Shutdown control device for unmanned vehicle and unmanned vehicle

Abstract

The disclosure provides a shutdown control device for an unmanned vehicle and the unmanned vehicle, which can be applied to the technical field of unmanned driving. The shutdown control device for the unmanned vehicle comprises: a reverse cut-off circuit, comprising a first power input end and a first power output end, the first power input end being configured to be connected to a power supply, and the first power output end being configured to be connected to a processor; an energy storage circuit, comprising at least one energy storage capacitor, one end of the at least one energy storage capacitor being configured to be connected to the first power output end, and the other end being configured to be grounded; and a control circuit, comprising a first signal input end, a second signal input end and a first signal output end, the first signal input end being configured to be connected to the first power input end, the second signal input end being configured to be connected to the first power output end, and the first signal output end being configured to be connected to the processor.

Description

Technical Field

[0001] This disclosure relates to the field of autonomous driving technology, and more specifically, to a shutdown control device for an autonomous vehicle and an autonomous vehicle. Background Technology

[0002] With the rapid development of autonomous driving technology, unmanned vehicles are increasingly being applied in various fields such as industrial and agricultural production, construction, logistics, and daily life. Among the many components of an unmanned vehicle, the processor is one of the core components. During normal operation, the processor runs programs to perform various functions and saves the results, sending them to other components. However, when an unmanned vehicle is forcibly shut down or its battery is depleted, the processor's power supply is often cut off instantly. The programs and data running on the processor cannot be saved, leading to data loss. This reduces the lifespan of the unmanned vehicle's storage devices and poses a safety hazard to its operation. Summary of the Invention

[0003] In view of this, the present disclosure provides a shutdown control device for an unmanned vehicle and an unmanned vehicle.

[0004] One aspect of this disclosure provides a shutdown control device for an unmanned vehicle, comprising: a reverse cutoff circuit including a first power input terminal and a first power output terminal, the first power input terminal being configured to be connected to a power supply and the first power output terminal being configured to be connected to a processor; an energy storage circuit including at least one energy storage capacitor, one end of the at least one energy storage capacitor being configured to be connected to the first power output terminal and the other end being configured to be grounded; and a control circuit including a first signal input terminal, a second signal input terminal, and a first signal output terminal, the first signal input terminal being configured to be connected to the first power input terminal and the second signal input terminal being configured to be connected to a processor; The first power output terminal and the first signal output terminal are configured to be connected to the processor; wherein, in the event of a sudden voltage drop in the power supply, the reverse cutoff circuit is configured to switch to a cutoff state in response to the voltage of the first power input terminal and the voltage of the first power output terminal satisfying a first voltage threshold condition; the energy storage circuit is configured to supply power to the processor; and the control circuit is configured to output a first control signal at a first level at the first signal output terminal in response to the voltage of the first signal input terminal and the voltage of the second signal input terminal satisfying the first voltage threshold condition, so as to control the processor to enter the shutdown process.

[0005] According to an embodiment of this disclosure, the control circuit includes: a first control sub-circuit, including the first signal input terminal, the second signal input terminal, and the second signal output terminal, wherein the second signal output terminal is configured to be connected to the base of a transistor; the transistor includes the base, collector, and emitter, wherein the collector is configured to be connected to the first signal output terminal, and the emitter is configured to be grounded; and a step-down sub-circuit, including a second power input terminal and a second power output terminal, wherein the second power input terminal is configured to be connected to the first power output terminal, and the second power input terminal is configured to be connected to the collector through a first resistor.

[0006] According to an embodiment of this disclosure, the transistor is an NPN transistor; wherein, in the event of a sudden voltage drop in the power supply, the first control sub-circuit is configured to output a second control signal at a low level at the second signal output terminal in response to the voltages at the first signal input terminal and the second signal input terminal satisfying the first voltage threshold condition; the transistor is configured to switch to a cutoff state in response to the second control signal; and the buck converter sub-circuit is configured to output the first control signal at the first level to the first signal output terminal.

[0007] According to an embodiment of this disclosure, the first control sub-circuit includes: a first voltage divider unit, including a second resistor and a third resistor connected in series, one end of the second resistor being configured to be connected to the first signal input terminal, and one end of the third resistor being configured to be grounded; a second voltage divider unit, including a fourth resistor and a fifth resistor connected in series, one end of the fourth resistor being configured to be connected to the second signal input terminal, and one end of the fifth resistor being configured to be grounded; and a comparator, including a non-inverting input terminal, an inverting input terminal, and a comparator output terminal, wherein the non-inverting input terminal is configured to be connected to the second resistor and the third resistor, the inverting input terminal is configured to be connected to the fourth resistor and the fifth resistor, and the comparator output terminal is configured to be connected to the second signal output terminal.

[0008] According to embodiments of this disclosure, the device further includes: a microcontroller including a first input / output terminal configured to be connected to a first gate of a first field-effect transistor; the first field-effect transistor including a first source, a first drain, and a first gate, the first source being configured to be grounded, and the first drain being configured to be connected to the first power output terminal via a sixth resistor and a seventh resistor; and a second field-effect transistor including a second source, a second drain, and a second gate, the second source being configured to be connected to the first power output terminal, the second drain being configured to be connected to the processor, and the second gate being configured to be connected to the sixth resistor and the seventh resistor.

