The invention discloses an unmanned vehicle control method based on vehicle-road cooperation, and relates to the technical field of vehicle-road cooperation, and the method comprises the steps: judging whether a vehicle end sensing function is available or not, sensing road data through the vehicle end sensing function when the vehicle end sensing function is available, and calling a road side sensing function to obtain the road data when the vehicle end sensing function is unavailable; judging whether a vehicle end planning function is available or not, performing vehicle end planning based on the acquired road data when the vehicle end planning function is available, and acquiring a set default vehicle end plan from the road side when the vehicle end planning function is unavailable; and judging whether the vehicle end control function is available or not, controlling the vehicle end based on the vehicle end plan or the default vehicle end plan when the vehicle end control function is available, and switching to the vehicle end control logic locally backed up at the vehicle end when the vehicle end control function is unavailable. By means of the capability of the roadside system in vehicle-road cooperation, seamless takeover is carried out when the vehicle-mounted intelligent software system of the unmanned vehicle is unavailable, safe parking is completed when the vehicle-mounted intelligent software system recovers or is unrecoverable, and vicious driving accidents are avoided.

    本发明公开了一种基于车路协同的无人驾驶汽车控制方法,涉及车路协同技术领域,包括判断车端感知功能是否可用,并在可用时通过车端感知功能感知道路数据,在不可用时调用路侧感知功能获取道路数据;判断车端规划功能是否可用,并在可用时基于获取到的道路数据进行车端规划,在不可用时从路侧获取设定的默认车端规划;判断车端控制功能是否可用,并在可用时基于车端规划或默认车端规划对车端进行控制,在不可用时切换至车端本地备份的车端控制逻辑。本发明借助车路协同中路侧系统的能力,在无人驾驶车辆的车载智能软件系统不可用时进行无缝接管,等待车载智能软件系统恢复或不可恢复时完成安全停靠,避免发生恶性驾驶事故。


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    Title :

    Unmanned vehicle control method, device and equipment based on vehicle-road cooperation and storage medium


    Additional title:

    一种基于车路协同的无人驾驶汽车控制方法、装置、设备及存储介质


    Contributors:
    CHEN QIANG (author) / WANG YAPING (author) / WANG BO (author) / LIU SHENG (author)

    Publication date :

    2022-11-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion






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