtain the "shift of the vehicle"
  • the control strategy of shifting from first gear to second gear and then accelerating since the controlled vehicle is an automatic car, based on the fuel economy of the vehicle, this Acceleration with one gear can achieve better acceleration performance. Therefore, the master vehicle can perform policy conversion on the above control strategy according to the above control strategy matching protocol, so that a control strategy of “maintaining the gear state of the vehicle as a gear and accelerating” can be obtained.
  • the controlled vehicle After the vehicle speed of the vehicle to be controlled is increased, if the shift condition is satisfied, the controlled vehicle performs the shifting operation from the first gear to the second gear.
  • step 603 a control command including a control strategy is transmitted to the controlled vehicle for controlling the controlled vehicle to perform the operation indicated by the control strategy.
  • FIG. 7 is a flowchart of another vehicle control method according to an exemplary embodiment.
  • the method can be applied to a controlled vehicle, such as the second vehicle 200 shown in FIG. As shown in FIG. 7, the method may include the following steps.
  • step 701 a control command sent by the master vehicle connected to the controlled vehicle is received with the controlled vehicle in a controlled mode, the control command including a control strategy for indicating an operation to be performed by the controlled vehicle.
  • step 702 a control strategy is obtained from the control instructions.
  • step 703 a policy conversion is performed on a control policy obtained from the control instruction according to a control policy matching protocol between the master vehicle and the controlled vehicle, wherein the control policy matching protocol is based on the master vehicle
  • the vehicle information and the vehicle information of the controlled vehicle are determined.
  • the master vehicle may first derive the first control strategy according to its own vehicle information. Thereafter, the master vehicle can include the first control strategy in the control command and send it to the controlled vehicle. After receiving the control command, the controlled vehicle may obtain the first control strategy from the control command. Then, the controlled vehicle may perform policy conversion on the first control policy according to the foregoing control policy matching protocol to obtain a second control policy, where the obtained second control policy is a control policy to be executed by the controlled vehicle.
  • the master vehicle is a manual vehicle and the controlled vehicle is an automatic vehicle.
  • the master vehicle In the case that the master vehicle is in the control mode, if the driver of the master vehicle performs the shifting operation from the first gear to the second gear, and then performs the operation of stepping on the accelerator pedal, the master vehicle can obtain the "shift of the vehicle" The control strategy of shifting from first gear to second gear and then accelerating. The master vehicle then provides this control strategy to the controlled vehicle. Since the controlled vehicle is an automatic transmission vehicle, based on the fuel economy of the entire vehicle, acceleration at the first gear can achieve better acceleration performance.
  • the controlled vehicle can perform policy conversion on the above control strategy according to the above control strategy matching protocol, so that a control strategy of “maintaining the gear state of the vehicle as a gear and accelerating” can be obtained. After the vehicle speed of the vehicle to be controlled is increased, if the shift condition is satisfied, the controlled vehicle performs the shifting operation from the first gear to the second gear.
  • step 704 the operations indicated by the policy-converted control policy are performed.
  • the controlled vehicle may also send execution result data for the operation to the master vehicle after the controlled vehicle performs the operation indicated by the control strategy. Accordingly, the master vehicle can receive execution result data transmitted by the controlled vehicle so that the master vehicle can know the control result for the controlled vehicle.
  • FIG. 8 is a flowchart of another vehicle control method according to an exemplary embodiment.
  • the method can For application to a host vehicle, for example, the first vehicle 100 shown in FIG. As shown in FIG. 8, the method may include the following steps.
  • step 801 in the case where the master vehicle is in the control mode, driving environment information and/or vehicle state information related to the controlled vehicle transmitted by the controlled vehicle connected to the master vehicle is received.
  • the driving environment information related to the controlled vehicle may include, for example but not limited to, at least one of the following: image information acquired by the first camera installed at the front windshield of the controlled vehicle, installed at the receiving Image information acquired by the second camera at the rear windshield of the control vehicle, image information acquired by the third camera installed at the left exterior rear view mirror of the controlled vehicle, installed at the right outer rear view mirror of the controlled vehicle.
  • These image information constitutes the above-mentioned driving environment information, and can reflect the field of view of the current position of the controlled vehicle.
  • the vehicle status information may include, for example, but is not limited to, information displayed on a dashboard of the controlled vehicle, such as vehicle speed, gear position information, amount of oil, mileage, and the like.
  • step 802 driving environment information and/or vehicle status information is displayed.
  • the master vehicle when displaying driving environment information, may display image information collected by the first camera at the front windshield of the master vehicle; display the second camera collection at the rear windshield of the master vehicle Image information; displaying image information acquired by the third camera at the left exterior rear view mirror of the host vehicle; displaying image information collected by the fourth camera at the right outer rear view mirror of the master vehicle; The image information collected by the fifth camera is displayed at the mirror; the image information collected by the sixth camera is displayed at the window glass of the master vehicle.
  • the master vehicle may employ a projector to project individual image information to respective display locations.
  • the master vehicle can project the image information collected by the first camera onto the front windshield of the host vehicle through the front windshield field projector; the second camera is collected by the rear windshield field projector.
  • the obtained image information is projected onto the rear windshield of the host vehicle; the image information collected by the third camera is projected onto the left outer mirror of the host vehicle through the left outer mirror field of view projector;
  • the external rearview mirror field projector projects the image information collected by the fourth camera onto the right outer mirror of the host vehicle; and the image information collected by the fifth camera is projected by the inner mirror field of view projector
  • the inner rearview mirror of the master vehicle; and the image information collected by the sixth camera is projected onto the window glass of the master vehicle through the window glass field projector.
  • a set of rearview mirrors having a dual function of LED display and mirror display (including a left exterior mirror) is disposed on the host vehicle. , right exterior mirrors and interior mirrors).
  • the main control vehicle can open the LED display functions of the left exterior rear view mirror, the right outer rear view mirror and the inner rear view mirror, and respectively display the third camera, the fourth camera and the fifth camera of the controlled vehicle in real time. Image information.
  • the master vehicle can display the vehicle status information of the controlled vehicle on its own dashboard, so that the driver of the master vehicle can more clearly know the vehicle state of the controlled vehicle.
  • step 803 a vehicle operating command is received.
  • step 804 in the event that the master vehicle is in the control mode, a control strategy for the controlled vehicle is determined based on the vehicle operating command, the control strategy being used to indicate the operation to be performed by the controlled vehicle.
  • step 805 a control command including a control strategy is transmitted to the controlled vehicle for controlling the controlled vehicle to perform the operation indicated by the control strategy.
  • FIG. 9 is a flowchart of another vehicle control method according to an exemplary embodiment.
  • the method can be applied to a controlled vehicle, such as the second vehicle 200 shown in FIG. As shown in FIG. 9, the method may include the following steps.
  • step 901 driving environment information and/or vehicle status information related to the controlled vehicle is acquired.
  • the controlled vehicle may perform at least one of: acquiring image information by a first camera mounted at a front windshield of the controlled vehicle, by installing at a rear windshield of the controlled vehicle
  • the second camera acquires image information, acquires image information through a third camera installed at a left outer rearview mirror of the controlled vehicle, and acquires image information through a fourth camera installed at a right outer rearview mirror of the controlled vehicle, through installation
  • the fifth camera at the inner rearview mirror of the controlled vehicle acquires image information, and the image information is acquired by a sixth camera installed at the window glass of the controlled vehicle.
  • the collected image information constitutes the driving environment information, and can reflect the field of view of the current position of the controlled vehicle.
  • the vehicle status information may include, for example, but is not limited to, information displayed on a dashboard of the controlled vehicle, such as vehicle speed, gear position information, amount of oil, mileage, and the like.
  • step 902 driving environment information and/or vehicle status information is transmitted to the host vehicle connected to the controlled vehicle with the controlled vehicle in a controlled mode.
  • the driver of the master vehicle can perform remote driving control on the controlled vehicle based on the driving environment information of the controlled vehicle and/or the vehicle status information.
  • step 903 a control command sent by the master vehicle is received with the controlled vehicle in a controlled mode, the control command including a control strategy for indicating an operation to be performed by the controlled vehicle.
  • step 904 a control strategy is obtained from the control instructions.
  • step 905 the operation indicated by the control policy is performed.
  • the driver of the master vehicle can learn the driving environment information and the vehicle state information of the controlled vehicle.
  • the vehicle state information is displayed on the dashboard, and the driving environment of the controlled vehicle can be created by the driver of the master vehicle on the side of the master vehicle. Therefore, the immersion and realism of the remote control of the controlled vehicle by the driver of the master vehicle can be improved, thereby improving the user experience.
  • remote control of the controlled vehicle based on its current driving environment and vehicle status can also improve the accuracy and safety of remote control of the vehicle.
  • the above-described vehicle control method applied to the side of the master vehicle may further include the steps of: receiving a remote control release command; triggering the master control in response to the remote control release command The vehicle exits the control mode.
  • a button can be configured on the host vehicle, and when the user presses the button, the master vehicle can receive a remote control release command (and optionally send the remote control release command to the controlled vehicle).
  • the master vehicle may receive a remote control release command (and optionally send the remote control release command to the controlled vehicle).
  • the master vehicle can receive the remote control release command from the controlled vehicle.
  • the vehicle controller of the master vehicle may be triggered to exit the control mode. At this time, the master vehicle no longer has control of the controlled vehicle, and the control operation applied by the driver of the master vehicle to the master vehicle can control the master vehicle itself.
  • the above-described vehicle control method applied to the controlled vehicle side may further include the steps of: receiving a remote control release command; and triggering the controlled vehicle to exit the controlled mode in response to the remote control release command.
  • a button can be configured on the controlled vehicle, and when the user presses the button, the controlled vehicle can receive a remote control release command (and optionally, send the remote control release command to the master vehicle).
  • a virtual button may be displayed on the onboard display of the controlled vehicle, and when the user clicks the virtual button, the controlled vehicle may receive a remote control release command (and optionally, send the remote control release to the master vehicle) instruction).
  • the controlled vehicle can receive the remote control release command from the host vehicle.
  • the vehicle controller of the controlled vehicle may be triggered to exit the controlled mode.
  • the controlled vehicle is no longer under the control of the master vehicle, and the control operation applied to the controlled vehicle by the driver of the controlled vehicle can control the controlled vehicle itself.
  • any one of the master vehicle and the controlled vehicle can actively disconnect the control connection between the two according to the actual demand, end the remote control task, and return to the respective normal working mode.