[0009] According to embodiments of this disclosure, the first field-effect transistor is an N-channel enhancement-mode field-effect transistor, and the second field-effect transistor is a P-channel enhancement-mode field-effect transistor; wherein, when the microcontroller outputs a third control signal at a high level at its first input / output terminal, the first field-effect transistor is configured to switch to an on state in response to the third control signal, so that the connection terminal of the sixth resistor and the seventh resistor generates a fourth control signal at a second level; and the second field-effect transistor is configured to switch to an on state in response to the voltage at the first power output terminal and the fourth control signal satisfying a second voltage threshold condition, so that the power supply or the energy storage circuit supplies power to the processor.

[0010] According to embodiments of this disclosure, the device further includes: a load, including a third power input terminal configured to be connected to the first power output terminal; wherein the microcontroller further includes a second input / output terminal and a third input / output terminal, the second input / output terminal configured to be connected to the first signal output terminal, and the third input / output terminal configured to be connected to the load; wherein, in the event of a voltage drop in the power supply, the microcontroller is configured to, in response to receiving the first control signal at the first level at the second input / output terminal, output a fifth control signal at the third input / output terminal at the third level; and the load is configured to switch to a shutdown state in response to the fifth control signal.

[0011] According to an embodiment of this disclosure, the reverse cutoff circuit includes: a third field-effect transistor, including a third source, a third drain, and a third gate, wherein the third source is configured to be connected to the first power input terminal, the third drain is configured to be connected to the first power output terminal, and the third gate is configured to be connected to a second control sub-circuit; and the second control sub-circuit, including a third signal input terminal, a fourth signal input terminal, and a third signal output terminal, wherein the third signal input terminal is configured to be connected to the third source, the fourth signal input terminal is configured to be connected to the third drain, and the third signal output terminal is configured to be connected to the third gate.

[0012] According to an embodiment of this disclosure, the third field-effect transistor is an N-channel enhancement-mode field-effect transistor; wherein, in the event of a sudden voltage drop in the power supply, the second control sub-circuit is configured to output a sixth control signal in a low-level state at the third signal output terminal in response to the voltage at the third signal input terminal and the voltage at the fourth signal input terminal satisfying the first voltage threshold condition; and the third field-effect transistor is configured to switch to a cutoff state in response to the voltage at the first power input terminal and the sixth control signal satisfying the third voltage threshold condition.

[0013] Another aspect of this disclosure provides an unmanned vehicle, including: a chassis, including a battery unit and a power unit; and an autonomous driving kit, including a processor and sensors; wherein a shutdown control device is connected in series between the battery unit and the processor; wherein the shutdown control device includes: a reverse cutoff circuit, including a first power input terminal and a first power output terminal, the first input terminal being configured to connect to the battery unit and the first output terminal being configured to connect to the processor; an energy storage circuit, including at least one energy storage capacitor, one end of the at least one energy storage capacitor being configured to connect to the first power output terminal and the other end being configured to ground; and a control circuit, including a first signal input terminal, a second signal input terminal, and a first signal output terminal, wherein the first signal input terminal... The input terminal is configured to connect to the first power input terminal, the second signal input terminal is configured to connect to the first power output terminal, and the first signal output terminal is configured to connect to the processor; wherein, in the event of a sudden voltage drop in the battery device, the reverse cutoff circuit is configured to switch to a cutoff state in response to the voltage of the first power input terminal and the voltage of the first power output terminal satisfying a first voltage threshold condition, the energy storage circuit is configured to supply power to the processor, and the control circuit is configured to output a first control signal at a first level at the first signal output terminal in response to the voltage of the first signal input terminal and the second signal input terminal satisfying the first voltage threshold condition, so as to control the processor to enter the shutdown process.

[0014] According to embodiments of this disclosure, the battery device includes a battery and a power management module. The battery is configured to supply power to the power unit, the processor, and the sensor via the power management module. The sensor is configured to be electrically connected to the processor and to acquire environmental information of the unmanned vehicle and send the environmental information to the processor. The processor is configured to be electrically connected to the power unit and to process the environmental information, generate and store motion control signals, and send the motion control signals to the power unit. The power unit is configured to control the movement of the unmanned vehicle in response to the motion control signals.

[0015] According to embodiments of this disclosure, by adding a shutdown control device between the processor and power supply of the unmanned vehicle, during normal operation of the unmanned vehicle, the power supply can normally supply power to the processor and charge the energy storage circuit through the reverse cutoff circuit. When the voltage of the power supply drops suddenly, the reverse cutoff circuit can instantly cut off the path between the power supply and the energy storage circuit, so that the electrical energy in the energy storage circuit will not flow to the power supply. At the same time, the controller can send a first control signal at a first level to the processor to control the processor to enter the shutdown process, so that the processor can save the data generated by the running program during the power supply of the energy storage circuit, realizing the soft shutdown of the processor. Therefore, it at least partially overcomes the technical problem in the related art that unmanned vehicles will lose data when forced hard shutdown or battery power failure, thereby reducing the service life of the unmanned vehicle's storage device and posing safety hazards to the operation of the unmanned vehicle. Thus, it effectively avoids data loss and damage to the storage device, and ensures the integrity of the unmanned vehicle's operating data and the safety of its operation. Attached Figure Description

[0016] The above and other objects, features and advantages of this disclosure will become clearer from the following description of embodiments with reference to the accompanying drawings, in which:

[0017] Figure 1 A schematic diagram of a shutdown control device for an unmanned vehicle according to an embodiment of the present disclosure is shown.

