Unmanned system data driving safety control method, terminal and storage medium

Abstract

The invention discloses an unmanned system data-driven security control method, a terminal and a storage medium, and relates to an unmanned system security control technology. In the off-line solving stage, the unmanned control device is disconnected from the controller, and the applied control input sequence and the corresponding state data are collected; constructing a positive semidefinite programming problem according to the control input sequence and the state data, and constructing a state feedback control gain of the controller according to an optimal solution of the problem and a set unsafe area; in the online operation stage, the unmanned control device is kept connected with the controller, and state measurement data of the unmanned control device are collected; the controller generates control input data through the state feedback control gain and the state measurement data. The controller is designed through the control input sequence and the state data collected offline, and stable operation of the unmanned system can be realized without pre-identification of the unmanned control device. And the state of the unmanned system can be ensured to meet the security constraint, and the maximum robustness is provided for the system change.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned system safety control, and in particular to an unmanned system data-driven safety control method, terminal and storage medium. Background Art

[0002] Unmanned systems use unmanned vehicles, robots, drones, and unmanned boats as carriers, and integrate advanced artificial intelligence, Internet of Things, and industrial Internet technologies. They have demonstrated important application value in many fields such as civil and industrial applications. Intelligent collaborative control is an important application direction of artificial intelligence technology. The problems faced by the intelligent collaboration of unmanned systems include: the model of unmanned systems is complex and difficult to build, so the traditional method based on system identification cannot obtain an accurate system model, resulting in the control algorithm designed to meet the control accuracy requirements.

[0003] Recently, with the development of big data and computing technology, data-driven control methods have gradually emerged, and the corresponding data-driven controllers have achieved good results in terms of stability and optimization.

[0004] However, in the real world, in addition to stability and basic optimality, there are often some restrictions on the input and state of the system to ensure the safety of the system operation. Taking the unmanned vehicle fleet as an example, if the distance between any unmanned vehicle cannot guarantee a certain lower limit, the unmanned vehicle will collide. These restrictions show that it is very important to incorporate safety restrictions into the system controller design. However, existing data-driven control methods do not restrict the state and input of the system.

[0005] Therefore, the existing technology still needs to be improved and developed. Summary of the invention

[0006] The technical problem to be solved by the present invention is that, in view of the above-mentioned defects of the prior art, a data-driven safety control method, terminal and storage medium for an unmanned system are provided, aiming to solve the problem that the data-driven safety control method for an unmanned system in the prior art lacks safety restrictions on the system status and input, making it difficult to ensure the safety of the system operation.

[0007] The technical solution adopted by the present invention to solve the problem is as follows: In a first aspect, an embodiment of the present invention provides a data-driven safety control method for an unmanned system, the method comprising: For the offline solution stage, disconnecting the data connection between the unmanned control device and the controller in the unmanned system, and collecting the control input sequence applied to the unmanned control device and the state data of the unmanned control device; constructing a semi-positive definite programming problem according to the control input sequence and the state data; and constructing a state feedback control gain of the controller according to the optimal solution of the semi-positive definite programming problem and the set unsafe region of the state operation of the unmanned control device; During the online operation phase, maintaining a data connection between the unmanned control device and the controller, and collecting state measurement data of the unmanned control device; The state measurement data is sent to the controller, and control input data of the unmanned control device is generated based on the state measurement data through a state feedback control gain of the controller.

[0008] In one implementation, the control input sequence is a series of continuously stimulated control input data.

[0009] In one embodiment, the dynamic equation of the unmanned control device to be stabilized is: ; in, , , They are The state value of the unmanned control device at any moment, the control input value, and the unknown disturbance of the unmanned control device; the state value of the unmanned control device The dimension is , control input value The dimension is ; Unknown disturbance The dimension is ;matrix yes unknown real matrix of dimension, matrix yes unknown real matrix of dimension; matrix yes The state feedback control gain matrix to be designed is of dimension.