  • FIG. 10 is a block diagram of a vehicle control device 1000 provided in accordance with an exemplary embodiment.
  • the device 1000 can be configured in a host vehicle, such as the first vehicle 100 shown in FIG.
  • the apparatus 1000 may include: a first receiving module 1001, configured to receive a vehicle operation instruction; and a control policy determining module 1002, configured to: according to the vehicle, when the master vehicle is in a control mode Operating a command to determine a control strategy for a controlled vehicle connected to the master vehicle, the control strategy for indicating an operation to be performed by the controlled vehicle; a first transmitting module 1003 for controlling the The vehicle transmits a control command including the control strategy for controlling the controlled vehicle to perform an operation indicated by the control strategy.
  • the apparatus 1000 may further include: a first connection establishing module, configured to establish a communication connection with the controlled vehicle; and a first triggering module, after establishing a communication connection with the controlled vehicle, The master vehicle is triggered to enter the control mode.
  • a first connection establishing module configured to establish a communication connection with the controlled vehicle
  • a first triggering module after establishing a communication connection with the controlled vehicle, The master vehicle is triggered to enter the control mode.
  • the first connection establishing module may include: a first sending submodule, configured to send a connection establishment request to the controlled vehicle; and a first receiving submodule, configured to receive, by the controlled vehicle, a connection confirmation message of the connection establishment request, wherein when the connection confirmation message indicates that the controlled vehicle approves the connection establishment request, communication connection establishment between the master vehicle and the controlled vehicle is completed
  • the first connection establishing module may include: a second receiving submodule, configured to receive a connection establishment request sent by the controlled vehicle; a first output submodule, configured to output the connection establishment request; a receiving submodule, configured to receive a confirmation instruction that the user establishes a request for the connection, and a second sending submodule, configured to send, according to the confirmation instruction, a connection confirmation message for the connection establishment request to the controlled vehicle, Wherein the confirmation instruction instructs the user to approve the The second transmitting submodule transmits, to the controlled vehicle, a connection confirmation message for instructing the master vehicle to approve the connection establishment request to cause the master vehicle to be controlled
  • connection establishment request may include identity identification information of the sender of the connection establishment request, and the identity identification information is used by the receiver of the connection establishment request to identify the sender.
  • control policy determining module 1002 may be configured to determine control for the controlled vehicle according to the vehicle operation instruction and a control policy matching protocol between the master vehicle and the controlled vehicle The strategy, wherein the control strategy matching protocol is obtained by matching vehicle information of the master vehicle with vehicle information of the controlled vehicle.
  • the apparatus 1000 may further include: at least one of a second receiving module and a third receiving module, wherein the second receiving module is configured to be in a case where the master vehicle is in the control mode Receiving driving environment information related to the controlled vehicle sent by the controlled vehicle, the third receiving module is configured to receive vehicle status information related to the controlled vehicle sent by the controlled vehicle And the apparatus 1000 may further include at least one of a first display module and a second display module, wherein the first display module is configured to display the driving environment information, and the second display module Used to display the vehicle status information.
  • the driving environment information may include at least one of: image information acquired by a first camera installed at a front windshield of the controlled vehicle, installed in a back gear of the controlled vehicle Image information acquired by a second camera at the windshield, image information acquired by a third camera installed at a left exterior rearview mirror of the controlled vehicle, installed at a right outer rearview mirror of the controlled vehicle Image information acquired by the fourth camera, image information acquired by a fifth camera installed at an inner rearview mirror of the controlled vehicle, and collected by a sixth camera installed at a window glass of the controlled vehicle Image information;
  • the first display module may include at least one of: a first display sub-module, configured to display image information collected by the first camera at a front windshield of the host vehicle; a display sub-module for displaying image information collected by the second camera at a rear windshield of the master vehicle; a third display sub-module for a left exterior mirror of the master vehicle At The image information collected by the third camera is displayed; the fourth display sub-module is configured to display image information collected by the fourth camera at the
  • the apparatus 1000 may further include: a fourth receiving module, configured to receive a remote control release command; and a second triggering module, configured to trigger the master vehicle to exit the response in response to the remote control release command Control mode.
  • a fourth receiving module configured to receive a remote control release command
  • a second triggering module configured to trigger the master vehicle to exit the response in response to the remote control release command Control mode.
  • FIG. 11 is a block diagram of a vehicle control device 1100 provided in accordance with an exemplary embodiment.
  • the device 1100 can be configured in a controlled vehicle, such as the second vehicle 200 shown in FIG.
  • the apparatus 1100 may include: a fifth receiving module 1101, configured to receive a control command sent by a master vehicle connected to the controlled vehicle if the controlled vehicle is in a controlled mode
  • the control command includes a control policy for indicating an operation to be performed by the controlled vehicle; a control policy obtaining module 1102, configured to acquire the control from the control command
  • the execution module 1103 is configured to perform the operation indicated by the control policy.
  • the device 1100 may further include: a second connection establishing module, configured to establish a communication connection with the master vehicle; and a third triggering module, configured to, after establishing a communication connection with the master vehicle, The controlled vehicle is triggered to enter the controlled mode.
  • a second connection establishing module configured to establish a communication connection with the master vehicle
  • a third triggering module configured to, after establishing a communication connection with the master vehicle, The controlled vehicle is triggered to enter the controlled mode.
  • the second connection establishing module may include: a third sending submodule, configured to send a connection establishment request to the master vehicle; and a fourth receiving submodule, configured to receive, by the master control vehicle, a connection confirmation message of the connection establishment request, wherein when the connection confirmation message indicates that the master vehicle approves the connection establishment request, communication connection establishment between the controlled vehicle and the master vehicle is completed
  • the second connection establishing module may include: a fifth receiving submodule, configured to receive a connection establishment request sent by the master vehicle; and a second output submodule, configured to output the connection establishment request; a receiving submodule, configured to receive a confirmation instruction that the user establishes a request for the connection, and a fourth sending submodule, configured to send, according to the confirmation instruction, a connection confirmation message for the connection establishment request to the master vehicle, wherein, when the confirmation instruction indicates that the user approves the connection establishment request, the fourth sending submodule sends the indication to the master vehicle for indicating the location Connection establishment request approval of the controlled vehicle the connection confirmation message,
  • connection establishment request may include identity identification information of the sender of the connection establishment request, and the identity identification information is used by the receiver of the connection establishment request to identify the sender.
  • the apparatus 1100 may further include: a policy conversion module, configured to control a control policy obtained from the control instruction according to a control policy matching protocol between the master vehicle and the controlled vehicle Performing a policy conversion, wherein the control policy matching protocol is obtained by matching vehicle information of the master vehicle with vehicle information of the controlled vehicle; and the execution module 1103 is configured to execute a policy The operation indicated by the converted control policy.
  • a policy conversion module configured to control a control policy obtained from the control instruction according to a control policy matching protocol between the master vehicle and the controlled vehicle Performing a policy conversion, wherein the control policy matching protocol is obtained by matching vehicle information of the master vehicle with vehicle information of the controlled vehicle
  • the execution module 1103 is configured to execute a policy The operation indicated by the converted control policy.
  • the device 1100 may further include: at least one of a first acquiring module and a second acquiring module, where the first acquiring module is configured to acquire driving environment information related to the controlled vehicle,
  • the second acquisition module is configured to acquire vehicle status information related to the controlled vehicle;
  • the apparatus 1100 may further include at least one of a corresponding second sending module and a third sending module, where The second sending module is configured to send the driving environment information to the master vehicle in a case that the controlled vehicle is in the controlled mode, and the third sending module is configured to be in the controlled The vehicle status information is transmitted to the master vehicle in the case where the vehicle is in the controlled mode.
  • the driving environment information may include at least one of: image information acquired by a first camera installed at a front windshield of the controlled vehicle, installed in a back gear of the controlled vehicle Image information acquired by a second camera at the windshield, image information acquired by a third camera installed at a left exterior rearview mirror of the controlled vehicle, installed at a right outer rearview mirror of the controlled vehicle Image information acquired by the fourth camera, image information acquired by a fifth camera installed at an inner rearview mirror of the controlled vehicle, and collected by a sixth camera installed at a window glass of the controlled vehicle Image information.
  • the device 1100 may further include: a sixth receiving module, configured to receive a remote control release command; And a fourth triggering module, configured to trigger the controlled vehicle to exit the controlled mode in response to the remote control release command.
  • a communication connection can be established between the master vehicle and the controlled vehicle.
  • the driver of the master vehicle transmits the corresponding control command to the controlled vehicle by the master vehicle by operating the master vehicle locally, so that the controlled vehicle can perform the corresponding operation according to the operation of the driver of the master vehicle.
  • the driver of the master vehicle can be remotely assisted to complete the control.
  • the driving task of the vehicle is not limited by geographical location, and the operation is very convenient. Even in places where there are few people in the wild, drivers of controlled vehicles can get help in time, without having to spend too much time and money, and the user experience can be improved.
  • a computer readable storage medium having stored therein an executable program, when the program is executed by a processor, performing the above-described method applied to a host vehicle or applied to a controlled vehicle At least one of the control methods.
  • the present invention also provides a vehicle comprising a computer storage medium according to the above.
  • the present invention also provides a vehicle including at least one of the above-described control device applied to the master vehicle or the control device applied to the controlled vehicle.
  • portions of the application can be implemented in hardware, software, firmware, or a combination thereof.
  • multiple steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system.
  • a suitable instruction execution system For example, if implemented in hardware, it can be implemented by any one or combination of the following techniques well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, with suitable combinational logic Gate circuit ASIC, Programmable Gate Array (PGA), Field Programmable Gate Array (FPGA), etc.
  • a "computer-readable medium” can be any apparatus that can contain, store, communicate, propagate, or transport a program for use in an instruction execution system, apparatus, or device, or in conjunction with the instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of computer readable media include the following: electrical connections (electronic devices) having one or more wires, portable computer disk cartridges (magnetic devices), random access memory (RAM), Read only memory (ROM), erasable editable read only memory (EPROM or flash memory), fiber optic devices, and portable compact disk read only memory (CDROM).
  • each functional unit in each embodiment of the present application may be integrated into one processing module, or each unit may exist physically separately, or two or more units may be integrated into one module.
  • the above integrated modules can be implemented in the form of hardware or in the form of software functional modules.
  • the integrated modules, if implemented in the form of software functional modules and sold or used as stand-alone products, may also be stored in a computer readable storage medium.

