WO2020147362A1 - 车辆控制方法和装置 - Google Patents

车辆控制方法和装置 Download PDF

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Publication number
WO2020147362A1
WO2020147362A1 PCT/CN2019/112779 CN2019112779W WO2020147362A1 WO 2020147362 A1 WO2020147362 A1 WO 2020147362A1 CN 2019112779 W CN2019112779 W CN 2019112779W WO 2020147362 A1 WO2020147362 A1 WO 2020147362A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
driving
driving assistance
instruction
simulated
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2019/112779
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English (en)
French (fr)
Inventor
谷金阳
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Baidu Netcom Science and Technology Co Ltd
Original Assignee
Beijing Baidu Netcom Science and Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Baidu Netcom Science and Technology Co Ltd filed Critical Beijing Baidu Netcom Science and Technology Co Ltd
Priority to JP2020568681A priority Critical patent/JP7399892B2/ja
Priority to EP19910878.8A priority patent/EP3812867A4/en
Publication of WO2020147362A1 publication Critical patent/WO2020147362A1/zh
Priority to US17/116,973 priority patent/US11599122B2/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0027—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement involving a plurality of vehicles, e.g. fleet or convoy travelling
    • 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
    • B60W30/06—Automatic manoeuvring for parking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0285—Parking performed automatically
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • 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
    • B60W2050/0062—Adapting control system settings
    • B60W2050/007—Switching between manual and automatic parameter input, and vice versa
    • B60W2050/0074—Driver shifts control to the controller, e.g. by pressing a button
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/215—Selection or confirmation of options
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/229—Attention level, e.g. attentive to driving, reading or sleeping
    • 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
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • 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
    • B60W2756/00—Output or target parameters relating to data
    • B60W2756/10—Involving external transmission of data to or from the vehicle
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/005—Handover processes
    • B60W60/0051—Handover processes from occupants to vehicle

Definitions

  • This application relates to the field of vehicles, in particular to the field of vehicle control, and in particular to vehicle control methods and devices.
  • the environment perception capabilities of vehicles have been improved.
  • the environment perception ability of the vehicle is limited. For example, when driving to an area with a complex driving environment, relying on the vehicle's own environment perception ability to drive may occur such as the vehicle cannot pass through the area with a complicated driving environment, Accidents, etc.
  • the embodiments of the present application provide a vehicle control method and device.
  • an embodiment of the present application provides a vehicle control method.
  • the method includes: receiving an auxiliary driving instruction associated with a vehicle; sending an auxiliary control instruction to the vehicle so that the vehicle executes the auxiliary control instruction to The vehicle is controlled, wherein the auxiliary control instruction is generated by an auxiliary driving user performing a simulated driving operation based on the driving environment information of the vehicle presented to the auxiliary driving user.
  • an embodiment of the present application provides a vehicle control device, which includes: an instruction receiving unit configured to receive an assisted driving instruction associated with a vehicle; an assisted driving unit configured to send an assisted control instruction to the vehicle , So that the vehicle executes the auxiliary control command to control the vehicle, wherein the auxiliary control command is generated by the auxiliary driving user performing a simulated driving operation based on the driving environment information of the vehicle presented to the auxiliary driving user .
  • the vehicle control method and device receive assisted driving instructions associated with the vehicle; send assisted control instructions to the vehicle so that the vehicle executes the assisted control instructions to control the vehicle,
  • the assisting control instruction is generated by assisting the driving user to perform a simulated driving operation based on the driving environment information of the vehicle presented to the assisting driving user. It realizes that the assisted driving user of the remote control terminal performs simulated driving operations based on the driving environment information indicating the environment in which the vehicle is located, and generates auxiliary control instructions to assist the vehicle in driving, enhancing the convenience of vehicle driving and improving the safety of vehicle driving.
  • Fig. 1 shows an exemplary system architecture to which the vehicle control method of the present application can be applied
  • Fig. 2 shows a flowchart of an embodiment of a vehicle control method according to the present application
  • Fig. 3 shows an exemplary flow chart of the vehicle control method according to the present application
  • Fig. 4 shows a schematic structural diagram of an embodiment of the vehicle control device according to the present application.
  • Fig. 1 shows an exemplary system architecture to which the vehicle control method of the present application can be applied.
  • the system architecture may include a vehicle 101, a server 102 on the remote control terminal, and a driving simulation device 103 on the remote control terminal.
  • the vehicle 101 may be an autonomous driving vehicle with autonomous driving capability.
  • the person on the remote control terminal who assists in driving the vehicle 101 through simulated driving operations may be referred to as an assisted driving user.
  • the driving simulation device 103 on the remote control terminal has a driving simulation component, a display, and the like.
  • Simulation driving components include steering wheel, foot pedals, etc.
  • the vehicle 101 has a sensor combination, and the sensor combination may include, but is not limited to: a camera, a laser radar, and a millimeter wave radar.
  • the vehicle 101 may send driving environment information such as the collected road condition images and the attributes of the detected obstacles to the server 102 of the remote control terminal.
  • the server 102 on the remote control terminal can send the driving environment information to the simulated driving device 103 on the remote control terminal.
  • road condition images, attributes of detected obstacles, and the like are presented to the assisting driving user.
  • the assisted driving user at the remote control terminal performs a simulated driving operation on the simulated driving component according to the driving environment information presented to the assisted driving user, and generates an auxiliary control instruction corresponding to the simulated driving operation.
  • the generated auxiliary control instruction may be sent to the vehicle 101 via the server 102 of the remote control terminal.
  • the control system of the vehicle 101 executes an auxiliary control command to control the vehicle 101.
  • FIG. 2 shows the flow of an embodiment of the vehicle control method according to the present application.
  • the method includes the following steps:
  • Step 201 Receive a driving assistance instruction associated with the vehicle.