[0010] In one implementation, the calculation equation for the unsafe area is: ; in, Indicates an unsafe area; The dimension is The set of all real vectors of ; is an integer greater than 1, indicating the number of security constraints; The dimension is The constraint vector of Representation vector The transpose of is a constraint scalar.

[0011] In one implementation, constructing a semi-positive definite programming problem according to the control input sequence and the state data includes: Constructing a data matrix according to the collected control input sequence and state data; wherein the data matrix includes an input data matrix, a state data matrix and an evolution state data matrix; A semi-positive definite programming problem is constructed according to the data matrix.

[0012] In one embodiment, the semi-positive definite programming problem is formulated as: ; in, The dimension is The real positive definite symmetric matrix to be solved; The dimension is The real matrix to be solved; , , is the one-dimensional scalar to be solved; If it is greater than 0, it indicates the maximum operating range of the system state given in advance; Represents the greater than or equal to sign of the matrix, Represents the less than or equal sign of the matrix; matrix and Defined as: ; ; in, is a predetermined constant between 0 and 1; for any positive integer and , Indicates that the dimension is The unit array, Indicates that the dimension is The all-zero matrix of The input data matrix constructed for the applied control input sequence, for The transpose of is the evolution state data matrix, for The transpose of is the state data matrix, for The transpose of is the real matrix to be solved, for The transpose of .

[0013] In one embodiment, the controller is established as: ; in, , are the state value and control input value of the unmanned control device respectively; , , is the optimal solution to the semidefinite programming problem.

[0014] In one embodiment, collecting the state measurement data of the unmanned control device includes: The state of the unmanned control device is measured at every moment by a sensor to obtain state measurement data.

[0015] In a second aspect, an embodiment of the present invention further provides a terminal comprising a memory and at least one processor; the memory stores a program; the program includes instructions for executing an unmanned system data-driven safety control method as described above; and the processor is used to execute the program.

[0016] In a third aspect, an embodiment of the present invention further provides a computer-readable storage medium on which a plurality of instructions are stored, wherein the instructions are suitable for being loaded and executed by a processor to implement the steps of the unmanned system data-driven safety control method as described in any of the above.

[0017] Beneficial effects of the present invention: In the offline solution stage, the embodiment of the present invention disconnects the data connection between the unmanned control device and the controller in the unmanned system, collects the control input sequence applied to the unmanned control device and the state data of the unmanned control device; constructs a semi-positive definite programming problem according to the control input sequence and the state data; and constructs the state feedback control gain of the controller according to the optimal solution of the semi-positive definite programming problem and the set unsafe area of ​​the state operation of the unmanned control device; in the online operation stage, maintains the data connection between the unmanned control device and the controller, collects the state measurement data of the unmanned control device; sends the state measurement data to the controller, and generates the control input data of the unmanned control device based on the state measurement data through the state feedback control gain of the controller. The present invention designs the controller through the open-loop, noisy control input sequence and state data collected offline, and can achieve stable operation of the unmanned system without pre-identification of the unmanned control device. It can also ensure that the state of the unmanned system meets the safety constraints and has the maximum robustness to system changes. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 It is a flow chart of the data-driven safety control method for an unmanned system provided in an embodiment of the present invention.

[0020] Figure 2 It is a structural diagram of an unmanned system provided by an embodiment of the present invention.

[0021] Figure 3 It is a schematic diagram of the relationship between the state reachable set and the danger zone of the unmanned system under the designed controller provided by an embodiment of the present invention.

[0022] Figure 4 It is a schematic diagram of the evolution trajectory of the system state provided by an embodiment of the present invention.

[0023] Figure 5 It is a schematic diagram of the relationship between the system state evolution trajectory and the state reachable set provided by an embodiment of the present invention.

