The invention relates to the technical field of special
vehicle driving, and particularly discloses a
transporter control method, device and equipment based on a visual multitask network, and the
transporter control method comprises the steps: obtaining an actual measurement image of a monitoring camera which is arranged at the bottom of a supporting leg and is used for monitoring the road direction, inputting a final multitask
cooperation model, and finally, outputting a full-picture
depth map and a lane line segmentation map by the multi-task collaborative model. Calculating the transverse offset of the bottom of the support leg based on the lane width and the lane line segmentation map, and if the transverse offset is greater than zero, controlling the bottom of the support leg to tend to the transverse center of the lane based on the transverse offset; meanwhile, the lane lines of the lane line segmentation map are integrated into the full-picture
depth map to obtain a drivable area, and if an unspecified obstacle exists in the drivable area, the
transporter is controlled to decelerate or stop, and an alarm is given out. According to the transporter control method, the transporter control device and the transporter
control equipment, obstacle detection is carried out on the non-specific obstacles, obstacle detection and lane segmentation work in parallel, and the cooperation efficiency is high.