  • the driving simulation device on the remote control terminal may receive the driving assistance instruction associated with the vehicle.
  • the driving assistance instruction can be generated when the vehicle needs driving assistance.
  • the driving assistance instruction associated with the vehicle may be the driving assistance instruction input by the driving assistance user of the remote control terminal.
  • the driving assistance user at the remote control terminal determines that the vehicle needs driving assistance based on the driving environment information of the vehicle presented to the driving assistance user at the remote control terminal
  • the driving assistance user at the remote control terminal can input driving assistance instructions.
  • the driving simulation device at the remote control terminal can receive the driving assistance instructions that can be input by the driving assistance user at the remote control terminal.
  • the vehicle sends the driving environment information generated on the vehicle to the server on the remote control terminal in real time
  • the server on the remote control terminal sends the driving environment information to the simulated driving device on the remote control terminal.
  • the driving environment information of the vehicle may include, but is not limited to: collected driving environment images and attributes of obstacles detected by the vehicle.
  • the collected environmental images include other vehicles, pedestrians, and traffic signs near the vehicle.
  • the driving environment information is presented to the driving assistant user on the remote control terminal on the simulated driving device of the remote control terminal, so that the driving assistant user on the remote control terminal can know the current environment of the vehicle.
  • the driving assistance user at the remote control terminal finds that the vehicle is in a complex environment and needs driving assistance based on the driving environment information presented to the driving assistance user at the remote control terminal.
  • the assisted driving user on the remote control terminal can input assisted driving instructions. For example, when the vehicle is in a complex driving environment, the vehicle may stop driving because it is unable to make driving decisions or cannot pass through the complex area of the road for a long time.
  • the driving environment information of the vehicle determines that the vehicle has stopped driving or cannot pass through the complex area of the road for a long time.
  • the assisted driving user of the remote control terminal can input the assisted driving instruction, and the simulation driving device on the remote control terminal receives the assistance of the remote control terminal Driving assistance instructions that can be input by the driving user.
  • the driving assistance instruction associated with the vehicle may also be the driving assistance instruction sent by the vehicle generated on the vehicle.
  • the driver of the vehicle can click the button for requesting driving assistance on the interface of the application interacting with the autonomous vehicle of the terminal to request the driving assistance user to perform simulated driving operations to help the vehicle The driver parked.
  • an assisted driving instruction is generated, and the vehicle sends the assisted driving instruction to the server on the remote control end.
  • the server on the remote control end sends the assisted driving instruction sent by the vehicle to the simulation driving device on the remote control end.
  • Step 202 Send an auxiliary control instruction to the vehicle.
  • the assisting control instruction is generated by assisting the driving user to perform a simulated driving operation based on the driving environment information of the vehicle presented to the assisting driving user.
  • the control commands that can be executed by the vehicle generated based on the simulated driving operations can be referred to as auxiliary control commands.
  • the simulated driving device on the remote control terminal can set the simulated driving components such as the steering wheel and the foot pedal to the working state.
  • the assisted driving user on the remote control terminal can perform simulated driving operations by manipulating the simulated driving components, and the simulated driving equipment on the remote control terminal can generate simulation control instructions corresponding to the simulated driving operations.
  • the correspondence between the simulation control commands generated by the steering wheel, foot pedals, and other simulation driving operations performed by the driving assistance user at the remote control terminal and the control commands output by the vehicle control system can be established in advance.
  • the simulation driving device at the remote control terminal After the simulation driving device at the remote control terminal generates the simulation control command corresponding to the simulation driving operation, the simulation control command corresponding to the simulation driving operation can be converted according to the corresponding relationship between the simulation control command and the control command output by the vehicle control system. It is the corresponding control command that can be executed by the vehicle.
  • the simulated driving device at the remote control end may have the same template driving part as the control part of the vehicle. Therefore, when the simulated driving device used by the assisted driving user performs a simulated driving operation, the generated simulation control command corresponding to the simulated driving operation is the control command that can be directly executed by the corresponding control component of the vehicle, that is, the simulation corresponding to the generated simulated driving operation The control command can be directly used as an auxiliary control command.
  • the simulation driving device on the remote control terminal can send the auxiliary control instruction to the server on the remote control terminal, and then the server on the remote control terminal sends the auxiliary control command to the vehicle. Instruction, so that after the vehicle receives the auxiliary control instruction, the vehicle can execute the auxiliary control instruction to achieve assisted driving of the vehicle.
  • the driving environment information can be presented to the driving assistant user on the remote control terminal on the simulated driving device of the remote control terminal, and the assistant driving user on the remote control terminal can know the current environment of the vehicle.
  • the assisted driving user on the remote control terminal can, according to the known environment of the vehicle, perform simulated driving operations such as turning the steering wheel and stepping on the pedals by manipulating the simulated driving components to generate auxiliary control commands, which are sent to the vehicle, and the vehicle performs assistance Control instruction. Therefore, the assisted driving user at the remote control terminal can be equivalent to the current assisted driving user at the remote control terminal driving the vehicle in the vehicle.
  • the driving assistance instruction may be generated based on the vehicle detecting that the vehicle is in a complex driving environment.
  • the vehicle can detect that the vehicle is in a complex driving environment based on the vehicle's driving environment information.
  • the vehicle can generate assisted driving instructions, and the vehicle can send the assisted driving instructions to the remote control server.
  • the server on the remote control terminal sends the driving assistance commands sent by the vehicle to the simulated driving device on the remote control terminal.
  • the simulated driving device on the remote control terminal can set the simulated driving components such as the steering wheel and the foot pedal to the working state.
  • the driving assistance instruction associated with the vehicle may be generated based on the driving assistance instruction operation performed by the driver of the vehicle when the driver of the vehicle is in a parking situation or fatigue situation.
  • the assisted driving instruction operation performed by the driver of the vehicle can be the request for assisted driving on the interface of the application that interacts with the autonomous vehicle on the terminal.