[0018] Figure 2A A schematic diagram of a control circuit according to an embodiment of the present disclosure is shown.

[0019] Figure 2B A schematic diagram of a first control sub-circuit according to an embodiment of the present disclosure is shown.

[0020] Figure 3A A schematic diagram of a reverse cutoff circuit according to an embodiment of the present disclosure is shown.

[0021] Figure 3B A schematic diagram of a second control sub-circuit according to an embodiment of the present disclosure is shown.

[0022] Figure 4 A schematic diagram of a shutdown control device for an unmanned vehicle according to another embodiment of the present disclosure is shown.

[0023] Figure 5 A schematic diagram of a shutdown control device for an unmanned vehicle according to yet another embodiment of the present disclosure is shown.

[0024] Figure 6A A schematic diagram of a shutdown control device for an unmanned vehicle according to another embodiment of the present disclosure is shown.

[0025] Figure 6B The schematic diagram illustrates the operation timing of a shutdown control device for an unmanned vehicle according to another embodiment of the present disclosure.

[0026] Figure 7 A schematic diagram of the structure of an unmanned vehicle according to an embodiment of the present disclosure is shown. Detailed Implementation

[0027] The embodiments of the present disclosure will now be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the disclosure. In the following detailed description, numerous specific details are set forth to provide a thorough understanding of the embodiments of the present disclosure for ease of explanation. However, it will be apparent that one or more embodiments may be practiced without these specific details. Furthermore, descriptions of well-known structures and techniques are omitted in the following description to avoid unnecessarily obscuring the concepts of the present disclosure.

[0028] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit this disclosure. The terms “comprising,” “including,” etc., as used herein indicate the presence of the stated features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0029] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein are to be interpreted in a manner consistent with the context of this specification, and not in an idealized or overly rigid way.

[0030] When using expressions such as "at least one of A, B, and C," the expression should generally be interpreted in accordance with the meaning commonly understood by a person skilled in the art (e.g., "a system having at least one of A, B, and C" should include, but is not limited to, systems having A alone, having B alone, having C alone, having A and B, having A and C, having B and C, and / or having A, B, and C, etc.). Similarly, when using expressions such as "at least one of A, B, or C," the expression should generally be interpreted in accordance with the meaning commonly understood by a person skilled in the art (e.g., "a system having at least one of A, B, or C" should include, but is not limited to, systems having A alone, having B alone, having C alone, having A and B, having A and C, having B and C, and / or having A, B, and C, etc.).

[0031] In related technologies, when an autonomous vehicle is forced to shut down or its battery is depleted, the power supply is cut off instantly, causing the processor to shut down. The programs and data running on the processor cannot be saved, and the loss of data will affect the lifespan of storage devices such as solid-state drives and the operational safety of the autonomous vehicle.

[0032] In view of this, embodiments of the present disclosure provide a shutdown control device for an unmanned vehicle and an unmanned vehicle. The shutdown control device for an unmanned vehicle includes: a reverse cutoff circuit with a first power input terminal and a first power output terminal, the first power input terminal being configured to connect to a power supply and the first power output terminal being configured to connect to a processor; an energy storage circuit with at least one energy storage capacitor, one end of which is configured to connect to the first power output terminal and the other end of which is configured to ground; and a control circuit with a first signal input terminal, a second signal input terminal, and a first signal output terminal, the first signal input terminal being configured to connect to the first power input terminal, the second signal input terminal being configured to connect to the first power output terminal, and the first signal output terminal being configured to connect to the processor; wherein, in the event of a sudden voltage drop in the power supply, the reverse cutoff circuit is configured to switch to a cutoff state in response to the voltage at the first power input terminal and the voltage at the first power output terminal satisfying a first voltage threshold condition, the energy storage circuit is configured to supply power to the processor, and the control circuit is configured to output a first control signal at a first level at the first signal output terminal in response to the voltage at the first signal input terminal and the voltage at the second signal input terminal satisfying the first voltage threshold condition, thereby controlling the processor to enter the shutdown process.

[0033] Figure 1 A schematic diagram of a shutdown control device for an unmanned vehicle according to an embodiment of the present disclosure is shown.

[0034] like Figure 1 As shown, the shutdown control device for an unmanned vehicle may include a reverse cut-off circuit 100, an energy storage circuit 200, and a control circuit 300.

[0035] According to an embodiment of this disclosure, the reverse cutoff circuit 100 may include a first power input terminal Pin1 and a first power output terminal Pout1. The first power input terminal Pin1 is configured to be connected to the power supply 400, and the first power output terminal is configured to be connected to the processor 500. That is, the reverse cutoff circuit 100 may be configured to be connected in series between the power supply 400 and the processor 500.

[0036] According to embodiments of this disclosure, the reverse cutoff circuit 100 can be composed of switching devices, such as field-effect transistors, triodes, etc. The reverse cutoff circuit 100 can indirectly control the power supply circuit from the power supply 400 to the processor 500 by controlling the switching devices.

