Unmanned vehicle emergency control method and related device

The invention relates to an unmanned vehicle emergency control method and a related device, and aims to integrate output information of all functional modules of an unmanned vehicle in real time to evaluate the automatic driving ability of the unmanned vehicle in the driving process of the unmanned vehicle, so that risk estimation of the unmanned vehicle is realized, emergency processing is carried out in time, and the driving safety of the unmanned vehicle is ensured. The method comprises the steps that in the driving process of the unmanned vehicle, state information output by a function module of the unmanned vehicle is acquired; according to the state information output by the unmanned vehicle function module, the automatic driving ability of the unmanned vehicle is evaluated, and whether the automatic driving ability is competent to process the sensed current surrounding driving environment of the unmanned vehicle is determined; determining a target control model in a degradation control strategy and a r