  • an assisted driving instruction is generated, and the vehicle sends the assisted driving instruction to the server on the remote control end.
  • the server on the remote control end sends the assisted driving instruction sent by the vehicle to the simulated driving device on the remote control end.
  • the simulated driving device on the remote control terminal can set the simulated driving components such as the steering wheel and the foot pedal to the working state.
  • the driving assistance instruction operation performed by the driver of the vehicle may be clicking the button requesting driving assistance on the interface of the application interacting with the autonomous vehicle of the terminal to request the user to assist the driving Carry out simulated driving operations to control the vehicle to continue driving.
  • an assisted driving instruction is generated, and the vehicle sends the assisted driving instruction to the server on the remote control end.
  • the server on the remote control end sends the assisted driving instruction sent by the vehicle to the simulated driving device on the remote control end.
  • the simulated driving device on the remote control terminal can set the simulated driving components such as the steering wheel and the foot pedal to the working state.
  • the driving assistance instruction may be generated based on the vehicle being driven to the risk area, and at least part of the road objects in the risk area are not marked on the high-precision map.
  • the high-precision map contains road objects such as lane lines, zebra crossings, stop lines, diversion lines, traffic signs, and label data of road objects.
  • the label data of lane lines, zebra crossings, stop lines, and diversion lines all include: parametric equations and the coordinates of corner points in the world coordinate system.
  • a vehicle drives in a park according to a high-precision map, and road objects in some areas of the park are pre-marked on the high-precision map of the park, and the marked road objects all have label data.
  • the vehicle travels to an area, through image recognition of the collected road condition images, multiple road objects in the area are detected and it is determined that the high-precision map does not have the labeled data of the multiple detected road objects , It can be determined that multiple detected road objects are not marked in the high-precision map, and the vehicle is driving to the risk area.
  • the vehicle generates an assisted driving instruction, and the vehicle sends the assisted driving instruction to the server on the remote control terminal.
  • the server on the remote control terminal sends the driving assistance commands sent by the vehicle to the simulation driving equipment on the remote control terminal.
  • the simulation driving equipment on the remote control terminal can set the steering wheel, pedals and other simulated driving components after receiving the driving assistance commands associated with the vehicle. For working status.
  • the vehicle can detect whether the vehicle has vibrations, slips, and other perceptual conditions during driving.
  • the vehicle can send the identification of the situation that needs to be sensed in the vehicle to the server on the remote control terminal, and the server on the remote control terminal sends it to the driving simulation device.
  • the driving simulation device can determine a simulated perception operation associated with a situation that needs to be sensed in the vehicle, and the simulated perception operation is used to make the assisting driving user perceive the situation that needs to be sensed in the vehicle. Then, the simulated sensing operation is performed, so that the assisted driving user perceives the situation that needs to be sensed in the vehicle.
  • the determined simulated perception operation includes controlling the driver's seat on the simulated driving device to simulate the vibration situation, and performing the simulated perception operation to make the assisting driving user perceive the vibration situation of the vehicle.
  • FIG. 3 shows an exemplary flowchart of the vehicle control method according to the present application.
  • the assisted driving instruction operation performed by the driver of the vehicle can be the request for assisted driving on the interface of the application that interacts with the autonomous vehicle on the terminal.
  • an assisted driving instruction is generated, and the vehicle sends the assisted driving instruction to the server on the remote control end.
  • the server on the remote control end sends the assisted driving instruction sent by the vehicle to the simulated driving device on the remote control end.
  • the simulated driving device on the remote control terminal can set the simulated driving components such as the steering wheel and the foot pedal to the working state.
  • the assisted driving user on the remote control terminal can perform a series of simulated driving operations associated with controlling the vehicle to drive to the parking space for parking by manipulating the simulated driving components on the simulated driving device, and accordingly, generate on the simulated driving device to control the vehicle A series of auxiliary control commands for driving to a parking space for parking.
  • a series of auxiliary control instructions for controlling the vehicle to drive to the parking space for parking can be sent by the remote control terminal's simulated driving equipment to the remote control terminal server, and the remote control terminal server can send to the vehicle for controlling the vehicle to drive to the parking space for parking
  • the vehicle executes a series of auxiliary control instructions to make the vehicle drive to the parking space and park to realize the auxiliary driving of the vehicle.
  • this application provides an embodiment of a vehicle control device, which corresponds to the method embodiment shown in FIG. 2.
  • the vehicle control device of this embodiment includes: an instruction receiving unit 401 and a driving assistance unit 402.
  • the instruction receiving unit 401 is configured to receive an auxiliary driving instruction associated with the vehicle
  • the auxiliary driving unit 402 is configured to send an auxiliary control instruction to the vehicle, so that the vehicle executes the auxiliary control instruction to the vehicle Performing control, wherein the assisting control instruction is generated by assisting the driving user to perform a simulated driving operation based on the driving environment information of the vehicle presented to the assisting driving user.
  • the received driving assistance instruction associated with the vehicle is one of the following: the driving assistance instruction sent by the vehicle, and the driving assistance instruction input by the driving assistance user.
  • the vehicle control device further includes: a perception simulation unit configured to determine a simulated perception operation associated with a situation requiring perception of the vehicle, wherein the simulated perception operation It is used to make the driving assistance user perceive the situation that needs to be sensed in the vehicle; perform the simulated perception operation.
  • a perception simulation unit configured to determine a simulated perception operation associated with a situation requiring perception of the vehicle, wherein the simulated perception operation It is used to make the driving assistance user perceive the situation that needs to be sensed in the vehicle; perform the simulated perception operation.
  • the received driving assistance instruction associated with the vehicle is the driving assistance instruction sent by the vehicle, and the driving assistance instruction sent by the vehicle is based on the driver’s presence of the vehicle. It is generated by performing assisted driving instruction operations when assisted driving is required.
