Unmanned vehicle control method and system, computer equipment and readable storage medium

The invention provides an unmanned vehicle control method and system, computer equipment and a readable storage medium, and the method comprises the steps: a safety monitoring end and an unmanned vehicle end send a detection packet to a UDP server through a UDP communication channel; the UDP server returns a reply packet to the safety monitoring end and the unmanned vehicle end; the safety monitoring end and the unmanned vehicle end determine the bidirectional time delay of each UDP communication channel according to the time of sending the probe packet and the time of receiving the reply packet; the security monitoring end determines a UDP communication risk degree according to each bidirectional time delay, and judges whether the communication risk degree exceeds a preset threshold; if the user does not exceed the safety monitoring end, a safety control signal is sent to a UDP server through a UDP communication channel and then is sent to the unmanned vehicle end; and the unmanned vehicle end responds to th