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Abstract

一种车辆控制方法、装置、车辆及远程驾驶控制系统。应用于主控车辆的方法包括：接收车辆操作指令（201）；在主控车辆处于控制模式的情况下，根据车辆操作指令，确定针对与主控车辆连接的受控车辆的控制策略（202），控制策略用于指示受控车辆要执行的操作；向受控车辆发送包括控制策略的控制指令（203），控制指令用于控制受控车辆执行控制策略所指示的操作。主控车辆可以实现对受控车辆的远程驾驶控制，并且不受地理位置限制，操作十分便捷。

Description

车辆控制方法、装置、车辆及远程驾驶控制系统 技术领域
本发明涉及车辆控制领域，具体地，涉及一种车辆控制方法、装置、车辆及远程驾驶控制系统。
背景技术
随着汽车工业的发展，传统汽车行业的技术创新之路已经遇到了瓶颈，创新点越来越少，人们迫切地想找到一个突破点来打破当前汽车行业的胶着状态。与此同时，整个互联网行业正在快速崛起，“互联网+”成为未来发展的大趋势，所以人们对汽车联网及智能化的需求越来越大。
目前市面上在售的智能化车型中大部分都配备了远程开关车载设备的功能，例如远程开启空调或者远程启动发动机等功能。有些车辆还配备了辅助驾驶功能，例如智能提醒驾驶员注意行人或者行车距离太近时提醒驾驶员注意保持车距等等。但是，当驾驶员由于突发情况不能正常驾驶汽车，又或者由于驾驶员个人驾驶技术不够熟练不能完成某些特殊驾驶操作时，上述的远程开关车载设备及辅助驾驶功能都不能帮助驾驶员完成驾驶任务。由于空间地理位置的限制，求助于他人也十分不便。并且，如果是在野外人烟稀少的地方，还要额外增加时间和金钱成本。
发明内容
本发明的目的是提供一种车辆控制方法、装置、车辆及远程驾驶控制系统，以实现对车辆驾驶的远程控制。
为了实现上述目的，根据本发明的第一方面，提供一种车辆控制方法，所述方法应用于主控车辆，并且所述方法包括：接收车辆操作指令；在所述主控车辆处于控制模式的情况下，根据所述车辆操作指令，确定针对与所述主控车辆连接的受控车辆的控制策略，所述控制策略用于指示所述受控车辆要执行的操作；向所述受控车辆发送包括所述控制策略的控制指令，所述控制指令用于控制所述受控车辆执行所述控制策略所指示的操作。
根据本发明的第二方面，提供一种车辆控制方法，所述方法应用于受控车辆，并且所述方法包括：在所述受控车辆处于受控模式的情况下，接收与所述受控车辆连接的主控车辆发送的控制指令，所述控制指令包括用于指示所述受控车辆要执行的操作的控制策略；从所述控制指令中获取所述控制策略；执行所述控制策略所指示的操作。
根据本发明的第三方面，提供一种车辆控制装置，所述装置配置于主控车辆，并且所述装置包括：第一接收模块，用于接收车辆操作指令；控制策略确定模块，用于在所述主控车辆处于控制模式的情况下，根据所述车辆操作指令，确定针对与所述主控车辆连接的受控车辆的控制策略，所述控制策略用于指示所述受控车辆要执行的操作；第一 发送模块，用于向所述受控车辆发送包括所述控制策略的控制指令，所述控制指令用于控制所述受控车辆执行所述控制策略所指示的操作。
根据本发明的第四方面，提供一种车辆控制装置，所述装置配置于受控车辆，并且所述装置包括：第五接收模块，用于在所述受控车辆处于受控模式的情况下，接收与所述受控车辆连接的主控车辆发送的控制指令，所述控制指令包括用于指示所述受控车辆要执行的操作的控制策略；控制策略获取模块，用于从所述控制指令中获取所述控制策略；执行模块，用于执行所述控制策略所指示的操作。
根据本发明的第五方面，提供一种车辆，所述车辆包括：通信模块，用于与其他车辆通信；整车控制器，包括根据本发明的第三方面提供的所述车辆控制装置。
根据本发明的第六方面，提供一种车辆，所述车辆包括：通信模块，用于与其他车辆通信；整车控制器，包括根据本发明的第四方面提供的所述车辆控制装置。
根据本发明的第七方面，提供一种远程驾驶控制系统，所述系统包括主控车辆和受控车辆，其中，所述主控车辆为根据本发明的第五方面提供的车辆，所述受控车辆为根据本发明的第六方面提供的车辆。
根据本发明的第八方面，提供了一种计算机可读存储介质，其内存储有可执行程序，当所述程序被处理器运行时，执行根据本发明第一方面的方法或第二方面的方法中的至少一种。
根据本发明的第九方面，提供了一种车辆，所述车辆包括根据本发明第八方面所述的计算机存储介质。
在上述技术方案中，主控车辆与受控车辆之间可以建立通信连接。主控车辆的驾驶员通过在本地操作主控车辆，对应的控制指令会被主控车辆发送至受控车辆，以使受控车辆能够根据主控车辆的驾驶员的操作而执行相应的操作，从而达到对受控车辆进行远程驾驶控制的目的。这样，当受控车辆的驾驶员因突发情况不能正常驾驶汽车，又或者由于该驾驶员个人驾驶技术不够熟练不能完成某些特殊驾驶操作时，主控车辆的驾驶员可以远程辅助完成受控车辆的驾驶任务，并且不受地理位置限制，操作十分便捷。即便是在野外人烟稀少的地方，受控车辆的驾驶员也能够及时得到救助，无需耗费过多的时间成本及金钱成本，用户体验得以提升。
本发明的其他特征和优点将在随后的具体实施方式部分予以详细说明。
附图说明
附图是用来提供对本发明的进一步理解，并且构成说明书的一部分，与下面的具体实施方式一起用于解释本发明，但并不构成对本发明的限制。
图1是根据一示例性实施例提供的一种远程驾驶控制系统的示意图。
图2是根据一示例性实施例提供的一种车辆控制方法的流程图。
图3是根据一示例性实施例提供的一种车辆控制方法的流程图。
图4和图5分别示出了在两种建立连接的实施方式中，主控车辆与受控车辆之间的 信令交互示意图。
图6是根据一示例性实施例提供的另一种车辆控制方法的流程图。
图7是根据一示例性实施例提供的另一种车辆控制方法的流程图。
图8是根据一示例性实施例提供的另一种车辆控制方法的流程图。
图9是根据一示例性实施例提供的另一种车辆控制方法的流程图。
图10是根据一示例性实施例提供的一种车辆控制装置的框图。
图11是根据一示例性实施例提供的一种车辆控制装置的框图。
具体实施方式
以下结合附图对本发明的具体实施方式进行详细说明。应当理解的是，此处所描述的具体实施方式仅用于说明和解释本发明，并不用于限制本发明。
图1是根据一示例性实施例提供的一种远程驾驶控制系统的示意图。如图1所示，该系统可以包括：第一车辆100和第二车辆200。其中，第一车辆100和第二车辆200中的一者作为主控车辆，另一者作为受控车辆，并且，主控车辆用于控制受控车辆的操作。在图1中，以第一车辆100为主控车辆、第二车辆200为受控车辆为例进行示意。
在第一车辆100中配置有第一通信模块和第一整车控制器，在第二车辆200中配置有第二通信模块和第二整车控制器。第一车辆100与第二车辆200之间可以通过各自的通信模块进行交互通信。示例地，第一车辆100与第二车辆200之间可以通过蓝牙网络、2G网络、3G网络、4G网络、5G网络、WiFi网络等进行无线通信。
此外，在第一整车控制器和第二整车控制器中的一者中，配置了用于主控车辆的车辆控制装置，在另一者中配置了用于受控车辆的车辆控制装置。其中，配置有用于主控车辆的车辆控制装置的整车控制器可以作为主控方，配置有用于受控车辆的车辆控制装置的整车控制器可以作为受控方。这样，当第一车辆100与第二车辆200建立通信连接之后，主控方可以对受控方实施远程驾驶控制。
在本发明中，第一车辆100可以为纯电动汽车、混合动力汽车、或者燃料型汽车(包括燃油汽车、燃气汽车等)，第二车辆200可以为纯电动汽车、混合动力汽车、或者燃料型汽车(包括燃油汽车、燃气汽车等)。此外，第一车辆100可以为手动挡汽车或者自动挡汽车，第二车辆200可以为手动挡汽车或者自动挡汽车。也就是说，在本发明中，第一车辆100与第二车辆200的车型可以相同，也可以不同。
下面将结合附图详细描述本发明提供的车辆控制方法及装置。
图2是根据一示例性实施例提供的一种车辆控制方法的流程图。其中，该方法可以应用于主控车辆，例如，图1所示的第一车辆100。如图2所示，该方法可以包括以下步骤。
在步骤201中，接收车辆操作指令。
主控车辆的驾驶员可以对主控车辆施加控制操作。示例地，主控车辆的驾驶员对主控车辆的控制操作可以例如但不限于：对油门踏板的控制操作、对制动踏板的控制操作、 对离合器踏板的控制操作、对方向盘的控制操作、换挡操作、对车窗玻璃的控制操作、对雨刷器的控制操作、对车灯的控制操作、对车载多媒体系统的控制操作、对车门的控制操作等等。当主控车辆的驾驶员施加了对主控车辆的控制操作之后，主控车辆的整车控制器可以接收到相应的车辆操作指令。
在步骤202中，在主控车辆处于控制模式的情况下，根据该车辆操作指令，确定针对与主控车辆连接的受控车辆的控制策略，该控制策略用于指示受控车辆要执行的操作。
如上所述，主控车辆可以与受控车辆建立通信连接。当通信连接建立完成之后，主控车辆的整车控制器被触发进入控制模式。在该控制模式下，主控车辆用于对受控车辆进行远程控制。也就是说，当主控车辆处于控制模式下时，主控车辆所接收到的车辆操作指令是针对受控车辆的，而并非针对主控车辆自身，即，此时主控车辆的驾驶员对主控车辆的控制操作对于主控车辆自身而言是无效的。只有当主控车辆退出控制模式时，主控车辆的驾驶员对主控车辆的控制操作对于主控车辆自身而言是有效的，此时，主控车辆可以根据接收到的车辆操作指令，执行相应操作。因此，为了确保主控车辆的安全性，主控车辆可以在停驶状态时被触发进入控制模式。
当主控车辆处于控制模式下时，如果主控车辆接收到车辆操作指令，主控车辆便可以根据该车辆操作指令，确定受控指令要执行的操作，并以此确定出针对受控车辆的控制策略。