  • the driving assistance condition is one of the following: parking condition and driver fatigue condition.
  • the received driving assistance instruction associated with the vehicle is the driving assistance instruction sent by the vehicle, and the driving assistance instruction sent by the vehicle is based on the vehicle detecting that the vehicle is in Generated in a complex driving environment.
  • the received driving assistance instruction associated with the vehicle is the driving assistance instruction sent by the vehicle, and the driving assistance instruction sent by the vehicle is based on the driving of the vehicle to the risk area However, at least part of the road objects in the risk area are not marked on the high-precision map.
  • This application also provides an electronic device, which may be configured with one or more processors; a memory, used to store one or more programs, and one or more programs may be included to execute the description in the above embodiments Instructions for the operation.
  • processors may be configured with one or more processors; a memory, used to store one or more programs, and one or more programs may be included to execute the description in the above embodiments Instructions for the operation.
  • the instructions that cause the one or more processors to execute the operations described in the foregoing embodiments.
  • the present application also provides a computer-readable medium.
  • the computer-readable medium may be included in the electronic device; or it may exist alone and is not assembled into the electronic device.
  • the above-mentioned computer-readable medium carries one or more programs, and when the one or more programs are executed by an electronic device, instructions that cause the electronic device to execute the operations described in the above embodiments.
  • the computer-readable medium described in this application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the two.
  • the computer-readable storage medium may include, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the above, for example. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable Programmable read only memory (EPROM or flash memory), optical fiber, portable compact disk read only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above.
  • the computer-readable storage medium can be any tangible medium that contains or stores a program, and the program can be used by or in combination with a message execution system, apparatus, or device.
  • a computer-readable signal medium may include a data signal propagated in a baseband or as a part of a carrier wave, and a computer-readable program code is carried therein. This propagated data signal can take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing.