[0037] According to embodiments of the present disclosure, the energy storage circuit 200 may include at least one energy storage capacitor, one end of which is configured to be connected to a first power output terminal Pout1, and the other end of which is configured to be grounded.

[0038] According to embodiments of this disclosure, the energy storage capacitor can refer to various types of capacitors with a large capacitance value, such as paper capacitors, ceramic capacitors, and film capacitors. The reference for this large capacitance value can be determined according to the specific application scenario; for example, it can refer to a capacitance value greater than 1 microfarad.

[0039] According to embodiments of this disclosure, when the power supply 400 is not supplying power to the processor 500, both the first power output terminal Pout1 and the end of the energy storage capacitor connected to the first power output terminal Pout1 are in a low-level state. When the power supply 400 supplies power to the processor 500, the first power output terminal Pout1 changes from a low-level state to a high-level state. The first power output terminal Pout1 is at a higher potential relative to that end of the energy storage capacitor, and the power supply 400 begins to charge the energy storage capacitor through the reverse cutoff circuit 100. Subsequently, when the power supply 400 is powered off or shut down, the first power output terminal Pout1 changes from a high-level state to a low-level state. The first power output terminal Pout1 is at a lower potential relative to that end of the energy storage capacitor, and the energy storage capacitor begins to discharge, i.e., supplying power to the processor 500.

[0040] According to embodiments of this disclosure, the control circuit 300 may include a first signal input terminal Sin1, a second signal input terminal Sin2, and a first signal output terminal Sout1. The first signal input terminal Sin1 is configured to be connected to a first power input terminal Pin1, the second signal input terminal Sin2 is configured to be connected to a first power output terminal Pout1, and the first signal output terminal Sout1 is configured to be connected to the processor 500.

[0041] According to embodiments of this disclosure, in the event of a sudden voltage drop in the power supply 400, the reverse cutoff circuit 100 can be configured to switch to a cutoff state in response to the voltage at the first power input terminal Pin1 and the voltage at the first power output terminal Pout1 satisfying a first voltage threshold condition, i.e., the energy storage circuit 200 cannot supply power to the power supply 400. The energy storage circuit 200 is configured to supply power to the processor 500. The control circuit 300 is configured to output a first control signal at a first level at the first signal output terminal Sout1 in response to the voltage at the first signal input terminal Sin1 and the voltage at the second signal input terminal Sin2 satisfying the first voltage threshold condition, thereby controlling the processor to enter a shutdown process.

[0042] According to embodiments of this disclosure, the voltage at the first power input terminal Pin1 and the voltage at the first power output terminal Pout1 satisfying the first voltage threshold condition means that the voltage at the first power output terminal Pout1 is greater than the voltage at the first power input terminal Pin1. Correspondingly, the voltage at the first signal input terminal Sin1 and the second signal input terminal Sin2 satisfying the first voltage threshold condition means that the voltage at the second signal input terminal Sin2 is greater than the voltage at the first signal input terminal Sin1.

[0043] According to the embodiments of this disclosure, when the power supply 400 starts supplying power, since no electrical energy is stored in the energy storage circuit 200, the first power output terminal Pout1 is in a low-level state, and therefore the voltage of the first power output terminal Pout1 is less than the voltage of the first power input terminal Pin1. When the power supply 400 supplies power stably, since there is a switching device in the power supply loop of the reverse cutoff circuit 100, the voltage drop of the switching device will cause the voltage of the first power output terminal Pout1 to be less than the voltage of the first power input terminal Pin1. When the power supply 400 is de-energized, since electrical energy is stored in the energy storage circuit 200, the first power output terminal Pout1 remains in a high-level state, and the voltage of the first power input terminal Pin1 drops to a low-level state. Therefore, the voltage of the first power output terminal Pout1 is greater than the voltage of the first power input terminal Pin1, that is, the first voltage threshold condition is met.

[0044] According to embodiments of this disclosure, the first voltage level can refer to any voltage level other than 0V. The first voltage level can be set by various active or passive circuits, such as a step-down circuit, a Zener diode, etc., and its value can be determined according to the configuration of the processor 500, which is not limited here.

[0045] According to embodiments of this disclosure, by adding a shutdown control device between the processor and power supply of the unmanned vehicle, during normal operation of the unmanned vehicle, the power supply can normally supply power to the processor and charge the energy storage circuit through the reverse cutoff circuit. When the voltage of the power supply drops suddenly, the reverse cutoff circuit can instantly cut off the path between the power supply and the energy storage circuit, so that the electrical energy in the energy storage circuit will not flow to the power supply. At the same time, the controller can send a first control signal at a first level to the processor to control the processor to enter the shutdown process, so that the processor can save the data generated by the running program during the power supply of the energy storage circuit, realizing the soft shutdown of the processor. Therefore, it at least partially overcomes the technical problem in the related art that unmanned vehicles will lose data when forced hard shutdown or battery power failure, thereby reducing the service life of the unmanned vehicle's storage device and posing safety hazards to the operation of the unmanned vehicle. Thus, it effectively avoids data loss and damage to the storage device, and ensures the integrity of the unmanned vehicle's operating data and the safety of its operation.

