Unmanned driving control method, device, computer equipment and storage medium

Abstract

The present application relates to an unmanned driving control method, device, computer equipment and storage medium. The method includes: acquiring a decision instruction and perception information, calculating an initial control quantity corresponding to the decision instruction according to the decision instruction; checking the decision instruction according to the perception information to obtain a verification result, and calculating a control instruction according to the verification result and the initial control quantity ; Send the control command to the driving actuator. Using this method, it can be judged whether the obtained decision-making instruction corresponds to the perception information at the same moment, or whether the obtained decision-making instruction is applicable to the current perception information within a certain period of time, and the control instruction is calculated according to the verification result and the initial control amount, so that It prevents the failure of decision-making information to cause execution errors, and improves the safety of the unmanned driving system.

Description

technical field [0001] The present application relates to the technical field of intelligent transportation, in particular to an unmanned driving control method, device, computer equipment and storage medium. Background technique [0002] With the rapid development of intelligent transportation technology, unmanned driving system has also been developed rapidly. As an advanced passenger transportation system, unmanned driving system is leading the development trend of urban rail transit. The perception module, decision-making module, and control module in the unmanned driving system are three relatively independent control units. The output of the perception module is the input of the decision module, the output of the decision module is the input of the control module, and the output of the control module directly determines the driving behavior of the vehicle. The transmission of information is linked one after another. Once the information fails, it may cause security pr...

AI Technical Summary

Problems solved by technology

[0003] The traditional unmanned driving system only proposes a solution when the perception information and control instructions fail, but in the actual application process, the decision information will also be processed because the cycle of processing single-frame decision-making information is much longer than the cycle of the control module processing single-frame control information. , The algorithm is still not perfect and the data transmission link fails and other reasons fail, so that the driving control of the vehicle is executed incorrectly. When the decision-making information fails, there is no corresponding emergency plan in the traditional unmanned driving system, and the system security is low.

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