  • the computer-readable signal medium may also be any computer-readable medium other than the computer-readable storage medium.
  • the computer-readable medium may send, propagate, or transmit the program for use by or in combination with the message execution system, apparatus, or device .
  • the program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the foregoing.
  • each block in the flowchart or block diagram can represent a module, program segment, or part of code, and the module, program segment, or part of code contains one or more for realizing the specified logic function Executable message.
  • the functions marked in the block may also appear in an order different from the order marked in the drawings. For example, two blocks shown in succession can actually be executed substantially in parallel, or they can sometimes be executed in the reverse order, depending on the functions involved.
  • each block in the block diagram and/or flowchart, and the combination of the blocks in the block diagram and/or flowchart can be implemented by a dedicated hardware-based system that performs the specified functions or operations Or it can be realized by a combination of dedicated hardware and computer messages.

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Abstract

一种车辆（101）控制方法和装置。方法包括：接收与车辆（101）相关联的辅助驾驶指令（201）；向车辆（101）发送辅助控制指令（202）。使得车辆（101）执行辅助控制指令对车辆（101）进行控制，其中，辅助控制指令通过辅助驾驶用户基于呈现给辅助驾驶用户的车辆（101）的行驶环境信息进行模拟驾驶操作而生成。实现了通过远程控制端的辅助驾驶用户基于指示车辆所处的环境的行驶环境信息进行模拟驾驶操作，生成辅助控制指令来对车辆（101）进行辅助驾驶，增强车辆（101）驾驶的便利性和提升车辆（101）驾驶的安全性。

Description

车辆控制方法和装置
本专利申请要求于2019年01月16日提交的、申请号为201910041443.8、发明名称为“车辆控制方法和装置”的中国专利申请的优先权，该申请的全文以引用的方式并入本申请中。
技术领域
本申请涉及车辆领域，具体涉及车辆控制领域，尤其涉及车辆控制方法和装置。
背景技术
目前，随着诸如图像识别的计算机技术广泛地应用在车辆上，提升了车辆的环境感知能力。然而，车辆的环境感知能力是有限的，在诸如在行驶至具有复杂行驶环境的区域的情况下，依靠车辆自身的环境感知能力行驶，可能会出现诸如车辆无法通过具有复杂行驶环境的区域、出现事故等情况。
发明内容
本申请实施例提供了车辆控制方法和装置。
第一方面，本申请实施例提供了车辆控制方法，该方法包括：接收与车辆相关联的辅助驾驶指令；向所述车辆发送辅助控制指令，以使得所述车辆执行所述辅助控制指令对所述车辆进行控制，其中，所述辅助控制指令通过辅助驾驶用户基于呈现给辅助驾驶用户的所述车辆的行驶环境信息进行模拟驾驶操作而生成。
第二方面，本申请实施例提供了车辆控制装置，该装置包括：指令接收单元，被配置为接收与车辆相关联的辅助驾驶指令；辅助驾驶单元，被配置为向所述车辆发送辅助控制指令，以使得所述车辆执行所述辅助控制指令对所述车辆进行控制，其中，所述辅助控制指令通 过辅助驾驶用户基于呈现给辅助驾驶用户的所述车辆的行驶环境信息进行模拟驾驶操作而生成。
本申请实施例提供的车辆控制方法和装置，通过接收与车辆相关联的辅助驾驶指令；向所述车辆发送辅助控制指令，以使得所述车辆执行所述辅助控制指令对所述车辆进行控制，其中，所述辅助控制指令通过辅助驾驶用户基于呈现给辅助驾驶用户的所述车辆的行驶环境信息进行模拟驾驶操作而生成。实现了通过远程控制端的辅助驾驶用户基于指示车辆所处的环境的行驶环境信息进行模拟驾驶操作，生成辅助控制指令来对车辆进行辅助驾驶，增强车辆驾驶的便利性和提升车辆驾驶的安全性。
附图说明
通过阅读参照以下附图所作的对非限制性实施例所作的详细描述，本申请的其它特征、目的和优点将会变得更明显：
图1示出了可以应用本申请的车辆控制方法的示例性系统架构；
图2示出了根据本申请的车辆控制方法的一个实施例的流程图；
图3示出了根据本申请的车辆控制方法的一个示例性流程图；
图4示出了根据本申请的车辆控制装置的一个实施例的结构示意图。
具体实施方式
下面结合附图和实施例对本申请作进一步的详细说明。可以理解的是，此处所描述的具体实施例仅仅用于解释相关发明，而非对该发明的限定。另外还需要说明的是，为了便于描述，附图中仅示出了与有关发明相关的部分。
需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。下面将参考附图并结合实施例来详细说明本申请。