在步骤203中，向受控车辆发送包括控制策略的控制指令，该控制指令用于控制受控车辆执行该控制策略所指示的操作。
图3是根据一示例性实施例提供的一种车辆控制方法的流程图。其中，该方法可以应用于受控车辆，例如，图1所示的第二车辆200。如图3所示，该方法可以包括以下步骤。
在步骤301中，在受控车辆处于受控模式的情况下，接收与受控车辆连接的主控车辆发送的控制指令，该控制指令可以包括用于指示受控车辆要执行的操作的控制策略。
如上所述，主控车辆可以与受控车辆建立通信连接。当通信连接建立完成之后，受控车辆的整车控制器被触发进入受控模式。在该受控模式下，受控车辆在主控车辆的控制下执行相应的操作。也就是说，当受控车辆处于受控模式下时，受控车辆的驾驶员对受控车辆的操作对于受控车辆自身而言是无效的，该受控车辆仅根据来自主控车辆的控制指令执行操作。只有当受控车辆退出受控模式时，受控车辆的驾驶员对受控车辆的操作对于受控车辆自身而言是有效的，此时，受控车辆可以跟随受控车辆的驾驶员的控制执行相应操作。
在步骤302中，从控制指令中获取控制策略。
在步骤303中，执行该控制策略所指示的操作。
示例地，受控车辆可以首先根据控制策略，解析出受控车辆要执行的操作所对应的执行部件。例如，当控制策略为控制受控车辆加速时，受控车辆可以解析出相对应的执 行部件为油门踏板；当控制策略为控制受控车辆减速时，受控车辆可以解析出相对应的执行部件为制动踏板；当控制策略为控制受控车辆进行换挡操作时，受控车辆可以解析出相对应的执行部件为换挡部件，等等。在解析出对应的执行部件后，受控车辆可以控制该执行部件执行控制策略所指示的操作。
在上述技术方案中，主控车辆与受控车辆之间可以建立通信连接。主控车辆的驾驶员通过在本地操作主控车辆，对应的控制指令会被主控车辆发送至受控车辆，以使受控车辆能够根据主控车辆的驾驶员的操作而执行相应的操作，从而达到对受控车辆进行远程驾驶控制的目的。这样，当受控车辆的驾驶员因突发情况不能正常驾驶汽车，又或者由于该驾驶员个人驾驶技术不够熟练不能完成某些特殊驾驶操作时，主控车辆的驾驶员可以远程辅助完成受控车辆的驾驶任务，并且不受地理位置限制，操作十分便捷。即便是在野外人烟稀少的地方，受控车辆的驾驶员也能够及时得到救助，无需耗费过多的时间成本及金钱成本，用户体验得以提升。
在本发明中，主控车辆与受控车辆之间建立通信连接的方式可以有两种，其中一种为由主控车辆主动发起与受控车辆建立连接，另一种为由受控车辆主动发起与主控车辆建立连接。图4和图5分别示出了在这两种方式下，主控车辆与受控车辆之间的信令交互示意图。
首先，如图4所示，在由主控车辆主动发起与受控车辆建立连接的实施方式中，在步骤401中，主控车辆首先向受控车辆发送连接建立请求。
示例地，在主控车辆上可以配置一按键，当用户按下该按键时，主控车辆可以向受控车辆发送连接建立请求。或者，在主控车辆的车载显示屏上可以显示一虚拟按钮，当用户点击该虚拟按钮时，主控车辆可以向受控车辆发送连接建立请求。
受控车辆在接收到这一连接建立请求后，在步骤402中，受控车辆可以输出该连接建立请求。其中，输出的方式可以例如包括但不限于：显示、语音播报、声光输出等。输出该连接建立请求的目的是为了得到受控车辆的用户的确认。
接下来，在步骤403中，受控车辆接收用户针对该连接建立请求的确认指令。
示例地，在受控车辆上可以配置一按键，当用户按下该按键时，表示用户批准该连接建立请求，此时，受控车辆可以接收到用于指示用户批准所述连接建立请求的确认指令。或者，在受控车辆的车载显示屏上可以显示一虚拟按钮，当用户点击该虚拟按钮时，表示用户批准该连接建立请求，此时，受控车辆可以接收到用于指示用户批准所述连接建立请求的确认指令。
接下来，在步骤404中，受控车辆根据接收到的确认指令，向主控车辆发送针对连接建立请求的连接确认消息，其中，当确认指令指示用户批准连接建立请求时，受控车辆向主控车辆发送用于指示该受控车辆批准连接建立请求的连接确认消息。
之后，主控车辆接收受控车辆发送的针对连接建立请求的连接确认消息，其中，当连接确认消息指示受控车辆批准连接建立请求时，主控车辆与受控车辆之间的通信连接建立完成。
再参考图5，在由受控车辆主动发起与主控车辆建立连接的实施方式中，在步骤501中，受控车辆首先向主控车辆发送连接建立请求。
示例地，在受控车辆上可以配置一按键，当用户按下该按键时，受控车辆可以向主控车辆发送连接建立请求。或者，在受控车辆的车载显示屏上可以显示一虚拟按钮，当用户点击该虚拟按钮时，受控车辆可以向主控车辆发送连接建立请求。
主控车辆在接收到这一连接建立请求后，在步骤502中，主控车辆可以输出该连接建立请求。其中，输出的方式可以例如包括但不限于：显示、语音播报、声光输出等。输出该连接建立请求的目的是为了得到主控车辆的用户的确认。
接下来，在步骤503中，主控车辆接收用户针对该连接建立请求的确认指令。
示例地，在主控车辆上可以配置一按键，当用户按下该按键时，表示用户批准该连接建立请求，此时，主控车辆可以接收到用于指示用户批准所述连接建立请求的确认指令。或者，在主控车辆的车载显示屏上可以显示一虚拟按钮，当用户点击该虚拟按钮时，表示用户批准该连接建立请求，此时，主控车辆可以接收到用于指示用户批准所述连接建立请求的确认指令。
接下来，在步骤504中，主控车辆根据接收到的确认指令，向受控车辆发送针对连接建立请求的连接确认消息，其中，当确认指令指示用户批准连接建立请求时，主控车辆向受控车辆发送用于指示该主控车辆批准连接建立请求的连接确认消息。
之后，受控车辆接收主控车辆发送的针对连接建立请求的连接确认消息，其中，当连接确认消息指示主控车辆批准连接建立请求时，主控车辆与受控车辆之间的通信连接建立完成。
通过以上任一方式，均可以建立起主控车辆与受控车辆之间的通信连接。此外，在连接建立之后，通信双方还可以获取彼此的IP地址，以便日后进行数据交换。
另外，为了确保远程驾驶控制的安全性，在本发明的优选实施方式中，在主控车辆与受控车辆之间建立连接时，连接建立请求可以包括该连接建立请求的发送方的身份识别信息，其中，该身份识别信息用于由连接建立请求的接收方对该发送方进行身份识别。
示例地，当由主控车辆主动向受控车辆发出连接建立请求时，主控车辆可以将用于表示该主控车辆的身份识别信息包括在该连接建立请求中，并发送至受控车辆。这样，受控车辆在接收到这一连接建立请求后，可以根据其中包括的身份识别信息对主控车辆进行身份识别，以判断该主控车辆是否合法。示例地，该身份识别信息为主控车辆的车辆识别码。当确定该主控车辆合法时，再输出该连接建立请求以由受控车辆的驾驶员进行确认。当确定该主控车辆非法时，受控车辆可以直接向主控车辆发送用于表示所述受控车辆拒绝该连接建立请求的连接确认消息。在这种情况下，主控车辆无法得到受控车辆的准许，也就不能对受控车辆实施远程控制。或者，受控车辆也可以直接输出连接建立请求，这样，受控车辆的用户就可以获知主控车辆的身份识别信息，并人工判断该主控车辆是否合法。示例地，该身份识别信息为主控车辆的驾驶员的图像信息。
再例如，当由受控车辆主动向主控车辆发出连接建立请求时，受控车辆可以将用于 表示该受控车辆的身份识别信息包括在该连接建立请求中，并发送至主控车辆。这样，主控车辆在接收到这一连接建立请求后，可以根据其中包括的身份识别信息对受控车辆进行身份识别，以判断该受控车辆是否合法。示例地，该身份识别信息为受控车辆的车辆识别码。当确定该受控车辆合法时，再输出该连接建立请求以由主控车辆的驾驶员进行确认。当确定该受控车辆非法时，主控车辆可以直接向受控车辆发送用于表示所述主控车辆拒绝该连接建立请求的连接确认消息。在这种情况下，受控车辆无法得到主控车辆的准许，也就不能得到主控车辆的远程控制。或者，主控车辆也可以直接输出连接建立请求，这样，主控车辆的用户就可以获知受控车辆的身份识别信息，并人工判断该受控车辆是否合法。示例地，该身份识别信息为受控车辆的驾驶员的图像信息。
如上所述，在本发明中，主控车辆与受控车辆可以为同种类型的车辆。在这种情况下，主控车辆与受控车辆之间的整车信息相同，相应的控制策略也相同。不过，主控车辆与受控车辆也可以为不同类型的车辆。例如，主控车辆为手动挡汽车，而受控车辆为自动挡汽车。主控车辆与受控车辆由于生产厂家及车型不一等因素，整车的控制策略及操作方法可能会有所不同。因此，为了确保远程驾驶控制的准确性，在本发明的优选实施方式中，通过整车信息匹配的方式可以让主控车辆与受控车辆的控制策略及操作方法一一进行匹配，实现主控车辆与受控车辆的无缝对接。
具体地，可以预先获取主控车辆的整车信息和受控车辆的整车信息，其中，整车信息可以例如包括能够满足对应车辆的整车控制要求的控制策略，包括油门踏板控制策略、制动踏板控制策略、离合器踏板控制策略、换挡控制策略、以及其他各种车辆控制策略等等。之后，将这两个整车信息进行匹配，得到主控车辆与受控车辆之间的控制策略匹配协议。这样，通过该协议，可以将某个符合主控车辆的整车信息的控制策略转换为对应的符合受控车辆的整车信息的控制策略。
图6是根据一示例性实施例提供的另一种车辆控制方法的流程图。其中，该方法可以应用于主控车辆，例如，图1所示的第一车辆100。如图6所示，该方法可以包括以下步骤。
在步骤601中，接收车辆操作指令。
在步骤602中，在主控车辆处于控制模式的情况下，根据车辆操作指令、以及主控车辆与受控车辆之间的控制策略匹配协议，确定针对受控车辆的控制策略。
示例地，当主控车辆接收到车辆操作指令时，主控车辆可以首先根据自身的整车信息得出第一控制策略。之后，主控车辆可以根据上述控制策略匹配协议对第一控制策略进行策略转换，得到第二控制策略，其中，所得到的第二控制策略即为针对受控车辆的控制策略。