[0046] The following is for reference. Figure 2A , Figure 2B , Figure 3A , Figure 3B , Figure 4 , Figure 5 , Figure 6A and Figure 6B In conjunction with specific embodiments, Figure 1 The apparatus shown will be further explained.

[0047] Figure 2AA schematic diagram of a control circuit according to an embodiment of the present disclosure is shown.

[0048] like Figure 2A As shown, the control circuit 300 may include a first control sub-circuit 310, a transistor 320, and a step-down sub-circuit 330.

[0049] According to an embodiment of this disclosure, the first control sub-circuit 310 may include a first signal input terminal Sin1, a second signal input terminal Sin2, and a second signal output terminal Sout2, wherein the second signal output terminal is configured to be connected to the base B of the transistor 320.

[0050] According to embodiments of this disclosure, transistor 320 may include a base B, a collector C, and an emitter E, wherein the collector C is configured to be connected to a first signal output terminal Sout1, and the emitter E is configured to be grounded.

[0051] According to an embodiment of the present disclosure, the step-down sub-circuit 330 may include a second power input terminal Pin2 and a second power output terminal Pout2. The second power input terminal Pin2 is configured to be connected to the first power output terminal Pout1, and the second power input terminal Pout2 is configured to be connected to the collector C through a first resistor R1.

[0052] According to embodiments of this disclosure, the first control sub-circuit 310 can be implemented by a control chip, operational amplifier, gate circuit, etc., as long as it can implement the following logic: when the voltage of the first signal input terminal Sin1 is greater than the voltage of the second signal input terminal Sin2, the second signal output terminal Sout2 outputs a high-level signal; when the voltage of the first signal input terminal Sin1 is less than or equal to the voltage of the second signal input terminal Sin2, the second signal output terminal Sout2 outputs a low-level signal.

[0053] According to embodiments of this disclosure, transistor 320 can be any type of NPN transistor, and is not limited herein.

[0054] According to embodiments of this disclosure, the step-down sub-circuit 330 can be used to reduce the voltage of the first power output terminal Pout1 to any specified voltage value. For example, the voltage of the first power output terminal Pout1 can be 12V, and the step-down sub-circuit 330 can reduce the 12V voltage to 5V, 3.3V, 2.5V, etc. The step-down sub-circuit 330 can be any circuit based on the BUCK topology or any circuit based on the coupling principle, and is not limited herein.

[0055] According to embodiments of this disclosure, the first resistor R1 can be a single resistor or a group of resistors connected in series or in parallel, and is not limited thereto.

[0056] According to embodiments of this disclosure, the first resistor R1 can be any type of fixed resistor, such as a chip resistor, carbon film resistor, metal film resistor, wire-wound resistor, etc.

[0057] According to an embodiment of this disclosure, during the period when the power supply 400 supplies power to the processor 500, the first control sub-circuit 310 is configured to output a second control signal at a high level at the second signal output terminal Sout2; the transistor 320 is configured to be in a conducting state in response to the second control signal, and the first signal output terminal Sout1 is grounded through the transistor 320, so the level of the first control signal output at the first signal output terminal Sout1 is 0V.

[0058] According to an embodiment of this disclosure, in the event of a sudden voltage drop in the power supply 400, the first control sub-circuit 310 is configured to output a second control signal at a low level at the second signal output terminal Sout2 in response to the voltages at the first signal input terminal Sin1 and the second signal input terminal Sin2 satisfying a first voltage threshold condition; the transistor 320 is configured to switch to a cutoff state in response to the second control signal; and the buck sub-circuit 330 is configured to output a first control signal at a first level to the first signal output terminal Sout1. This first level is the output voltage of the buck sub-circuit 330.

[0059] According to embodiments of this disclosure, the processor 500 can be configured to initiate an active shutdown process after receiving a first control signal at a first level. By setting the control circuit 300, the processor 500 can be soft-shut down in the event of a sudden voltage drop in the power supply 400, thereby effectively avoiding data loss and reducing the lifespan of the processor 500's storage device.

[0060] According to embodiments of this disclosure, the first control sub-circuit 310 can be implemented using a comparator.

[0061] Figure 2B A schematic diagram of a first control sub-circuit according to an embodiment of the present disclosure is shown.

[0062] like Figure 2B As shown, the first control sub-circuit 310 may include a first voltage divider unit 311, a second voltage divider unit 312, and a comparator 313.

[0063] According to an embodiment of the present disclosure, the first voltage divider unit 311 may include a second resistor R2 and a third resistor R3 connected in series, one end of the second resistor R2 being configured to be connected to the first signal input terminal Sin1, and one end of the third resistor R3 being configured to be grounded.

[0064] According to an embodiment of this disclosure, the second voltage divider unit 312 may include a fourth resistor R4 and a fifth resistor R5 connected in series, one end of the fourth resistor R4 being configured to be connected to the second signal input terminal Sin2, and one end of the fifth resistor R5 being configured to be grounded.

[0065] According to embodiments of this disclosure, comparator 313 may include a non-inverting input terminal IN+, an inverting input terminal IN-, and a comparator output terminal Y. The non-inverting input terminal IN+ is configured to be connected to a second resistor R2 and a third resistor R3, the inverting input terminal IN- is configured to be connected to a fourth resistor R4 and a fifth resistor R5, and the comparator output terminal Y is configured to be connected to a second signal output terminal Sout2.