图1示出了可以应用本申请的车辆控制方法的示例性系统架构。
如图1所示，系统架构可以包括车辆101、远程控制端的服务器 102、远程控制端的模拟驾驶设备103。车辆101可以为具有自主驾驶能力的自动驾驶车辆。远程控制端的通过模拟驾驶操作对车辆101进行辅助驾驶的人可以称之为辅助驾驶用户。
远程控制端的模拟驾驶设备103具有模拟驾驶部件、显示器等。模拟驾驶部件包括方向盘、脚踏板等。
车辆101具有传感器组合，传感器组合可以包括但不限于：摄像头、激光雷达、毫米波雷达。车辆101可以将采集的路况图像、检测到的障碍物的属性等行驶环境信息发送至远程控制端的服务器102。远程控制端的服务器102可以将行驶环境信息发送至远程控制端的模拟驾驶设备103。在模拟驾驶设备103的显示器上向辅助驾驶用户呈现路况图像、检测到的障碍物的属性等。
远程控制端的辅助驾驶用户根据呈现给辅助驾驶用户的行驶环境信息，对模拟驾驶部件进行模拟驾驶操作，生成模拟驾驶操作对应的辅助控制指令。生成的辅助控制指令可以经由远程控制端的服务器102发送至车辆101。车辆101的控制系统执行辅助控制指令，对车辆101进行控制。
请参考图2，其示出了根据本申请的车辆控制方法的一个实施例的流程。该方法包括以下步骤：
步骤201，接收与车辆相关联的辅助驾驶指令。
在本实施例中，可以由远程控制端的模拟驾驶设备接收与车辆相关联的辅助驾驶指令。辅助驾驶指令可以在车辆需要辅助驾驶的情况下生成。
在本实施例中，与车辆相关联的辅助驾驶指令可以为远程控制端的辅助驾驶用户输入的辅助驾驶指令。当远程控制端的辅助驾驶用户根据呈现给远程控制端的辅助驾驶用户的车辆的行驶环境信息，确定车辆需要辅助驾驶时，远程控制端的辅助驾驶用户可以输入辅助驾驶指令。可以由远程控制端的模拟驾驶设备接收远程控制端的辅助驾驶用户可以输入的辅助驾驶指令。
例如，车辆将在车辆上生成的行驶环境信息实时发送至远程控制端的服务器，由远程控制端的服务器将行驶环境信息发送至远程控制 端的模拟驾驶设备。车辆的行驶环境信息可以包括但不限于：采集到的行驶环境图像、车辆检测到的障碍物的属性。采集到的环境图像中包含车辆附近的其他车辆、行人、交通标识等。在远程控制端的模拟驾驶设备上向远程控制端的辅助驾驶用户呈现行驶环境信息，从而，远程控制端的辅助驾驶用户可以知晓车辆当前所处的环境。当远程控制端的辅助驾驶用户根据呈现给远程控制端的辅助驾驶用户的行驶环境信息，发现车辆处于复杂环境中需要辅助驾驶时。远程控制端的辅助驾驶用户可以输入辅助驾驶指令。例如，当车辆处于复杂的行驶环境时，车辆可能因无法做出驾驶决策而停止行驶或较长时间无法通过道路复杂的区域，此时，远程控制端的辅助驾驶用户可以确定根据呈现给辅助驾驶用户的车辆的行驶环境信息，确定车辆出现了停止行驶或较长时间无法通过道路复杂的区域的情况，远程控制端的辅助驾驶用户可以输入辅助驾驶指令，由远程控制端的模拟驾驶设备接收远程控制端的辅助驾驶用户可以输入的辅助驾驶指令。
在本实施例中，与车辆相关联的辅助驾驶指令也可以为在车辆上生成的由车辆发送的辅助驾驶指令。例如，当车辆处于复杂的行驶环境时，车辆的驾驶员可以点击终端的与自动驾驶车辆进行交互的应用中的界面上的请求辅助驾驶的按钮，来请求辅助驾驶用户进行模拟驾驶操作来帮助车辆的驾驶员停车。在车辆的驾驶员点击按钮之后，生成辅助驾驶指令，由车辆将辅助驾驶指令发送至远程控制端的服务器，然后，由远程控制端的服务器将车辆发送的辅助驾驶指令发送至远程控制端的模拟驾驶设备。
步骤202，向车辆发送辅助控制指令。
在本实施例中，辅助控制指令通过辅助驾驶用户基于呈现给辅助驾驶用户的车辆的行驶环境信息进行模拟驾驶操作而生成。基于模拟驾驶操作生成的可由车辆执行的控制指令可以称之为辅助控制指令。远程控制端的模拟驾驶设备在接收与车辆相关联的辅助驾驶指令之后，可以将方向盘、脚踏板等模拟驾驶部件设置为工作状态。远程控制端的辅助驾驶用户可以通过操纵模拟驾驶部件进行模拟驾驶操作，可以由远程控制端的模拟驾驶设备生成模拟驾驶操作对应的模拟控制 指令。
在本实施例中，可以预先建立远程控制端的辅助驾驶用户进行的转动方向盘、脚踏板等模拟驾驶操作而生成的模拟控制指令与车辆的控制系统输出的控制指令的对应关系。在由远程控制端的模拟驾驶设备生成模拟驾驶操作对应的模拟控制指令之后，可以根据预先建立的模拟控制指令与车辆的控制系统输出的控制指令的对应关系，将模拟驾驶操作对应的模拟控制指令转换为相应的可由车辆执行的控制指令。
在本实施例中，在远程控制端的模拟驾驶设备可以具有与车辆的控制部件相同的模板驾驶部件。从而，辅助驾驶用户利用的模拟驾驶设备进行模拟驾驶操作时，生成的模拟驾驶操作对应的模拟控制指令即为可由车辆的相应的控制部件直接执行的控制指令，即生成的模拟驾驶操作对应的模拟控制指令可以直接作为辅助控制指令。
在本实施例中，在由远程控制端的模拟驾驶设备生成辅助控制指令之后，可以由远程控制端的模拟驾驶设备将辅助控制指令发送至远程控制端的服务器，再由远程控制端的服务器向车辆发送辅助控制指令，从而，车辆在接收到辅助控制指令之后，车辆可以执行辅助控制指令，实现对车辆的辅助驾驶。
在本实施例中，可以在远程控制端的模拟驾驶设备上向远程控制端的辅助驾驶用户呈现行驶环境信息，远程控制端的辅助驾驶用户可以知晓车辆当前所处的环境。远程控制端的辅助驾驶用户可以根据知晓的车辆当前所处的环境，通过操纵模拟驾驶部件进行转动方向盘、踩脚踏板等模拟驾驶操作，生成辅助控制指令，辅助控制指令发送至车辆，车辆执行辅助控制指令。从而，远程控制端的辅助驾驶用户可以相当于当前远程控制端的辅助驾驶用户位于车辆中驾驶车辆。
在本实施例的一些可选的实现方式中，辅助驾驶指令可以基于车辆检测出车辆处于复杂行驶环境而生成。当车辆处于复杂的行驶环境时，车辆可以根据车辆的行驶环境信息，检测出车辆处于复杂的行驶环境，可以由车辆生成辅助驾驶指令，由车辆将辅助驾驶指令发送至远程控制端的服务器，然后，由远程控制端的服务器将车辆发送的辅 助驾驶指令发送至远程控制端的模拟驾驶设备。远程控制端的模拟驾驶设备在接收与车辆相关联的辅助驾驶指令之后，可以将方向盘、脚踏板等模拟驾驶部件设置为工作状态。
在本实施例的一些可选的实现方式中，与车辆相关联的辅助驾驶指令可以基于车辆的驾驶员在停车情况、疲劳情况等情况下车辆的驾驶员进行辅助驾驶指示操作而生成。
