A method for remote control of an autonomous driving vehicle, performed by the ADV, comprising: sending (S101, S201) 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 (S102, S202) 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 (S104, S206) the ADV based on the control instructions; characterized in that, the reference detour route comprises coordinates of a batch of target points; generating control instructions comprises: 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 suddenly overtaking vehicle behind the ADV, a vehicle coming from the opposite of the ADV, and a suddenly 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, and generating control instructions corresponding to respective actuators in the ADV based on the current driving trajectory, speed and departure time; and the method further comprises: in response to the current driving trajectory, speed, and departure time being abnormal 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. sending (S101, S201) 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 (S102, S202) 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 (S104, S206) the ADV based on the control instructions; characterized in that, the reference detour route comprises coordinates of a batch of target points; generating control instructions comprises: 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 suddenly overtaking vehicle behind the ADV, a vehicle coming from the opposite of the ADV, and a suddenly 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, and generating control instructions corresponding to respective actuators in the ADV based on the current driving trajectory, speed and departure time; and the method further comprises: in response to the current driving trajectory, speed, and departure time being abnormal 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. 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 suddenly overtaking vehicle behind the ADV, a vehicle coming from the opposite of the ADV, and a suddenly 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, and generating control instructions corresponding to respective actuators in the ADV based on the current driving trajectory, speed and departure time; and the method further comprises: in response to the current driving trajectory, speed, and departure time being abnormal 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.