[0066] According to embodiments of this disclosure, the second resistor R2, the third resistor R3, the fourth resistor R4, and the fifth resistor R5 can be a single resistor or a group of resistors connected in series or in parallel, and no limitation is made herein.

[0067] According to embodiments of this disclosure, the second resistor R2, the third resistor R3, the fourth resistor R4, and the fifth resistor R5 can be any type of fixed resistor, such as surface mount resistors, carbon film resistors, metal film resistors, wire-wound resistors, etc.

[0068] According to embodiments of this disclosure, the ratio of the second resistor R2 to the third resistor R3 can be equal to the ratio of the fourth resistor R4 to the fifth resistor R5, so that the comparison result of the voltage at the non-inverting input terminal IN+ and the voltage at the inverting input terminal IN- is only related to the comparison result of the voltage at the first signal input terminal Sin1 and the voltage at the second signal input terminal Sin2. Alternatively, the ratio of the second resistor R2 to the third resistor R3 can also be configured to be less than the ratio of the fourth resistor R4 to the fifth resistor R5. The specific resistance values ​​of the second resistor R2, the third resistor R3, the fourth resistor R4, and the fifth resistor R5 are not limited herein.

[0069] According to embodiments of this disclosure, comparator 313 can be any type of comparator or any type of integrated operational amplifier used as a comparator, and is not limited herein.

[0070] According to an embodiment of this disclosure, when the power supply 400 is normally supplying power to the processor 500, the voltage at the non-inverting input terminal IN+ is greater than the voltage at the inverting input terminal IN-, and the comparator 313 outputs a second control signal at the comparator output terminal Y that is in a high-level state.

[0071] According to an embodiment of this disclosure, when the voltage of the power supply 400 drops suddenly, the voltage at the non-inverting input terminal IN+ is less than the voltage at the inverting input terminal IN-, and the comparator 313 outputs a second control signal at the comparator output terminal Y that is in a low-level state.

[0072] Figure 3A A schematic diagram of a reverse cutoff circuit according to an embodiment of the present disclosure is shown.

[0073] like Figure 3A As shown, the reverse cutoff circuit 100 may include a third field-effect transistor 110 and a second control sub-circuit 120.

[0074] According to embodiments of this disclosure, the third field-effect transistor 110 may include a third source S3, a third drain D3, and a third gate G3. The third source S3 is configured to be connected to the first power input terminal Pin1, the third drain D3 is configured to be connected to the first power output terminal Pout1, and the third gate G3 is configured to be connected to the second control sub-circuit 120.

[0075] According to embodiments of this disclosure, the second control sub-circuit 120 may include a third signal input terminal Sin3, a fourth signal input terminal Sin4, and a third signal output terminal Sout3. The third signal input terminal Sin3 is configured to be connected to the third source terminal S3, the fourth signal input terminal Sin4 is configured to be connected to the third drain terminal D3, and the third signal output terminal Sout3 is configured to be connected to the third gate terminal G3.

[0076] According to embodiments of this disclosure, the third field-effect transistor 110 can be any type of N-channel enhancement-mode field-effect transistor, and is not limited herein.

[0077] According to embodiments of this disclosure, the second control sub-circuit 120 can be implemented by a control chip, operational amplifier, gate circuit, etc., as long as it can implement the following logic: when the voltage of the third signal input terminal Sin3 is greater than the voltage of the fourth signal input terminal Sin4, the third signal output terminal Sout3 outputs a high-level signal; when the voltage of the third signal input terminal Sin3 is less than or equal to the voltage of the fourth signal input terminal Sin4, the third signal output terminal Sout3 outputs a low-level signal.

[0078] According to an embodiment of the present disclosure, during the period when the power supply 400 supplies power to the processor 500, the second control sub-circuit 120 is configured to output a sixth control signal in a high-level state at the third signal output terminal Sout3; the third field-effect transistor 110 is configured to be in a conducting state in response to the sixth control signal.

[0079] According to an embodiment of this disclosure, in the event of a sudden voltage drop in the power supply 400, the second control sub-circuit 120 is configured to output a sixth control signal at the third signal output terminal Sout3 in response to the voltage at the third signal input terminal Sin3 and the voltage at the fourth signal input terminal Sin4 satisfying a first voltage threshold condition; the third field-effect transistor 110 is configured to switch to a cutoff state in response to the voltage at the first power input terminal Pin1 and the sixth control signal satisfying the third voltage threshold condition.

[0080] According to an embodiment of this disclosure, the third voltage threshold condition may refer to the sixth control signal, i.e., the voltage difference between the voltage of the third gate G3 and the voltage of the first power input terminal Pin1, i.e., the voltage of the third source S3, is less than the turn-on voltage threshold of the third field-effect transistor 110.

[0081] According to embodiments of this disclosure, the second control sub-circuit 120 can be implemented using a control chip.

[0082] Figure 3B A schematic diagram of a second control sub-circuit according to an embodiment of the present disclosure is shown.

[0083] like Figure 3B As shown, the second control sub-circuit 120 may include a control chip 121 and peripheral circuits.