当车辆的驾驶员驾驶车辆行驶至一个地点需要通过辅助驾驶停车时，车辆的驾驶员进行的辅助驾驶指示操作可以为点击终端的与自动驾驶车辆进行交互的应用中的界面上的请求辅助驾驶的按钮，来请求辅助驾驶用户进行模拟驾驶操作来控制车辆行驶至停车位进行停车。在车辆的驾驶员点击按钮之后，生成辅助驾驶指令，由车辆将辅助驾驶指令发送至远程控制端的服务器，然后，由远程控制端的服务器将车辆发送的辅助驾驶指令发送至远程控制端的模拟驾驶设备，远程控制端的模拟驾驶设备在接收与车辆相关联的辅助驾驶指令之后，可以将方向盘、脚踏板等模拟驾驶部件设置为工作状态。
当车辆的驾驶员疲劳需要辅助驾驶时，车辆的驾驶员进行的辅助驾驶指示操作可以为点击终端的与自动驾驶车辆进行交互的应用中的界面上的请求辅助驾驶的按钮，来请求辅助驾驶用户进行模拟驾驶操作来控制车辆继续行驶。在车辆的驾驶员点击按钮之后，生成辅助驾驶指令，由车辆将辅助驾驶指令发送至远程控制端的服务器，然后，由远程控制端的服务器将车辆发送的辅助驾驶指令发送至远程控制端的模拟驾驶设备，远程控制端的模拟驾驶设备在接收与车辆相关联的辅助驾驶指令之后，可以将方向盘、脚踏板等模拟驾驶部件设置为工作状态。
在本实施例的一些可选的实现方式中，辅助驾驶指令可以基于车辆待行驶至风险区域而生成，风险区域内的至少部分道路对象未在高精地图中被标注。高精地图中包含车道线、斑马线、停止线、导流线、交通标识等道路对象和道路对象的标注数据。车道线、斑马线、停止线、导流线的标注数据均包含：参数方程、角点在世界坐标系下的坐标。当一个区域内的道路对象中的至少部分道路对象未在高精地图中 被标注时，即至少部分道路对象在高精地图中不具有标注数据时，该区域内可以称之为风险区域。
例如，车辆根据高精地图在一个园区内行驶，在该园区的高精地图中预先对该园区内的一些区域内的道路对象进行了标注，经过标注的道路对象均具有标注数据。当车辆行驶至一个区域时，通过对采集到的路况图像进行图像识别，检测出该区域内的多个道路对象并且确定在高精地图中不具有该检测出的多个道路对象的标注数据时，可以确定检测出的多个道路对象未在高精地图中被标注，车辆行驶至风险区域，此时，车辆生成辅助驾驶指令，由车辆将辅助驾驶指令发送至远程控制端的服务器，然后，由远程控制端的服务器将车辆发送的辅助驾驶指令发送至远程控制端的模拟驾驶设备，远程控制端的模拟驾驶设备在接收与车辆相关联的辅助驾驶指令之后，可以将方向盘、脚踏板等模拟驾驶部件设置为工作状态。
在本实施例的一些可选的实现方式中，可以由车辆检测车辆在行驶过程中是否出现震动、打滑等需感知情况，当车辆检测出车辆在行驶过程中是否出现震动、打滑等需感知情况时，车辆可以将车辆出现的需感知情况的标识发送至远程控制端的服务器，远程控制端的服务器发送至模拟驾驶设备。模拟驾驶设备可以确定与车辆出现的需感知情况相关联的模拟感知操作，模拟感知操作用于使得辅助驾驶用户感知车辆出现的需感知情况。然后，执行所述模拟感知操作，使得辅助驾驶用户感知车辆出现的需感知情况。例如，当车辆出现震动情况时，确定出的模拟感知操作包含控制模拟驾驶设备上的辅助驾驶用户的座椅模拟出震动的情况，执行模拟感知操作使得辅助驾驶用户感知车辆出现的震动情况。
请参考图3，其示出了根据本申请的车辆控制方法的一个示例性流程图。
当车辆的驾驶员驾驶车辆行驶至一个地点需要通过辅助驾驶停车时，车辆的驾驶员进行的辅助驾驶指示操作可以为点击终端的与自动驾驶车辆进行交互的应用中的界面上的请求辅助驾驶的按钮，来请求辅助驾驶用户进行模拟驾驶操作来控制车辆行驶至停车位进行停车。 在车辆的驾驶员点击按钮之后，生成辅助驾驶指令，由车辆将辅助驾驶指令发送至远程控制端的服务器，然后，由远程控制端的服务器将车辆发送的辅助驾驶指令发送至远程控制端的模拟驾驶设备，远程控制端的模拟驾驶设备在接收与车辆相关联的辅助驾驶指令之后，可以将方向盘、脚踏板等模拟驾驶部件设置为工作状态。远程控制端的辅助驾驶用户可以通过操纵模拟驾驶设备上的模拟驾驶部件进行与控制控制车辆行驶至停车位进行停车相关联的一系列模拟驾驶操作，相应的，在模拟驾驶设备上生成用于控制车辆行驶至停车位进行停车的一系列辅助控制指令。可以由远程控制端的模拟驾驶设备将用于控制车辆行驶至停车位进行停车的一系列辅助控制指令发送至远程控制端的服务器，由远程控制端的服务器向车辆发送用于控制车辆行驶至停车位进行停车的一系列辅助控制指令，车辆在接收到一系列辅助控制指令之后，车辆执行一系列辅助控制指令，使得车辆行驶至停车位进行停车实现对车辆的辅助驾驶。
请参考图4，作为对上述各图所示方法的实现，本申请提供了一种车辆控制装置的一个实施例，该装置实施例与图2所示的方法实施例相对应。
如图4所示，本实施例的车辆控制装置包括：指令接收单元401、辅助驾驶单元402。其中，指令接收单元401被配置为接收与车辆相关联的辅助驾驶指令；辅助驾驶单元402被配置为向所述车辆发送辅助控制指令，以使得所述车辆执行所述辅助控制指令对所述车辆进行控制，其中，所述辅助控制指令通过辅助驾驶用户基于呈现给辅助驾驶用户的所述车辆的行驶环境信息进行模拟驾驶操作而生成。
在本实施例的一些可选的实现方式中，接收到的与车辆相关联的辅助驾驶指令为以下之一：所述车辆发送的辅助驾驶指令、所述辅助驾驶用户输入的辅助驾驶指令。
在本实施例的一些可选的实现方式中，车辆控制装置还包括：感知模拟单元，被配置为确定与所述车辆出现的需感知情况相关联的模拟感知操作，其中，所述模拟感知操作用于使得所述辅助驾驶用户感知所述车辆出现的需感知情况；执行所述模拟感知操作。
在本实施例的一些可选的实现方式中，接收到的与车辆相关联的辅助驾驶指令为所述车辆发送的辅助驾驶指令，所述车辆发送的辅助驾驶指令基于所述车辆的驾驶员在需辅助驾驶情况下进行辅助驾驶指示操作而生成。
在本实施例的一些可选的实现方式中，所述需辅助驾驶情况为以下之一：停车情况、驾驶员疲劳情况。
在本实施例的一些可选的实现方式中，接收到的与车辆相关联的辅助驾驶指令为所述车辆发送的辅助驾驶指令，所述车辆发送的辅助驾驶指令基于所述车辆检测出车辆处于复杂行驶环境而生成。
在本实施例的一些可选的实现方式中，接收到的与车辆相关联的辅助驾驶指令为所述车辆发送的辅助驾驶指令，所述车辆发送的辅助驾驶指令基于所述车辆行驶至风险区域而生成，风险区域中的至少部分道路对象未在高精地图中进行标注。
本申请还提供了一种电子设备，该电子设备可以配置有一个或多个处理器；存储器，用于存储一个或多个程序，一个或多个程序中可以包含用以执行上述实施例中描述的操作的指令。当一个或多个程序被一个或多个处理器执行时，使得一个或多个处理器执行上述实施例中描述的操作的指令。
本申请还提供了一种计算机可读介质，该计算机可读介质可以是电子设备中所包括的；也可以是单独存在，未装配入电子设备中。上述计算机可读介质承载有一个或者多个程序，当一个或者多个程序被电子设备执行时，使得电子设备执行上述实施例中描述的操作的指令。
