Control method and control device of unmanned equipment
The invention discloses a control method and control device of unmanned equipment, and relates to the field of unmanned driving. The method comprises the following steps that: current state data of an obstacle around the unmanned equipment is acquired; the predicted trajectory of the obstacle in the...
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| Format: | Patent |
| Sprache: | chi ; eng |
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| Zusammenfassung: | The invention discloses a control method and control device of unmanned equipment, and relates to the field of unmanned driving. The method comprises the following steps that: current state data of an obstacle around the unmanned equipment is acquired; the predicted trajectory of the obstacle in the next time period is predicted according to the state data; according to the current driving trajectory of the unmanned equipment, a planning trajectory of the unmanned equipment in the next time period is planned; if it is determined that there is no risk of collision between the unmanned equipment and the obstacle according to the planned trajectory and the predicted trajectory, the unmanned equipment is controlled to run in the next time period according to the planned trajectory; and if it is determined that there is a risk of collision between the unmanned equipment and the obstacle, the driving trajectory of the unmanned equipment in the next time period is planned according to a safe position determined base |
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