[0084] According to embodiments of this disclosure, the control chip 121 can be an ideal diode controller, such as an LM74700. The control chip 121 may include ports such as Anode, Cathode, VCAP, EN, and Gate. Specifically, the Anode terminal of the control chip 121 can be connected to the third signal input terminal Sin3, the Cathode terminal can be connected to the fourth signal input terminal Sin4, and the Gate terminal can be connected to the third signal output terminal Sout3.

[0085] According to embodiments of this disclosure, the peripheral circuit may include capacitor C1, eighth resistor R8, and ninth resistor R9. Capacitor C1 can be connected to the Anode terminal and VCAP terminal of the control chip, respectively. The eighth resistor R8 and the ninth resistor R9 can form a voltage divider circuit, that is, one end of the eighth resistor R8 can be connected to the third signal input terminal Sin3, one end of the ninth resistor R9 can be grounded, and the connection point of the eighth resistor R8 and the ninth resistor R9 can be connected to the EN terminal of the control chip 121 to provide a high-level signal to the EN terminal when the power supply 400 is normally powered.

[0086] According to embodiments of this disclosure, capacitor C1 can be any type of capacitor, such as a polyester capacitor, ceramic capacitor, mica capacitor, electrolytic capacitor, tantalum capacitor, etc. The capacitance value of capacitor C1 can be determined according to the specific model of control chip 121.

[0087] According to embodiments of this disclosure, the eighth resistor R8 and the ninth resistor R9 can be single resistors or resistor groups formed by connecting multiple resistors in series or in parallel, and are not limited herein.

[0088] According to embodiments of this disclosure, the eighth resistor R8 and the ninth resistor R9 can be any type of fixed resistor, such as surface mount resistors, carbon film resistors, metal film resistors, wire-wound resistors, etc. The resistance values ​​of the eighth resistor R8 and the ninth resistor R9 are not limited herein.

[0089] According to an embodiment of this disclosure, when the power supply 400 is supplying power normally, the EN terminal receives a high-level signal, and the control chip 121 enters the working state. Since the voltage of the third signal input terminal Sin3 is greater than the voltage of the fourth signal input terminal Sin4, the voltage of the Anode terminal is greater than the voltage of the Cathode terminal. The control chip 121 can output a high-level signal at the Gate terminal, that is, output a sixth control signal in a high-level state at the third signal output terminal Sout3.

[0090] According to an embodiment of this disclosure, when the voltage of the power supply 400 drops suddenly, since the voltage of the third signal input terminal Sin3 is less than or equal to the voltage of the fourth signal input terminal Sin4, the voltage of the Anode terminal is less than the voltage of the Cathode terminal. Therefore, the control chip 121 can output a low-level signal at the Gate terminal, that is, output a sixth control signal in a low-level state at the third signal output terminal Sout3.

[0091] Figure 4 A schematic diagram of a shutdown control device for an unmanned vehicle according to another embodiment of the present disclosure is shown.

[0092] like Figure 4 The shutdown control device for the unmanned vehicle may further include a microcontroller 600, a first field-effect transistor 700, and a second field-effect transistor 800.

[0093] According to embodiments of the present disclosure, the microcontroller 600 may include a first input / output terminal IO1, which is configured to be connected to the first gate G1 of the first field-effect transistor 700.

[0094] According to an embodiment of the present disclosure, the first field-effect transistor 700 may include a first source S1, a first drain D1 and a first gate G1, the first source S1 being configured to be grounded, and the first drain D1 being configured to be connected to the first power output terminal Pout1 through a sixth resistor R6 and a seventh resistor R7.

[0095] According to embodiments of this disclosure, the second field-effect transistor 800 may include a second source S2, a second drain D2, and a second gate G2. The second source S2 is configured to be connected to a first power output terminal Pout1, the second drain D2 is configured to be connected to a processor 500, and the second gate G2 is configured to be connected to a sixth resistor R6 and a seventh resistor R7.

[0096] According to embodiments of this disclosure, the microcontroller 600 may be implemented by a programmable chip, a field-programmable gate array (FPGA), a programmable logic array (PLA), an application-specific integrated circuit (ASIC), etc., and is not limited thereto.

[0097] According to embodiments of this disclosure, the first field-effect transistor 700 can be any type of N-channel enhancement-mode field-effect transistor, and the second field-effect transistor 800 can be any type of P-channel enhancement-mode field-effect transistor.

[0098] According to embodiments of this disclosure, the sixth resistor R6 and the seventh resistor R7 can be single resistors or resistor groups formed by connecting multiple resistors in series or in parallel, and are not limited herein.

[0099] According to embodiments of this disclosure, the sixth resistor R6 and the seventh resistor R7 can be any type of fixed resistor, such as surface mount resistors, carbon film resistors, metal film resistors, wire-wound resistors, etc. The resistance values ​​of the sixth resistor R6 and the seventh resistor R7 are not limited herein.

[0100] According to embodiments of this disclosure, the microcontroller 600 can be used to control the on / off states of the first field-effect transistor 700 and the second field-effect transistor 800.

