# US 12,111,656 B2 · Method for remote control of autonomous driving vehicle, autonomous driving vehicle and cloud device

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- Number: US 12,111,656 B2
- Document ID: US12111656B2
- Status: Granted
- Kind: B2
- Application number: 17/645,350
- Filed: 2021-12-21
- Published: 2022-04-14
- Granted: 2024-10-08
- Earliest claimed: 2020-12-22
- Assignees: Beijing Baidu Netcom Science Technology Co., Ltd.
- Applicants: Beijing Baidu Netcom Science Technology Co., Ltd.
- Inventors: Jingchao Feng; Qingrui Sun; Pengjie Zheng; Tianxiang Cui; Liming Xia; Zhuo Chen
- Web page: https://patentgrep.com/patent/US12111656B2

## CPC

- G05D 1/0027: {involving a plurality of vehicles, e.g. fleet or convoy travelling (fleet control of land vehicles from a control room G05D1/0297; traffic control systems for road vehicles G08G1/00; for marine craft G08G3/00; for aircraft G08G5/00)}
- G05D 1/0044: {by providing the operator with a computer generated representation of the environment of the vehicle, e.g. virtual reality, maps (maps used for automatic navigation G05D1/0274; flight directors G01C23/005)}
- G05D 1/0214: {in accordance with safety or protection criteria, e.g. avoiding hazardous areas (monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13)}
- G05D 1/0238: {using obstacle or wall sensors (G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93)}
- G05D 1/225: operated by off-board computers
- G05D 1/617: Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards (arrangements for controlling the position or course of two or more vehicles for avoiding collisions therebetween G05D1/693; arrangements for reacting to or preventing system or operator failure G05D1/80)
- G05D 1/628: following the obstacle profile, e.g. a wall or undulated terrain
- G06F 3/0488: using a touch-screen or digitiser, e.g. input of commands through traced gestures
- G08G 1/096725: {where the received information generates an automatic action on the vehicle control}
- G08G 1/096811: {where the route is computed offboard}
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N)
- G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93})

## Abstract

A method for remote control of an autonomous driving vehicle (ADV) includes: sending an assistance request to a cloud server in response to detecting that a current road section in front of the ADV is unable to be passed; obtaining a reference detour route returned from the cloud server; generating control instructions based on the reference detour route and a current driving environment of the ADV; and controlling the ADV based on the control instructions.

## Claims

### Claim 1

A method for remote control of an autonomous driving vehicle (ADV), comprising:
sending an assistance request to a cloud server in response to detecting that a current road section in front of the ADV is unable to be passed;
obtaining a reference detour route returned from the cloud server, wherein the reference detour route comprises coordinates of a batch of target points;
performing a safety verification on the reference detour route based on the current driving environment of the ADV, to determine whether there are safety hazards from a current position where the ADV is located to an adjacent target point of the current position, wherein the safety hazards comprise a previously undetected overtaking vehicle behind the ADV, a vehicle traveling in an opposite direction of travel as the ADV, and a previously undetected breaking in pedestrian;
in response to determining that there are no safety hazards, calculating a current driving trajectory, speed and departure time based on the current position, the current driving environment and the coordinates of the adjacent target point;
generating control instructions corresponding to respective actuators in the ADV based on the current driving trajectory, speed and departure time; and
controlling the ADV based on the control instructions,
wherein the method further comprises: in response to the current driving trajectory, speed, and departure time being not feasible for the ADV to drive from the current position to the adjacent target point, returning an error message corresponding to the adjacent target point to the cloud server, so that the adjacent target point is updated by the cloud server.

### Claim 2 (depends on 1)

The method of claim 1, further comprising:
performing obstacle detection when the ADV is controlled based on the control instructions; and in response to detecting an obstacle, controlling the ADV to park or reduce a driving speed of the ADV, and sending another assistance request to the cloud server.

### Claim 3

A method for remote control of an autonomous driving vehicle (ADV), performed by a cloud server, the method comprising:
determining target driving data in response to obtaining an assistance request sent by the ADV, where the assistance request includes an identifier of the ADV, and the target driving data is vehicle state data and driving environment data associated with the identifier of the ADV;
determining a reference detour route for the ADV based on the target driving data; and
returning the reference detour route comprising coordinates of a batch of target points to the ADV, so that the ADV performs a safety verification on the reference detour route based on a current driving environment of the ADV to determine whether there are safety hazards from a current position where the ADV is located to an adjacent target point of the current position, wherein the safety hazards comprise a previously undetected overtaking vehicle behind the ADV, a vehicle traveling in an opposite direction of travel as the ADV, and a previously undetected breaking in pedestrian; in response to determining that there are no safety hazards; the ADV calculates a current driving trajectory, speed and departure time based on the current position, the current driving environment and the coordinates of the adjacent target point, and generates control instructions corresponding to respective actuators in the ADV based on the current driving trajectory, speed and departure time; the ADV returns an error message corresponding to the adjacent target point to the cloud server in response to the current driving trajectory, speed, and departure time being not feasible for the ADV to drive from the current position to the adjacent target point;
wherein the method further comprises: in response to receiving the error message returned by the ADV, updating the adjacent target point in the reference detour route.

### Claim 4 (depends on 3)

The method of claim 3, wherein determining the reference detour route for the ADV comprises:
constructing a reference map corresponding to a current driving environment of the vehicle on a display screen based on the target driving data;
determining respective target points on the reference detour route in response to obtaining a touch operation on the display screen; and
generating the reference detour route by connecting the respective target points.

### Claim 5 (depends on 4)

The method of claim 4, wherein determining respective target points on the reference detour route comprises:
obtaining a plurality of reference points through the touch operation of a driver on the reference map constructed on the display screen, or
automatically selecting a plurality of points from the reference map and determining points passing the verification of the driver as the target points of the reference detour route.

### Claim 6

A vehicle-side electronic device, comprising:
at least one processor; and
a memory communicatively connected with the at least one processor;
wherein the memory is stored with instructions executable by the at least one processor, when the instructions are executed by the at least one processor, the at least one processor is configured to:
send an assistance request to a cloud server in response to detecting that a current road section in front of an autonomous driving vehicle (ADV) is unable to be passed;
obtain a reference detour route returned from the cloud server, wherein the reference detour route comprises coordinates of a batch of target points;
perform a safety verification on the reference detour route based on the current driving environment of the ADV, to determine whether there are safety hazards from a current position where the ADV is located to an adjacent target point of the current position, wherein the safety hazards comprise a previously undetected overtaking vehicle behind the ADV, a vehicle traveling in an opposite direction of travel as the ADV, and a previously undetected breaking in pedestrian;
in response to determining that there are no safety hazards, calculate a current driving trajectory, speed and departure time based on the current position, the current driving environment and the coordinates of the adjacent target point;
generate control instructions corresponding to respective actuators in the ADV based on the current driving trajectory, speed and departure time; and
control the ADV based on the control instructions,
wherein the at least one processor is further configured to: in response to the current driving trajectory, speed, and departure time being not feasible for the ADV to drive from the current position to the adjacent target point, returning an error message corresponding to the adjacent target point to the cloud server, so that the adjacent target point is updated by the cloud server.

### Claim 7 (depends on 6)

The electronic device of claim 6, wherein the at least one processor is further configured to: perform obstacle detection when the ADV is controlled based on the control instructions; in response to detecting an obstacle, control the ADV to park or reduce a driving speed of the ADV, and send another assistance request to the cloud server.