[0024] Figure 6 It is a principle block diagram of a terminal provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0025] The present invention discloses a data-driven safety control method, terminal and storage medium for an unmanned system. In order to make the purpose, technical solution and effect of the present invention clearer and more specific, the present invention is further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0026] It will be understood by those skilled in the art that, unless expressly stated, the singular forms "one", "said", and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of the present invention refers to the presence of the features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof. It should be understood that when we refer to an element as being "connected" or "coupled" to another element, it may be directly connected or coupled to the other element, or there may be intermediate elements. In addition, the "connection" or "coupling" used herein may include wireless connection or wireless coupling. The term "and / or" used herein includes all or any unit and all combinations of one or more associated listed items.

[0027] It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as generally understood by those skilled in the art in the art to which the present invention belongs. It should also be understood that terms such as those defined in general dictionaries should be understood to have meanings consistent with the meanings in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless specifically defined as herein.

[0028] In view of the above-mentioned defects of the prior art, the present invention provides a data-driven safety control method for an unmanned system, the method comprising: for the offline solution stage, disconnecting the data connection between the unmanned control device and the controller in the unmanned system, collecting the control input sequence applied to the unmanned control device and the state data of the unmanned control device; constructing a semi-positive definite programming problem according to the control input sequence and the state data; and constructing the state feedback control gain of the controller according to the optimal solution of the semi-positive definite programming problem and the set unsafe area of ​​the state operation of the unmanned control device; for the online operation stage, maintaining the data connection between the unmanned control device and the controller, collecting the state measurement data of the unmanned control device; sending the state measurement data to the controller, and generating the control input data of the unmanned control device based on the state measurement data through the state feedback control gain of the controller. The present invention designs a controller through the open-loop, noisy control input sequence and state data collected offline, and can achieve stable operation of the unmanned system without pre-identification of the unmanned control device. It can also ensure that the state of the unmanned system meets the safety constraints and has the maximum robustness to system changes.

[0029] like Figure 1 As shown, the method specifically comprises the following steps: Step S100: for the offline solution stage, disconnect the data connection between the unmanned control device and the controller in the unmanned system, and collect the control input sequence applied to the unmanned control device and the status data of the unmanned control device; Step S200, constructing a semi-positive definite programming problem according to the control input sequence and the state data; and constructing a state feedback control gain of the controller according to the optimal solution of the semi-positive definite programming problem and the set unsafe region of the state operation of the unmanned control device.

[0030] The unmanned control device in this embodiment can also be called a physical process. The goal of this embodiment is to construct a controller (or a safety controller) for the unmanned system so that the unmanned system can ensure that the state does not violate the safety constraints under certain interference, attack or actuator failure. Taking the unmanned control device as a drone as an example, the controller can be an onboard computer or a remote control handle of the drone. The technical solution of this embodiment is divided into two stages, one is an offline solution stage, and the other is an online operation stage. The offline solution stage includes two processes, the first is an open-loop data collection stage, which is used to collect the control input sequence and corresponding state data of the unmanned control device; the second is a controller solution stage, which is used to construct the state feedback control gain of the controller. Specifically, in the open-loop data collection stage, the unmanned control device is not connected to the controller, and a series of continuously stimulated control input data is directly applied to the unmanned control device, that is, a control input sequence (or input sequence) is obtained, and the state data of the system is collected, and the control input data and state data are recorded. In the controller solution stage, a semi-positive definite programming problem completely based on data is constructed using the collected data, and the state feedback control gain is constructed using the optimal solution of the semi-positive definite programming problem.

[0031] like Figure 1 As shown, the components of the unmanned system (or unknown unmanned system) mainly include a controller and an unmanned control device (i.e., a physical process), and may also include an actuator and a detector. This embodiment is designed for the controller of the unmanned system, with the purpose of ensuring that the unknown system operates stably while its state always meets the safety constraints and has the maximum robustness to system changes.

