Abstract: Based on the technical challenges of teleoperation tasks in China, a general task intelligent planning method with hierarchical plan object model（HPOM）is proposed, which decomposes the task of rover into four levels: multi option operation, constrained behavior, multi branch instruction sequence and parameterized virtual instruction. The plan represented by constrained behavior is transformed into a behavior planning problem, and a set of solving methods is obtained to solve the practical problems such as difficult selection of multi branch operation and complex setting of event attributes under complex constraints. A process flow of human-in-the-loop（HITL）is proposed to verify the consistency of different planning granularity schemes and generate instruction sequence. This method has been successfully applied to Chang'E-4 mission, providing technical support for the success of the mission.