例如，假设主控车辆为手动挡汽车，而受控车辆为自动挡汽车。在主控车辆处于控制模式的情况下，如果主控车辆的驾驶员进行从一档换到二档的换挡操作，并之后进行踩踏油门踏板的操作，主控车辆可以得到“将车辆的档位从一档换到二档、之后进行加速”的控制策略。然而，由于受控车辆为自动挡汽车，基于整车燃油经济性的考虑，此 时采用一档进行加速能够获得更好的加速性能。因此，主控车辆可以根据上述控制策略匹配协议，对上述控制策略进行策略转换，从而可以得到“保持车辆的档位状态为一档，并进行加速”的控制策略。待受控车辆的车速提升后，如果满足换挡条件，受控车辆再执行从一档换到二档的换挡操作。
在步骤603中，向受控车辆发送包括控制策略的控制指令，该控制指令用于控制受控车辆执行该控制策略所指示的操作。
可替换地，上述控制策略转换的操作也可以在受控车辆这一侧来完成。具体地，图7是根据一示例性实施例提供的另一种车辆控制方法的流程图。其中，该方法可以应用于受控车辆，例如，图1所示的第二车辆200。如图7所示，该方法可以包括以下步骤。
在步骤701中，在受控车辆处于受控模式的情况下，接收与受控车辆连接的主控车辆发送的控制指令，该控制指令包括用于指示受控车辆要执行的操作的控制策略。
在步骤702中，从控制指令中获取控制策略。
在步骤703中，根据主控车辆与受控车辆之间的控制策略匹配协议，对从控制指令中获取到的控制策略进行策略转换，其中，该控制策略匹配协议是基于所述主控车辆的整车信息和所述受控车辆的整车信息确定的。
示例地，当主控车辆接收到车辆操作指令时，主控车辆可以首先根据自身的整车信息得出第一控制策略。之后，主控车辆可以将该第一控制策略包括在控制指令中，并发送至受控车辆。受控车辆在收到该控制指令后，可以从该控制指令中获取到第一控制策略。之后，受控车辆可以根据上述控制策略匹配协议对第一控制策略进行策略转换，得到第二控制策略，其中，所得到的第二控制策略即为受控车辆要执行的控制策略。
例如，假设主控车辆为手动挡汽车，而受控车辆为自动挡汽车。在主控车辆处于控制模式的情况下，如果主控车辆的驾驶员进行从一档换到二档的换挡操作，并之后进行踩踏油门踏板的操作，主控车辆可以得到“将车辆的档位从一档换到二档、之后进行加速”的控制策略。之后，主控车辆将这一控制策略提供至受控车辆。由于受控车辆为自动挡汽车，基于整车燃油经济性的考虑，此时采用一档进行加速能够获得更好的加速性能。因此，受控车辆可以根据上述控制策略匹配协议，对上述控制策略进行策略转换，从而可以得到“保持车辆的档位状态为一档，并进行加速”的控制策略。待受控车辆的车速提升后，如果满足换挡条件，受控车辆再执行从一档换到二档的换挡操作。
在步骤704中，执行经策略转换后的控制策略所指示的操作。
通过进行整车信息匹配，可以消除因生产厂家及车型不一等因素所导致的车辆控制策略不匹配的问题，实现主控车辆与受控车辆之间的无缝对接，提升主控车辆对受控车辆的远程驾驶控制的准确性及可靠性，确保受控车辆的性能保持最优。
另外，在受控车辆执行控制策略所指示的操作之后，受控车辆还可以向主控车辆发送针对该操作的执行结果数据。相应地，主控车辆可以接收受控车辆发送的执行结果数据，以便主控车辆获知对受控车辆的控制结果。
图8是根据一示例性实施例提供的另一种车辆控制方法的流程图。其中，该方法可 以应用于主控车辆，例如，图1所示的第一车辆100。如图8所示，该方法可以包括以下步骤。
在步骤801中，在主控车辆处于控制模式的情况下，接收与主控车辆连接的受控车辆发送的、与该受控车辆有关的行车环境信息和/或整车状态信息。
在本发明中，与受控车辆有关的行车环境信息可以例如包括但不限于以下中的至少一者：安装在受控车辆的前挡风玻璃处的第一摄像头采集的图像信息，安装在受控车辆的后挡风玻璃处的第二摄像头采集的图像信息，安装在受控车辆的左外后视镜处的第三摄像头采集的图像信息，安装在受控车辆的右外后视镜处的第四摄像头采集的图像信息，安装在受控车辆的内后视镜处的第五摄像头采集的图像信息，以及，安装在受控车辆的车窗玻璃处的第六摄像头采集的图像信息。这些图像信息构成上述行车环境信息，能够反映出受控车辆当前各方位的视野情况。此外，整车状态信息可以例如包括但不限于受控车辆的仪表盘上显示的信息，例如，车速、档位信息、油量、里程数等等。
在步骤802中，显示行车环境信息和/或整车状态信息。
示例地，在显示行车环境信息时，主控车辆可以在该主控车辆的前挡风玻璃处显示第一摄像头采集的图像信息；在主控车辆的后挡风玻璃处显示第二摄像头采集的图像信息；在主控车辆的左外后视镜处显示第三摄像头采集的图像信息；在主控车辆的右外后视镜处显示第四摄像头采集的图像信息；在主控车辆的内后视镜处显示第五摄像头采集的图像信息；在主控车辆的车窗玻璃处显示第六摄像头采集的图像信息。
在一个实施例中，主控车辆可以采用投影仪来将各个图像信息投影到各自相应的显示位置处。例如，主控车辆可以通过前挡风玻璃视野投影仪来将第一摄像头采集到的图像信息投影到主控车辆的前挡风玻璃上；通过后挡风玻璃视野投影仪来将第二摄像头采集到的图像信息投影到主控车辆的后挡风玻璃上；通过左外后视镜视野投影仪来将第三摄像头采集到的图像信息投影到主控车辆的左外后视镜上；通过右外后视镜视野投影仪来将第四摄像头采集到的图像信息投影到主控车辆的右外后视镜上；通过内后视镜视野投影仪来将第五摄像头采集到的图像信息投影到主控车辆的内后视镜上；以及通过车窗玻璃视野投影仪来将第六摄像头采集到的图像信息投影到主控车辆的车窗玻璃上。
或者，在另一个实施例中，为了达到最佳显示效果，在本发明中，在主控车辆上配置了一套具有LED显示和镜面显示双重功能的后视镜组合(包括左外后视镜、右外后视镜和内后视镜)。这样，主控车辆可以将左外后视镜、右外后视镜和内后视镜的LED显示功能打开，并分别实时显示受控车辆的第三摄像头、第四摄像头和第五摄像头采集到的图像信息。
这样，当主控车辆的驾驶员坐在主控车辆的驾驶室内时，其通过观察车辆的玻璃(包括前挡风玻璃、后挡风玻璃、车窗玻璃)及各个后视镜，可以更加真实、直观地了解受控车辆的当前行车环境，并据此施加车辆操作。此外，主控车辆可以在自身的仪表盘上显示受控车辆的整车状态信息，从而使主控车辆的驾驶员更加清晰地获知受控车辆的整车状态。
在步骤803中，接收车辆操作指令。
在步骤804中，在主控车辆处于控制模式的情况下，根据车辆操作指令，确定针对受控车辆的控制策略，该控制策略用于指示受控车辆要执行的操作。
在步骤805中，向受控车辆发送包括控制策略的控制指令，该控制指令用于控制受控车辆执行该控制策略所指示的操作。
图9是根据一示例性实施例提供的另一种车辆控制方法的流程图。其中，该方法可以应用于受控车辆，例如，图1所示的第二车辆200。如图9所示，该方法可以包括以下步骤。
在步骤901中，获取与该受控车辆有关的行车环境信息和/或整车状态信息。
示例地，受控车辆可以进行以下操作中的至少一者：通过安装在受控车辆的前挡风玻璃处的第一摄像头采集图像信息，通过安装在受控车辆的后挡风玻璃处的第二摄像头采集图像信息，通过安装在受控车辆的左外后视镜处的第三摄像头采集图像信息，通过安装在受控车辆的右外后视镜处的第四摄像头采集图像信息，通过安装在受控车辆的内后视镜处的第五摄像头采集图像信息，以及，通过安装在受控车辆的车窗玻璃处的第六摄像头采集图像信息。采集到的这些图像信息构成上述行车环境信息，能够反映出受控车辆当前各方位的视野情况。此外，整车状态信息可以例如包括但不限于受控车辆的仪表盘上显示的信息，例如，车速、档位信息、油量、里程数等等。
在步骤902中，在受控车辆处于受控模式的情况下，向与受控车辆连接的主控车辆发送行车环境信息和/或整车状态信息。
这样，主控车辆的驾驶员可以根据受控车辆的行车环境信息和/或整车状态信息，来对该受控车辆实施远程驾驶控制。
在步骤903中，在受控车辆处于受控模式的情况下，接收主控车辆发送的控制指令，该控制指令包括用于指示受控车辆要执行的操作的控制策略。
在步骤904中，从控制指令中获取控制策略。
在步骤905中，执行该控制策略所指示的操作。
通过上述技术方案，主控车辆的驾驶员能够获悉受控车辆的行车环境信息和整车状态信息。通过将该行车环境信息投射到主控车辆的相应玻璃上，将该整车状态信息显示在仪表盘上，可以在主控车辆一侧为主控车辆的驾驶员营造出受控车辆的驾驶环境，从而可以提升主控车辆的驾驶员对受控车辆进行远程驾驶控制时的沉浸感及真实感，进而提升用户体验。此外，根据受控车辆的当前行车环境及整车状态来对其进行远程控制，还可以提高车辆远程控制的精准性及安全性。
此外，虽然附图中未示出，但本发明提供的上述应用于主控车辆一侧的车辆控制方法还可以包括以下步骤：接收远程控制解除指令；响应于该远程控制解除指令，触发主控车辆退出控制模式。
示例地，在主控车辆上可以配置一按键，当用户按下该按键时，主控车辆可以接收到远程控制解除指令(并且可选地，向受控车辆发送该远程控制解除指令)。或者，在 主控车辆的车载显示屏上可以显示一虚拟按钮，当用户点击该虚拟按钮时，主控车辆可以接收到远程控制解除指令(并且可选地，向受控车辆发送该远程控制解除指令)。再或者，主控车辆可以从受控车辆接收该远程控制解除指令。
当主控车辆接收到远程控制解除指令时，主控车辆的整车控制器可以被触发退出控制模式。此时，主控车辆不再具有对受控车辆的控制权，主控车辆的驾驶员对该主控车辆施加的控制操作可以控制该主控车辆本身。
另外，本发明提供的上述应用于受控车辆一侧的车辆控制方法还可以包括以下步骤：接收远程控制解除指令；响应于该远程控制解除指令，触发受控车辆退出受控模式。