[0032] In one implementation, the dynamic equation of the unmanned control device to be stabilized is: ; in, , , They are The state value of the unmanned control device at any moment, the control input value, and the unknown disturbance of the unmanned control device; the state value of the unmanned control device The dimension is , control input value The dimension is ; Unknown disturbance The dimension is ;matrix yes unknown real matrix of dimension, matrix yes unknown real matrix of dimension; matrix yes The state feedback control gain matrix to be designed is of dimension.

[0033] For example, based on the dynamic equations of the unmanned system and the unmanned control device to be stabilized, the specific process of the data collection phase is: disconnect the data connection between the physical process and the controller, directly apply T control input data to the physical process, and collect the state data of the physical process. Specifically, the unknown disturbance in the offline operation process is bounded, that is, for any offline operation time , the offline disturbance satisfies ,in, is a known constant. Let , a control input sequence consisting of T inputs satisfy The control input sequence Bring in unmanned systems for operation and collect status data of the corresponding physical processes .

[0034] Furthermore, the calculation equation of the unsafe area is: ; in, Indicates an unsafe area; The dimension is The set of all real vectors of ; is an integer greater than 1, indicating the number of security constraints; The dimension is The constraint vector of Representation vector The transpose of It is a constraint scalar used to ensure that the real-time state of the system never enters the unsafe region.

[0035] In one implementation, constructing a semi-positive definite programming problem according to the control input sequence and the state data includes: Constructing a data matrix according to the collected control input sequence and state data; wherein the data matrix includes an input data matrix, a state data matrix and an evolution state data matrix; A semi-positive definite programming problem is constructed according to the data matrix.

[0036] Specifically, this embodiment uses the applied control input sequence and the collected states to construct three data matrices, namely, the input data matrix, the state data matrix, and the evolution state data matrix, and constructs a semi-positive definite programming problem based entirely on data according to these three data matrices, which is equivalent to an optimization problem. The optimization goal of this embodiment is the maximum process noise that the system can withstand, so the controller obtained by solving the semi-positive definite programming problem can ensure that the state of the unmanned system meets the safety constraints and has the greatest robustness to system changes.

[0037] For example, construct the input data matrix using the applied control input sequence and the collected states , state data matrix And the evolution state data matrix .

[0038] Furthermore, the semi-positive definite programming problem is established as: ; in, The dimension is The real positive definite symmetric matrix to be solved; The dimension is The real matrix to be solved; , , is the one-dimensional scalar to be solved; If it is greater than 0, it indicates the maximum operating range of the system state given in advance; Represents the greater than or equal to sign of the matrix, Represents the less than or equal sign of the matrix; matrix and Defined as: ; ; Among them, for a matrix of any dimension or vector , Representation Matrix The transpose of Representation vector The transpose of is a predetermined constant between 0 and 1; for any positive integer and , Indicates that the dimension is The unit array, Indicates that the dimension is The all-zero matrix of The input data matrix constructed for the applied control input sequence, for The transpose of is the evolution state data matrix, for The transpose of is the state data matrix, for The transpose of is the real matrix to be solved, for The transpose of .

[0039] Furthermore, the controller is established as: ; in, , are the state value and control input value of the unmanned control device respectively; , , is the optimal solution to the semidefinite programming problem.

[0040] Step S300: During the online operation phase, maintaining a data connection between the unmanned control device and the controller, and collecting state measurement data of the unmanned control device; Step S400: sending the state measurement data to the controller, and generating control input data of the unmanned control device based on the state measurement data through the state feedback control gain of the controller.

[0041] Specifically, in the online operation stage, the unmanned control device is connected to the controller through the network, and the state measurement data of the unmanned control device is transmitted to the controller through the transmission channel. The controller uses the state sent by the system collected at each moment to directly implement closed-loop control of the unmanned control device through the offline state feedback control gain matrix, thereby forming a closed-loop system. The data-driven safety control method provided in this embodiment can meet the state constraints for the unmanned control device, and the closed-loop system can obtain greater robustness to noise.

