A control method and device for an unmanned driving device
A technology of unmanned driving equipment and control methods, which is applied in the field of control methods and devices of unmanned equipment, can solve the problems of inaccurate forecast trajectory of obstacles, inaccurate description of total risk distribution, etc., and achieve the effect of avoiding errors
Active Publication Date: 2021-07-30
BEIJING SANKUAI ONLINE TECH CO LTD
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Therefore, it is easy to inaccurately describe the overall risk distribution due to the inaccurate predicted trajectory of each obstacle
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[0044] In order to make the purpose, technical solution and advantages of this specification clearer, the technical solution of this specification will be clearly and completely described below in conjunction with specific embodiments of this specification and corresponding drawings. Apparently, the described embodiments are only some of the embodiments in this specification, not all of them. Based on the embodiments in this specification, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of this specification.
[0045] The technical solutions provided by each embodiment of this specification will be described in detail below in conjunction with the accompanying drawings.
[0046] figure 1 It is a schematic flow chart of a control method for unmanned equipment in this manual, which specifically includes the following steps:
[0047] S100: Determine current state information of each target object i...
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This specification discloses a control method and device for unmanned driving equipment. According to the state information of each target object in the environment at the current moment, determine the first probability that each target object will be at each position point at the next moment, and determine the probability that the unmanned driving device will not collide with each obstacle at each position point, To determine the global risk probability of the unmanned driving device colliding with one or more targets at the position point at the next moment, and determine the global risk distribution of the environment at the next moment according to the global risk probability corresponding to each position point, The control strategy of the unmanned equipment can be determined according to the global risk distribution. Based on the current state of movement of each target in the environment and the distance to each location point, the global risk distribution in the environment at the next moment can be accurately determined to determine a more accurate control strategy for the unmanned device. Because there is no need to predict the movement trajectory of each target object, errors caused by the movement trajectory are avoided.
Description
technical field [0001] This specification relates to the field of unmanned driving, and in particular to a control method and device for unmanned driving equipment. Background technique [0002] At present, in some methods of controlling the driving of unmanned equipment, it is necessary to determine the information of obstacles in the environment, obtain the predicted trajectory of the obstacle, and calculate the future distance between the unmanned equipment and the obstacle based on the predicted trajectory of each obstacle. Collision risk to determine the risk distribution corresponding to each predicted trajectory of each obstacle (that is, the probability that each obstacle poses a risk to the unmanned equipment), and determine the total risk distribution based on each risk distribution of each obstacle, so that the total risk distribution can be based on the total The risk distribution determines the control strategy of the unmanned equipment to control the driving of...
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IPC IPC(8): G05D1/02
CPCG05D1/0246G05D1/0257G05D1/0259G05D1/0223G05D1/0214G05D1/0276
Inventor 樊明宇徐树旺任冬淳白钰毛一年夏华夏
Owner BEIJING SANKUAI ONLINE TECH CO LTD