示例地，在受控车辆上可以配置一按键，当用户按下该按键时，受控车辆可以接收到远程控制解除指令(并且可选地，向主控车辆发送该远程控制解除指令)。或者，在受控车辆的车载显示屏上可以显示一虚拟按钮，当用户点击该虚拟按钮时，受控车辆可以接收到远程控制解除指令(并且可选地，向主控车辆发送该远程控制解除指令)。再或者，受控车辆可以从主控车辆接收该远程控制解除指令。
当受控车辆接收到远程控制解除指令时，受控车辆的整车控制器可以被触发退出受控模式。此时，受控车辆不再受主控车辆的控制，受控车辆的驾驶员对该受控车辆施加的控制操作可以控制该受控车辆本身。
通过上述技术方案，主控车辆及受控车辆中的任一方均可以根据实际需求，主动断开二者之间的控制连接，结束远程控制任务，并恢复到各自的正常工作模式。
图10是根据一示例性实施例提供的一种车辆控制装置1000的框图。其中，该装置1000可以配置于主控车辆，例如，图1所示的第一车辆100。如图10所示，该装置1000可以包括：第一接收模块1001，用于接收车辆操作指令；控制策略确定模块1002，用于在所述主控车辆处于控制模式的情况下，根据所述车辆操作指令，确定针对与所述主控车辆连接的受控车辆的控制策略，所述控制策略用于指示所述受控车辆要执行的操作；第一发送模块1003，用于向所述受控车辆发送包括所述控制策略的控制指令，所述控制指令用于控制所述受控车辆执行所述控制策略所指示的操作。
可选地，所述装置1000还可以包括：第一连接建立模块，用于与所述受控车辆建立通信连接；第一触发模块，用于在与所述受控车辆建立了通信连接后，触发所述主控车辆进入所述控制模式。
可选地，所述第一连接建立模块可以包括：第一发送子模块，用于向所述受控车辆发送连接建立请求；第一接收子模块，用于接收所述受控车辆发送的针对所述连接建立请求的连接确认消息，其中，当所述连接确认消息指示所述受控车辆批准所述连接建立请求时，所述主控车辆与所述受控车辆之间的通信连接建立完成；或者，所述第一连接建立模块可以包括：第二接收子模块，用于接收所述受控车辆发送的连接建立请求；第一输出子模块，用于输出所述连接建立请求；第三接收子模块，用于接收用户针对所述连接建立请求的确认指令；第二发送子模块，用于根据所述确认指令，向所述受控车辆发送针对所述连接建立请求的连接确认消息，其中，当所述确认指令指示用户批准所述 连接建立请求时，所述第二发送子模块向所述受控车辆发送用于指示所述主控车辆批准所述连接建立请求的连接确认消息，以使所述主控车辆与所述受控车辆之间的通信连接建立完成。
可选地，所述连接建立请求可以包括所述连接建立请求的发送方的身份识别信息，所述身份识别信息用于由所述连接建立请求的接收方对所述发送方进行身份识别。
可选地，所述控制策略确定模块1002可以用于根据所述车辆操作指令、以及所述主控车辆与所述受控车辆之间的控制策略匹配协议，确定针对所述受控车辆的控制策略，其中，所述控制策略匹配协议是通过所述主控车辆的整车信息与所述受控车辆的整车信息进行匹配得到的。
可选地，所述装置1000还可以包括：第二接收模块和第三接收模块中的至少一者，其中，所述第二接收模块用于在所述主控车辆处于所述控制模式的情况下，接收所述受控车辆发送的与所述受控车辆有关的行车环境信息，所述第三接收模块用于接收所述受控车辆发送的与所述受控车辆有关的整车状态信息；以及，所述装置1000还可以相应地包括第一显示模块和第二显示模块中的至少一者，其中，所述第一显示模块用于显示所述行车环境信息，所述第二显示模块用于显示所述整车状态信息。
可选地，所述行车环境信息可以包括以下中的至少一者：安装在所述受控车辆的前挡风玻璃处的第一摄像头采集的图像信息，安装在所述受控车辆的后挡风玻璃处的第二摄像头采集的图像信息，安装在所述受控车辆的左外后视镜处的第三摄像头采集的图像信息，安装在所述受控车辆的右外后视镜处的第四摄像头采集的图像信息，安装在所述受控车辆的内后视镜处的第五摄像头采集的图像信息，以及，安装在所述受控车辆的车窗玻璃处的第六摄像头采集的图像信息；所述第一显示模块可以包括以下中的至少一者：第一显示子模块，用于在所述主控车辆的前挡风玻璃处显示所述第一摄像头采集的图像信息；第二显示子模块，用于在所述主控车辆的后挡风玻璃处显示所述第二摄像头采集的图像信息；第三显示子模块，用于在所述主控车辆的左外后视镜处显示所述第三摄像头采集的图像信息；第四显示子模块，用于在所述主控车辆的右外后视镜处显示所述第四摄像头采集的图像信息；第五显示子模块，用于在所述主控车辆的内后视镜处显示所述第五摄像头采集的图像信息；第六显示子模块，用于在所述主控车辆的车窗玻璃处显示所述第六摄像头采集的图像信息。
可选地，所述装置1000还可以包括：第四接收模块，用于接收远程控制解除指令；第二触发模块，用于响应于所述远程控制解除指令，触发所述主控车辆退出所述控制模式。
图11是根据一示例性实施例提供的一种车辆控制装置1100的框图。其中，该装置1100可以配置于受控车辆，例如，图1所示的第二车辆200。如图11所示，该装置1100可以包括：第五接收模块1101，用于在所述受控车辆处于受控模式的情况下，接收与所述受控车辆连接的主控车辆发送的控制指令，所述控制指令包括用于指示所述受控车辆要执行的操作的控制策略；控制策略获取模块1102，用于从所述控制指令中获取所述控 制策略；执行模块1103，用于执行所述控制策略所指示的操作。
可选地，所述装置1100还可以包括：第二连接建立模块，用于与所述主控车辆建立通信连接；第三触发模块，用于在与所述主控车辆建立了通信连接后，触发所述受控车辆进入所述受控模式。
可选地，所述第二连接建立模块可以包括：第三发送子模块，用于向所述主控车辆发送连接建立请求；第四接收子模块，用于接收所述主控车辆发送的针对所述连接建立请求的连接确认消息，其中，当所述连接确认消息指示所述主控车辆批准所述连接建立请求时，所述受控车辆与所述主控车辆之间的通信连接建立完成；或者，所述第二连接建立模块可以包括：第五接收子模块，用于接收所述主控车辆发送的连接建立请求；第二输出子模块，用于输出所述连接建立请求；第六接收子模块，用于接收用户针对所述连接建立请求的确认指令；第四发送子模块，用于根据所述确认指令，向所述主控车辆发送针对所述连接建立请求的连接确认消息，其中，当所述确认指令指示用户批准所述连接建立请求时，所述第四发送子模块向所述主控车辆发送用于指示所述受控车辆批准所述连接建立请求的连接确认消息，以使所述受控车辆与所述主控车辆之间的通信连接建立完成。
可选地，所述连接建立请求可以包括所述连接建立请求的发送方的身份识别信息，所述身份识别信息用于由所述连接建立请求的接收方对所述发送方进行身份识别。
可选地，所述装置1100还可以包括：策略转换模块，用于根据所述主控车辆与所述受控车辆之间的控制策略匹配协议，对从所述控制指令中获取到的控制策略进行策略转换，其中，所述控制策略匹配协议是通过所述主控车辆的整车信息与所述受控车辆的整车信息进行匹配得到的；以及所述执行模块1103可以用于执行经策略转换后的控制策略所指示的操作。
可选地，所述装置1100还可以包括：第一获取模块和第二获取模块中的至少一者，其中，所述第一获取模块用于获取与所述受控车辆有关的行车环境信息，所述第二获取模块用于获取与所述受控车辆有关的整车状态信息；以及，所述装置1100还可以包括相应的第二发送模块和第三发送模块中的至少一者，其中，所述第二发送模块用于在所述受控车辆处于所述受控模式的情况下，向所述主控车辆发送所述行车环境信息，所述第三发送模块用于在所述受控车辆处于所述受控模式的情况下，向所述主控车辆发送所述整车状态信息。
可选地，所述行车环境信息可以包括以下中的至少一者：安装在所述受控车辆的前挡风玻璃处的第一摄像头采集的图像信息，安装在所述受控车辆的后挡风玻璃处的第二摄像头采集的图像信息，安装在所述受控车辆的左外后视镜处的第三摄像头采集的图像信息，安装在所述受控车辆的右外后视镜处的第四摄像头采集的图像信息，安装在所述受控车辆的内后视镜处的第五摄像头采集的图像信息，以及，安装在所述受控车辆的车窗玻璃处的第六摄像头采集的图像信息。
可选地，所述装置1100还可以包括：第六接收模块，用于接收远程控制解除指令； 第四触发模块，用于响应于所述远程控制解除指令，触发所述受控车辆退出所述受控模式。
在上述技术方案中，主控车辆与受控车辆之间可以建立通信连接。主控车辆的驾驶员通过在本地操作主控车辆，对应的控制指令会被主控车辆发送至受控车辆，以使受控车辆能够根据主控车辆的驾驶员的操作而执行相应的操作，从而达到对受控车辆进行远程驾驶控制的目的。这样，当受控车辆的驾驶员因突发情况不能正常驾驶汽车，又或者由于该驾驶员个人驾驶技术不够熟练不能完成某些特殊驾驶操作时，主控车辆的驾驶员可以远程辅助完成受控车辆的驾驶任务，并且不受地理位置限制，操作十分便捷。即便是在野外人烟稀少的地方，受控车辆的驾驶员也能够及时得到救助，无需耗费过多的时间成本及金钱成本，用户体验得以提升。
关于上述实施例中的装置，其中各个模块执行操作的具体方式已经在有关该方法的实施例中进行了详细描述，此处将不做详细阐述说明。
同时，根据本发明还提供了一种计算机可读存储介质，其内存储有可执行程序，当所述程序被处理器运行时，执行上述应用于主控车辆的方法或应用于受控车辆的控制方法中的至少一种。
此外，本发明还提供了一种车辆，所述车辆包括根据上述的计算机存储介质。
以及，本发明还提供了一种车辆，所述车辆包括上述应用于主控车辆的控制装置或应用于受控车辆的控制装置中的至少一种。