[0042] For example, in the online operation stage, the unmanned control device is connected to the controller, the sensor measures the state of the unmanned control device at every moment, and sends the state measurement data to the controller through the network. The controller is designed as . The controller generates control input data to meet The system can always operate in a safe area without any unknown disturbance.

[0043] The technical effect of the method of the present invention is verified by a robot embodiment, such as 3. Figure 4 , Figure 5 As shown, a robot embodiment using the controller of this embodiment runs for 50 unit times, and the corresponding system matrix is: , ; Set the parameters, T=15, =0.02, =0.8.

[0044] like Figure 3 As shown, unsafe area Defined as the first subdomain and the second subdomain The union of: ; ; ; By solving the semi-positive definite programming problem, the feedback gain matrix (equivalent to the state feedback control gain of the controller) is obtained: ; And the maximum limit of the online noise that can be tolerated is =0.117.

[0045] Figure 3 The dark-colored ellipse is the state reachable set of the unmanned system under the designed controller, that is, the state of the system can only be operated in this set. In this embodiment, the safety constraints of the system are characterized by the state reachable set to ensure the safety of the system state.

[0046] Figure 4 The evolution trajectory of the system state is shown in Figure 2. The noise is increased at 25 seconds, from Figure 5 It can be seen that since the required upper bound is not exceeded, the state of the system is still in the reachable set and will not enter the dangerous area.

[0047] Beneficial effects: 1. The data-driven safety control method provided by the present invention can obtain a data-driven controller by only solving a low-complexity semi-positive definite programming problem that is completely based on data offline, and the computational complexity of the overall solution is very low.

[0048] 2. The data-driven safety control method provided by the present invention can ensure that during the online operation phase, the state of the unmanned system always meets the real-time safety constraints, and the unmanned system has the greatest robustness against noise.

[0049] 3. The controller designed by the data-driven safety control method provided by the present invention can make the system run stably and realize abnormal state detection when the system matrix is ​​unknown and the safety constraints on the state and actuator are taken into consideration.

[0050] Based on the above embodiment, the present invention further provides a terminal, whose principle block diagram can be shown as follows: Figure 6As shown. The terminal includes a processor, a memory, a network interface, and a display screen connected through a system bus. Among them, the processor of the terminal is used to provide computing and control capabilities. The memory of the terminal includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the terminal is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, an unmanned system data-driven safety control method is implemented. The display screen of the terminal can be a liquid crystal display screen or an electronic ink display screen.

[0051] Those skilled in the art will understand that Figure 6 The principle block diagram shown in the figure is only a block diagram of a partial structure related to the scheme of the present invention, and does not constitute a limitation on the terminal to which the scheme of the present invention is applied. The specific terminal may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0052] In one implementation, the memory of the terminal stores one or more programs, and is configured to be executed by at least one processor, including instructions for performing a data-driven safety control method for an unmanned system.

[0053] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided by the present invention can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0054] In summary, the present invention discloses a data-driven safety control method, terminal and storage medium for an unmanned system, and relates to safety control technology for an unmanned system. The method comprises: for the offline solution stage, disconnecting the data connection between the unmanned control device and the controller in the unmanned system, collecting the control input sequence applied to the unmanned control device and the state data of the unmanned control device; constructing a semi-positive definite programming problem according to the control input sequence and the state data; and constructing the state feedback control gain of the controller according to the optimal solution of the semi-positive definite programming problem and the unsafe area of ​​the state operation of the set unmanned control device; for the online operation stage, maintaining the data connection between the unmanned control device and the controller, collecting the state measurement data of the unmanned control device; sending the state measurement data to the controller, and generating the control input data of the unmanned control device based on the state measurement data through the state feedback control gain of the controller. The present invention designs a controller through an open-loop, noisy control input sequence and state data collected offline, and can achieve stable operation of the unmanned system without pre-identification of the unmanned control device. It can also ensure that the state of the unmanned system meets the safety constraints and has the maximum robustness to system changes.