需要说明的是，本申请所述的计算机可读介质可以是计算机可读信号介质或者计算机可读存储介质或者是上述两者的任意组合。计算机可读存储介质例如可以包括但不限于电、磁、光、电磁、红外线、或半导体的系统、装置或器件，或者任意以上的组合。计算机可读存储介质的更具体的例子可以包括但不限于：具有一个或多个导线的电连接、便携式计算机磁盘、硬盘、随机访问存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(EPROM或闪存)、光纤、便携式紧凑磁盘只读存储器(CD-ROM)、光存储器件、磁存储器件、 或者上述的任意合适的组合。在本申请中，计算机可读存储介质可以是任何包含或存储程序的有形介质，该程序可以被消息执行系统、装置或者器件使用或者与其结合使用。而在本申请中，计算机可读的信号介质可以包括在基带中或者作为载波一部分传播的数据信号，其中承载了计算机可读的程序代码。这种传播的数据信号可以采用多种形式，包括但不限于电磁信号、光信号或上述的任意合适的组合。计算机可读的信号介质还可以是计算机可读存储介质以外的任何计算机可读介质，该计算机可读介质可以发送、传播或者传输用于由消息执行系统、装置或者器件使用或者与其结合使用的程序。计算机可读介质上包含的程序代码可以用任何适当的介质传输，包括但不限于：无线、电线、光缆、RF等等，或者上述的任意合适的组合。
附图中的流程图和框图，图示了按照本申请各种实施例的系统、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段、或代码的一部分，该模块、程序段、或代码的一部分包含一个或多个用于实现规定的逻辑功能的可执行消息。也应当注意，在有些作为替换的实现中，方框中所标注的功能也可以以不同于附图中所标注的顺序出现。例如，两个接连地表示的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的是，框图和/或流程图中的每个方框、以及框图和/或流程图中的方框的组合，可以用执行规定的功能或操作的专用的基于硬件的系统来实现，或者可以用专用硬件与计算机消息的组合来实现。
以上描述仅为本申请的较佳实施例以及对所运用技术原理的说明。本领域技术人员应当理解，本申请中所涉及的发明范围，并不限于上述技术特征的特定组合而成的技术方案，同时也应涵盖在不脱离所述发明构思的情况下，由上述技术特征或其等同特征进行任意组合而形成的其它技术方案。例如上述特征与本申请中公开的(但不限于)具有类似功能的技术特征进行互相替换而形成的技术方案。

Claims (16)

  1. 一种车辆控制方法，包括：
    接收与车辆相关联的辅助驾驶指令；
    向所述车辆发送辅助控制指令，以使得所述车辆执行所述辅助控制指令对所述车辆进行控制，其中，所述辅助控制指令通过辅助驾驶用户基于呈现给辅助驾驶用户的所述车辆的行驶环境信息进行模拟驾驶操作而生成。
  2. 根据权利要求1所述的方法，接收到的与车辆相关联的辅助驾驶指令为以下之一：所述车辆发送的辅助驾驶指令、所述辅助驾驶用户输入的辅助驾驶指令。
  3. 根据权利要求2所述的方法，所述方法还包括：
    确定与所述车辆出现的需感知情况相关联的模拟感知操作，其中，所述模拟感知操作用于使得所述辅助驾驶用户感知所述车辆出现的需感知情况；
    执行所述模拟感知操作。
  4. 根据权利要求3所述的方法，接收到的与车辆相关联的辅助驾驶指令为所述车辆发送的辅助驾驶指令，所述车辆发送的辅助驾驶指令基于所述车辆的驾驶员在需辅助驾驶情况下进行辅助驾驶指示操作而生成。
  5. 根据权利要求4所述的方法，所述需辅助驾驶情况为以下之一：停车情况、驾驶员疲劳情况。
  6. 根据权利要求3所述的方法，接收到的与车辆相关联的辅助驾驶指令为所述车辆发送的辅助驾驶指令，所述车辆发送的辅助驾驶指令基于所述车辆检测出车辆处于复杂行驶环境而生成。
  7. 根据权利要求3所述的方法，接收到的与车辆相关联的辅助驾驶指令为所述车辆发送的辅助驾驶指令，所述车辆发送的辅助驾驶指令基于所述车辆行驶至风险区域而生成，风险区域中的至少部分道路对象未在高精地图中进行标注。
  8. 一种车辆控制装置，包括：
    指令接收单元，被配置为接收与车辆相关联的辅助驾驶指令；
    辅助驾驶单元，被配置为向所述车辆发送辅助控制指令，以使得所述车辆执行所述辅助控制指令对所述车辆进行控制，其中，所述辅助控制指令通过辅助驾驶用户基于呈现给辅助驾驶用户的所述车辆的行驶环境信息进行模拟驾驶操作而生成。
  9. 根据权利要求8所述的装置，接收到的与车辆相关联的辅助驾驶指令为以下之一：所述车辆发送的辅助驾驶指令、所述辅助驾驶用户输入的辅助驾驶指令。
  10. 根据权利要求9所述的装置，所述装置还包括：
    感知模拟单元，被配置为确定与所述车辆出现的需感知情况相关联的模拟感知操作，其中，所述模拟感知操作用于使得所述辅助驾驶用户感知所述车辆出现的需感知情况；执行所述模拟感知操作。
  11. 根据权利要求10所述的装置，接收到的与车辆相关联的辅助驾驶指令为所述车辆发送的辅助驾驶指令，所述车辆发送的辅助驾驶指令基于所述车辆的驾驶员在需辅助驾驶情况下进行辅助驾驶指示操作而生成。
  12. 根据权利要求11所述的装置，所述需辅助驾驶情况为以下之一：停车情况、驾驶员疲劳情况。
  13. 根据权利要求10所述的装置，接收到的与车辆相关联的辅助驾驶指令为所述车辆发送的辅助驾驶指令，所述车辆发送的辅助驾驶指令基于所述车辆检测出车辆处于复杂行驶环境而生成。
  14. 根据权利要求10所述的装置，接收到的与车辆相关联的辅助驾驶指令为所述车辆发送的辅助驾驶指令，所述车辆发送的辅助驾驶指令基于所述车辆行驶至风险区域而生成，风险区域中的至少部分道路对象未在高精地图中进行标注。
  15. 一种电子设备，包括：
    一个或多个处理器；
    存储器，用于存储一个或多个程序，
    当所述一个或多个程序被所述一个或多个处理器执行时，使得所述一个或多个处理器实现如权利要求1-7中任一所述的方法。
  16. 一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现如权利要求1-7中任一所述的方法。
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