流程图中或在此以其他方式描述的任何过程或方法描述可以被理解为，表示包括一个或更多个用于实现定制逻辑功能或过程的步骤的可执行指令的代码的模块、片段或部分，并且本申请的优选实施方式的范围包括另外的实现，其中可以不按所示出或讨论的顺序，包括根据所涉及的功能按基本同时的方式或按相反的顺序，来执行功能，这应被本申请的实施例所属技术领域的技术人员所理解。
应当理解，本申请的各部分可以用硬件、软件、固件或它们的组合来实现。在上述实施方式中，多个步骤或方法可以用存储在存储器中且由合适的指令执行系统执行的软件或固件来实现。例如，如果用硬件来实现，可用本领域公知的下列技术中的任一项或他们的组合来实现：具有用于对数据信号实现逻辑功能的逻辑门电路的离散逻辑电路，具有合适的组合逻辑门电路的专用集成电路，可编程门阵列(PGA)，现场可编程门阵列(FPGA)等。
本技术领域的普通技术人员可以理解实现上述实施例方法携带的全部或部分步骤是可以通过程序来指令相关的硬件完成，所述的程序可以存储于一种计算机可读存储介质中，该程序在执行时，包括方法实施例的步骤之一或其组合。
就本说明书而言，"计算机可读介质"可以是任何可以包含、存储、通信、传播或传输程序以供指令执行系统、装置或设备或结合这些指令执行系统、装置或设备而使用的装置。计算机可读介质的更具体的示例(非穷尽性列表)包括以下：具有一个或多个布线的电连接部(电子装置)，便携式计算机盘盒(磁装置)，随机存取存储器(RAM)， 只读存储器(ROM)，可擦除可编辑只读存储器(EPROM或闪速存储器)，光纤装置，以及便携式光盘只读存储器(CDROM)。
此外，在本申请各个实施例中的各功能单元可以集成在一个处理模块中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个模块中。上述集成的模块既可以采用硬件的形式实现，也可以采用软件功能模块的形式实现。所述集成的模块如果以软件功能模块的形式实现并作为独立的产品销售或使用时，也可以存储在一个计算机可读取存储介质中。
以上结合附图详细描述了本发明的优选实施方式，但是，本发明并不限于上述实施方式中的具体细节，在本发明的技术构思范围内，可以对本发明的技术方案进行多种简单变型，这些简单变型均属于本发明的保护范围。
另外需要说明的是，在上述具体实施方式中所描述的各个具体技术特征，在不矛盾的情况下，可以通过任何合适的方式进行组合。为了避免不必要的重复，本发明对各种可能的组合方式不再另行说明。
此外，本发明的各种不同的实施方式之间也可以进行任意组合，只要其不违背本发明的思想，其同样应当视为本发明所公开的内容。

Claims (38)

  1. 一种车辆控制方法，其特征在于，所述方法应用于主控车辆，并且所述方法包括：
    接收车辆操作指令；
    在所述主控车辆处于控制模式的情况下，根据所述车辆操作指令，确定针对与所述主控车辆通信连接的受控车辆的控制策略，所述控制策略用于指示所述受控车辆要执行的操作；
    向所述受控车辆发送包括所述控制策略的控制指令，所述控制指令用于控制所述受控车辆执行所述控制策略所指示的操作。
  2. 根据权利要求1所述的方法，其特征在于，在所述根据所述车辆操作指令，确定针对与所述主控车辆连接的受控车辆的控制策略之前，所述方法还包括：
    与所述受控车辆建立通信连接；
    在与所述受控车辆建立了通信连接后，触发所述主控车辆进入所述控制模式。
  3. 根据权利要求2所述的方法，其特征在于，
    所述与所述受控车辆建立通信连接包括：
    向所述受控车辆发送连接建立请求；
    接收所述受控车辆发送的针对所述连接建立请求的连接确认消息，其中，当所述连接确认消息指示所述受控车辆批准所述连接建立请求时，所述主控车辆与所述受控车辆之间的通信连接建立完成；
    或者，所述与所述受控车辆建立通信连接包括：
    接收所述受控车辆发送的连接建立请求；
    输出所述连接建立请求；
    接收用户针对所述连接建立请求的确认指令；
    根据所述确认指令，向所述受控车辆发送针对所述连接建立请求的连接确认消息，其中，当所述确认指令指示用户批准所述连接建立请求时，向所述受控车辆发送用于指示所述主控车辆批准所述连接建立请求的连接确认消息，以使所述主控车辆与所述受控车辆之间的通信连接建立完成。
  4. 根据权利要求3所述的方法，其特征在于，所述连接建立请求包括所述连接建立请求的发送方的身份识别信息，所述身份识别信息用于由所述连接建立请求的接收方对所述发送方进行身份识别。
  5. 根据权利要求1-4中任一项所述的方法，其特征在于，所述根据车辆操作指令， 确定针对与所述主控车辆连接的受控车辆的控制策略包括：
    根据所述车辆操作指令、以及所述主控车辆与所述受控车辆之间的控制策略匹配协议，确定针对所述受控车辆的控制策略，其中，所述控制策略匹配协议是通过所述主控车辆的整车信息与所述受控车辆的整车信息进行匹配得到的。
  6. 根据权利要求1-5中任一项所述的方法，其特征在于，所述方法还包括：
    在所述主控车辆处于所述控制模式的情况下，接收所述受控车辆发送的与所述受控车辆有关的行车环境信息和/或整车状态信息；
    显示所述行车环境信息和/或所述整车状态信息。
  7. 根据权利要求6所述的方法，其特征在于，所述行车环境信息包括以下信息中的至少一者：安装在所述受控车辆的前挡风玻璃处的第一摄像头采集的图像信息，安装在所述受控车辆的后挡风玻璃处的第二摄像头采集的图像信息，安装在所述受控车辆的左外后视镜处的第三摄像头采集的图像信息，安装在所述受控车辆的右外后视镜处的第四摄像头采集的图像信息，安装在所述受控车辆的内后视镜处的第五摄像头采集的图像信息，以及，安装在所述受控车辆的车窗玻璃处的第六摄像头采集的图像信息；
    所述显示所述行车环境信息包括以下动作中的至少一者：
    在所述主控车辆的前挡风玻璃处显示所述第一摄像头采集的图像信息；
    在所述主控车辆的后挡风玻璃处显示所述第二摄像头采集的图像信息；
    在所述主控车辆的左外后视镜处显示所述第三摄像头采集的图像信息；
    在所述主控车辆的右外后视镜处显示所述第四摄像头采集的图像信息；
    在所述主控车辆的内后视镜处显示所述第五摄像头采集的图像信息；
    在所述主控车辆的车窗玻璃处显示所述第六摄像头采集的图像信息。
  8. 根据权利要求1-7中任一项所述的方法，其特征在于，所述方法还包括：
    接收远程控制解除指令；
    响应于所述远程控制解除指令，触发所述主控车辆退出所述控制模式。
  9. 一种车辆控制方法，其特征在于，所述方法应用于受控车辆，并且所述方法包括：
    在所述受控车辆处于受控模式的情况下，接收与所述受控车辆连接的主控车辆发送的控制指令，所述控制指令包括用于指示所述受控车辆要执行的操作的控制策略；
    从所述控制指令中获取所述控制策略；
    执行所述控制策略所指示的操作。
  10. 根据权利要求9所述的方法，其特征在于，在所述接收与所述受控车辆连接的 主控车辆发送的控制指令之前，所述方法还包括：
    与所述主控车辆建立通信连接；
    在与所述主控车辆建立了通信连接后，触发所述受控车辆进入所述受控模式。
  11. 根据权利要求10所述的方法，其特征在于，
    所述与所述主控车辆建立通信连接包括：
    向所述主控车辆发送连接建立请求；
    接收所述主控车辆发送的针对所述连接建立请求的连接确认消息，其中，当所述连接确认消息指示所述主控车辆批准所述连接建立请求时，所述受控车辆与所述主控车辆之间的通信连接建立完成；
    或者，所述与所述主控车辆建立通信连接包括：
    接收所述主控车辆发送的连接建立请求；
    输出所述连接建立请求；
    接收用户针对所述连接建立请求的确认指令；
    根据所述确认指令，向所述主控车辆发送针对所述连接建立请求的连接确认消息，其中，当所述确认指令指示用户批准所述连接建立请求时，向所述主控车辆发送用于指示所述受控车辆批准所述连接建立请求的连接确认消息，以使所述受控车辆与所述主控车辆之间的通信连接建立完成。
  12. 根据权利要求11所述的方法，其特征在于，所述连接建立请求包括所述连接建立请求的发送方的身份识别信息，所述身份识别信息用于由所述连接建立请求的接收方对所述发送方进行身份识别。
  13. 根据权利要求9-12中任一项所述的方法，其特征在于，在所述执行所述控制策略所指示的操作之前，所述方法还包括：
    根据所述主控车辆与所述受控车辆之间的控制策略匹配协议，对从所述控制指令中获取到的控制策略进行策略转换，其中，所述控制策略匹配协议是通过所述主控车辆的整车信息与所述受控车辆的整车信息进行匹配得到的；以及
    所述执行所述控制策略所指示的操作包括：
    执行经策略转换后的控制策略所指示的操作。
  14. 根据权利要求9-13中任一项所述的方法，其特征在于，所述方法还包括：
    获取与所述受控车辆有关的行车环境信息和/或整车状态信息；
    在所述受控车辆处于所述受控模式的情况下，向所述主控车辆发送所述行车环境信息和/或所述整车状态信息。
  15. 根据权利要求14所述的方法，其特征在于，所述行车环境信息包括以下中信息的至少一者：安装在所述受控车辆的前挡风玻璃处的第一摄像头采集的图像信息，安装在所述受控车辆的后挡风玻璃处的第二摄像头采集的图像信息，安装在所述受控车辆的左外后视镜处的第三摄像头采集的图像信息，安装在所述受控车辆的右外后视镜处的第四摄像头采集的图像信息，安装在所述受控车辆的内后视镜处的第五摄像头采集的图像信息，以及，安装在所述受控车辆的车窗玻璃处的第六摄像头采集的图像信息。