[0055] It should be understood that the application of the present invention is not limited to the above examples. For ordinary technicians in this field, improvements or changes can be made based on the above description. All these improvements and changes should fall within the scope of protection of the claims attached to the present invention.

Claims

1. A data-driven safety control method for an unmanned system, characterized in that: The method comprises: For the offline solution stage, disconnecting the data connection between the unmanned control device and the controller in the unmanned system, and collecting the control input sequence applied to the unmanned control device and the state data of the unmanned control device; constructing a semi-positive definite programming problem according to the control input sequence and the state data; and constructing a state feedback control gain of the controller according to the optimal solution of the semi-positive definite programming problem and the set unsafe region of the state operation of the unmanned control device; During the online operation phase, maintaining a data connection between the unmanned control device and the controller, and collecting state measurement data of the unmanned control device; The state measurement data is sent to the controller, and control input data of the unmanned control device is generated based on the state measurement data through a state feedback control gain of the controller.

2. The data-driven safety control method for unmanned systems according to claim 1, characterized in that: The control input sequence is a series of continuously stimulated control input data.

3. The unmanned system data-driven safety control method according to claim 1, characterized in that: The dynamic equation of the unmanned control device to be stabilized is: ； in, , , They are The state value of the unmanned control device at any moment, the control input value, and the unknown disturbance of the unmanned control device; the state value of the unmanned control device The dimension is , control input value The dimension is ; Unknown disturbance The dimension is ;matrix yes unknown real matrix of dimension, matrix yes unknown real matrix of dimension; matrix yes The state feedback control gain matrix to be designed is of dimension.

4. The data-driven safety control method for unmanned systems according to claim 3, characterized in that: The calculation equation of the unsafe area is: ； in, Indicates an unsafe area; The dimension is The set of all real vectors of ; is an integer greater than 1, indicating the number of security constraints; The dimension is The constraint vector of Representation vector The transpose of is a constraint scalar.

5. The unmanned system data-driven safety control method according to claim 1, characterized in that: Constructing a semi-positive definite programming problem according to the control input sequence and the state data includes: Constructing a data matrix according to the collected control input sequence and state data; wherein the data matrix includes an input data matrix, a state data matrix and an evolution state data matrix; A semi-positive definite programming problem is constructed according to the data matrix.

6. The unmanned system data-driven safety control method according to claim 5, characterized in that: The semi-positive programming problem is formulated as: ； in, The dimension is The real positive definite symmetric matrix to be solved; The dimension is The real matrix to be solved; , , is the one-dimensional scalar to be solved; If it is greater than 0, it indicates the maximum operating range of the system state given in advance; Represents the greater than or equal to sign of the matrix, Represents the less than or equal sign of the matrix; matrix and Defined as: ； ； Among them, for a matrix of any dimension or vector , Representation Matrix The transpose of Representation vector The transpose of is a predetermined constant between 0 and 1; for any positive integer and , The dimension is The unit array, The dimension is The all-zero matrix of The input data matrix constructed for the applied control input sequence, for The transpose of is the evolution state data matrix, for The transpose of is the state data matrix, for The transpose of is the real matrix to be solved, for The transpose of .

7. The data-driven safety control method for an unmanned system according to claim 6, characterized in that: The controller is established as: ； in, , are the state value and control input value of the unmanned control device respectively; , , is the optimal solution to the semidefinite programming problem.

8. The unmanned system data-driven safety control method according to claim 1, characterized in that: Collecting state measurement data of the unmanned control device, including: The state of the unmanned control device is measured at every moment by a sensor to obtain state measurement data.

9. A terminal, characterized in that: The terminal includes a memory and at least one processor; the memory stores a program; the program contains instructions for executing the unmanned system data-driven safety control method as described in any one of claims 1-8; and the processor is used to execute the program.

10. A computer-readable storage medium having a plurality of instructions stored thereon, characterized in that: The instructions are suitable for being loaded and executed by a processor to implement the steps of the unmanned system data-driven safety control method as described in any one of claims 1-8.

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