  16. 根据权利要求9-13中任一项所述的方法，其特征在于，所述方法还包括：
    接收远程控制解除指令；
    响应于所述远程控制解除指令，触发所述受控车辆退出所述受控模式。
  17. 一种车辆控制装置，其特征在于，所述装置配置于主控车辆，并且所述装置包括：
    第一接收模块，用于接收车辆操作指令；
    控制策略确定模块，用于在所述主控车辆处于控制模式的情况下，根据所述车辆操作指令，确定针对与所述主控车辆连接的受控车辆的控制策略，所述控制策略用于指示所述受控车辆要执行的操作；
    第一发送模块，用于向所述受控车辆发送包括所述控制策略的控制指令，所述控制指令用于控制所述受控车辆执行所述控制策略所指示的操作。
  18. 根据权利要求17所述的装置，其特征在于，所述装置还包括：
    第一连接建立模块，用于与所述受控车辆建立通信连接；
    第一触发模块，用于在与所述受控车辆建立了通信连接后，触发所述主控车辆进入所述控制模式。
  19. 根据权利要求18所述的装置，其特征在于，
    所述第一连接建立模块包括：
    第一发送子模块，用于向所述受控车辆发送连接建立请求；
    第一接收子模块，用于接收所述受控车辆发送的针对所述连接建立请求的连接确认消息，其中，当所述连接确认消息指示所述受控车辆批准所述连接建立请求时，所述主控车辆与所述受控车辆之间的通信连接建立完成；
    或者，所述第一连接建立模块包括：
    第二接收子模块，用于接收所述受控车辆发送的连接建立请求；
    第一输出子模块，用于输出所述连接建立请求；
    第三接收子模块，用于接收用户针对所述连接建立请求的确认指令；
    第二发送子模块，用于根据所述确认指令，向所述受控车辆发送针对所述连接建立 请求的连接确认消息，其中，当所述确认指令指示用户批准所述连接建立请求时，所述第二发送子模块向所述受控车辆发送用于指示所述主控车辆批准所述连接建立请求的连接确认消息，以使所述主控车辆与所述受控车辆之间的通信连接建立完成。
  20. 根据权利要求19所述的装置，其特征在于，所述连接建立请求包括所述连接建立请求的发送方的身份识别信息，所述身份识别信息用于由所述连接建立请求的接收方对所述发送方进行身份识别。
  21. 根据权利要求17-20任一项所述的装置，其特征在于，所述控制策略确定模块用于根据所述车辆操作指令、以及所述主控车辆与所述受控车辆之间的控制策略匹配协议，确定针对所述受控车辆的控制策略，其中，所述控制策略匹配协议是通过所述主控车辆的整车信息与所述受控车辆的整车信息进行匹配得到的。
  22. 根据权利要求17-21中任一项所述的装置，其特征在于，所述装置还包括：
    第二接收模块和第三接收模块中的至少一者，其中，所述第二接收模块用于在所述主控车辆处于所述控制模式的情况下，接收所述受控车辆发送的与所述受控车辆有关的行车环境信息，所述第三接收模块用于接收所述受控车辆发送的与所述受控车辆有关的整车状态信息；
    第一显示模块和第二显示模块中的至少一者，其中，所述第一显示模块用于显示所述行车环境信息，所述第二显示模块用于显示所述整车状态信息。
  23. 根据权利要求22所述的装置，其特征在于，所述行车环境信息包括以下信息中的至少一者：安装在所述受控车辆的前挡风玻璃处的第一摄像头采集的图像信息，安装在所述受控车辆的后挡风玻璃处的第二摄像头采集的图像信息，安装在所述受控车辆的左外后视镜处的第三摄像头采集的图像信息，安装在所述受控车辆的右外后视镜处的第四摄像头采集的图像信息，安装在所述受控车辆的内后视镜处的第五摄像头采集的图像信息，以及，安装在所述受控车辆的车窗玻璃处的第六摄像头采集的图像信息；
    所述第一显示模块包括以下子模块中的至少一者：
    第一显示子模块，用于在所述主控车辆的前挡风玻璃处显示所述第一摄像头采集的图像信息；
    第二显示子模块，用于在所述主控车辆的后挡风玻璃处显示所述第二摄像头采集的图像信息；
    第三显示子模块，用于在所述主控车辆的左外后视镜处显示所述第三摄像头采集的图像信息；
    第四显示子模块，用于在所述主控车辆的右外后视镜处显示所述第四摄像头采集的图像信息；
    第五显示子模块，用于在所述主控车辆的内后视镜处显示所述第五摄像头采集的图像信息；
    第六显示子模块，用于在所述主控车辆的车窗玻璃处显示所述第六摄像头采集的图像信息。
  24. 根据权利要求17-23中任一项所述的装置，其特征在于，所述装置还包括：
    第四接收模块，用于接收远程控制解除指令；
    第二触发模块，用于响应于所述远程控制解除指令，触发所述主控车辆退出所述控制模式。
  25. 一种车辆控制装置，其特征在于，所述装置配置于受控车辆，并且所述装置包括：
    第五接收模块，用于在所述受控车辆处于受控模式的情况下，接收与所述受控车辆连接的主控车辆发送的控制指令，所述控制指令包括用于指示所述受控车辆要执行的操作的控制策略；
    控制策略获取模块，用于从所述控制指令中获取所述控制策略；
    执行模块，用于执行所述控制策略所指示的操作。
  26. 根据权利要求25所述的装置，其特征在于，所述装置还包括：
    第二连接建立模块，用于与所述主控车辆建立通信连接；
    第三触发模块，用于在与所述主控车辆建立了通信连接后，触发所述受控车辆进入所述受控模式。
  27. 根据权利要求26所述的装置，其特征在于，所述第二连接建立模块包括：
    第三发送子模块，用于向所述主控车辆发送连接建立请求；
    第四接收子模块，用于接收所述主控车辆发送的针对所述连接建立请求的连接确认消息，其中，当所述连接确认消息指示所述主控车辆批准所述连接建立请求时，所述受控车辆与所述主控车辆之间的通信连接建立完成；
    或者，所述第二连接建立模块包括：
    第五接收子模块，用于接收所述主控车辆发送的连接建立请求；
    第二输出子模块，用于输出所述连接建立请求；
    第六接收子模块，用于接收用户针对所述连接建立请求的确认指令；
    第四发送子模块，用于根据所述确认指令，向所述主控车辆发送针对所述连接建立请求的连接确认消息，其中，当所述确认指令指示用户批准所述连接建立请求时，所述第四发送子模块向所述主控车辆发送用于指示所述受控车辆批准所述连接建立请求的连接确认消息，以使所述受控车辆与所述主控车辆之间的通信连接建立完成。
  28. 根据权利要求27所述的装置，其特征在于，所述连接建立请求包括所述连接建立请求的发送方的身份识别信息，所述身份识别信息用于由所述连接建立请求的接收方对所述发送方进行身份识别。
  29. 根据权利要求25-27中任一项所述的装置，其特征在于，所述装置还包括：
    策略转换模块，用于根据所述主控车辆与所述受控车辆之间的控制策略匹配协议，对从所述控制指令中获取到的控制策略进行策略转换，其中，所述控制策略匹配协议是通过所述主控车辆的整车信息与所述受控车辆的整车信息进行匹配得到的；以及
    所述执行模块用于执行经策略转换后的控制策略所指示的操作。
  30. 根据权利要求25-29中任一项所述的装置，其特征在于，所述装置还包括：
    第一获取模块和第二获取模块中的至少一者，其中，所述第一获取模块用于获取与所述受控车辆有关的行车环境信息，所述第二获取模块用于获取与所述受控车辆有关的整车状态信息；
    第二发送模块和第三发送模块中的至少一者，其中，所述第二发送模块用于在所述受控车辆处于所述受控模式的情况下，向所述主控车辆发送所述行车环境信息，所述第三发送模块用于在所述受控车辆处于所述受控模式的情况下，向所述主控车辆发送所述整车状态信息。
  31. 根据权利要求30所述的装置，其特征在于，所述行车环境信息包括以下信息中的至少一者：安装在所述受控车辆的前挡风玻璃处的第一摄像头采集的图像信息，安装在所述受控车辆的后挡风玻璃处的第二摄像头采集的图像信息，安装在所述受控车辆的左外后视镜处的第三摄像头采集的图像信息，安装在所述受控车辆的右外后视镜处的第四摄像头采集的图像信息，安装在所述受控车辆的内后视镜处的第五摄像头采集的图像信息，以及，安装在所述受控车辆的车窗玻璃处的第六摄像头采集的图像信息。
  32. 根据权利要求25-31中任一项所述的装置，其特征在于，所述装置还包括：
    第六接收模块，用于接收远程控制解除指令；
    第四触发模块，用于响应于所述远程控制解除指令，触发所述受控车辆退出所述受控模式。
  33. 一种计算机可读存储介质，其内存储有可执行程序，当所述程序被处理器运行时，执行权利要求1-8所述的方法。
  34. 一种计算机可读存储介质，其内存储有可执行程序，当所述程序被处理器运行 时，执行权利要求9-16所述的方法。
  35. 一种车辆，其特征在于，所述车辆包括权利要求33或34所述的计算机存储介质中的至少一种。
  36. 一种车辆，其特征在于，所述车辆包括：
    通信模块，用于与其他车辆通信；
    整车控制器，包括根据权利要求17-24中任一项所述的车辆控制装置。
  37. 一种车辆，其特征在于，所述车辆包括：
    通信模块，用于与其他车辆通信；
    整车控制器，包括根据权利要求25-32中任一项所述的车辆控制装置。
  38. 一种远程驾驶控制系统，其特征在于，所述系统包括主控车辆和受控车辆，其中，所述主控车辆为根据权利要求36所述的车辆，所述受控车辆为根据权利要求37所述的车辆。
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