[0101] According to an embodiment of this disclosure, when the first input / output terminal IO1 of the microcontroller 600 outputs a third control signal at a high level, the voltage difference between the first gate G1 and the first source S1 of the first field-effect transistor 700 is greater than the turn-on voltage of the first field-effect transistor 700. The first field-effect transistor 700 is then configured to switch to an on state in response to the third control signal. At this time, the sixth resistor R6 and the seventh resistor R7 form a voltage divider circuit, generating a fourth control signal at a second level at the connection point of the sixth resistor R6 and the seventh resistor R7.

[0102] According to embodiments of this disclosure, the level value of the second level can be determined based on the resistance values ​​of the sixth resistor R6 and the seventh resistor R7. The second level can be characterized as a high level.

[0103] According to an embodiment of the present disclosure, the second field-effect transistor 800 is configured to switch to an on state in response to the voltage at the first power output terminal Pout1 and the fourth control signal satisfying a second voltage threshold condition, so that the power supply 500 or the energy storage circuit 200 supplies power to the processor 500.

[0104] According to an embodiment of this disclosure, the second voltage threshold condition may refer to the voltage difference between the voltage of the first power output terminal Pout1, i.e., the voltage of the second source S2, and the voltage of the fourth control signal, i.e., the voltage of the second gate G2, being greater than the turn-on voltage of the second field-effect transistor 800.

[0105] According to an embodiment of this disclosure, when the first input / output terminal IO1 of the microcontroller 600 outputs a third control signal at a low level, since both the first gate G1 and the first source S1 of the first field-effect transistor 700 are at a low level, the first field-effect transistor 700 does not meet the conduction condition and is configured to switch to the cutoff state. Because the first field-effect transistor 700 is cut off, the second source S2 and the second gate G2 of the second field-effect transistor 800 are shorted through the seventh resistor R7. Therefore, the second field-effect transistor 800 also does not meet the conduction condition and is configured to switch to the cutoff state.

[0106] According to the embodiments of this disclosure, by setting a microcontroller 600, a first field-effect transistor 700 and a second field-effect transistor 800 in the power supply circuit from the power supply 400 to the processor 500, the microcontroller 600 can be used to control the opening and closing of the processor 500, thereby realizing the operation control of the processor 500.

[0107] Figure 5 A schematic diagram of a shutdown control device for an unmanned vehicle according to yet another embodiment of the present disclosure is shown.

[0108] like Figure 5 As shown, the shutdown control device for the unmanned vehicle may also include a load 900.

[0109] According to an embodiment of this disclosure, the load 900 may include a third power input terminal Pin3, which is configured to be connected to a first power output terminal Pout1.

[0110] According to embodiments of this disclosure, payload 900 may refer to all components in the autonomous driving kit of an unmanned vehicle other than processor 500, such as lidar, camera, global positioning system, inertial measurement unit, etc.

[0111] According to an embodiment of this disclosure, the power supply 400 can supply power to the load 900 through the third power input terminal Pin3.

[0112] According to embodiments of this disclosure, the microcontroller 600 may further include a second input / output terminal IO2 and a third input / output terminal IO3, wherein the second input / output terminal IO2 is configured to be connected to a first signal output terminal Sout1, and the third input / output terminal IO3 is configured to be connected to a load 900.

[0113] According to an embodiment of this disclosure, in the event of a sudden voltage drop in the power supply 400, the microcontroller 600 is configured to output a fifth control signal at a third level at the third input / output terminal IO3 in response to receiving a first control signal at a first level at the second input / output terminal IO2; the load 900 is configured to switch to a shutdown state in response to the fifth control signal, that is, the fifth control signal at the third level can control the load 900 to shut down.

[0114] According to embodiments of this disclosure, the third level can be determined based on the specific configuration of the load 900, as long as the fifth control signal at the third level can control the load 900 to shut down, which is not limited here.

[0115] According to the embodiments of this disclosure, by using the microcontroller 600 to control the load 900 to shut down, in the event of a sudden voltage drop in the power supply 400, the microcontroller 600 can forcibly control the load 900 to shut down, and the load 900 will no longer consume the power in the energy storage circuit 200, thereby extending the power supply time of the energy storage circuit 200 as much as possible, thereby extending the time available for the processor 500 to perform a soft shutdown, and effectively avoiding data loss.

[0116] In some embodiments of this disclosure, the processor 500 requires multiple voltage inputs to meet its operational needs. For example, the processor 500 may be an Orin module, which may have two power supply terminals, SYS_VIN_HV and SYS_VIN_MV, requiring 12V and 5V power respectively.

[0117] Figure 6A A schematic diagram of a shutdown control device for an unmanned vehicle according to another embodiment of the present disclosure is shown.

[0118] like Figure 6A As shown, the processor 500 can be an Orin module, and the Grin module can include at least four ports: SYS_VIN_HV, SYS_VIN_MV, Carrier_PWR_ON, and Module_SHDN_N. The Carrier_PWR_ON port is configured to connect to the fourth input / output port IO4 of the microcontroller 600, and the Module_SHDN_N port is configured to connect to the first signal output port Sout1.

[0119] According to embodiments of this disclosure, the shutdown control device for an unmanned vehicle may further include a step-down circuit 1000, a fourth field-effect transistor 1100, and a fifth field-effect transistor 1200.

[0120] According to an embodiment of this disclosure, one end of the step-down circuit 1000 can be configured to connect to the first power output terminal Pout1, and the other end can be configured to connect to the fifth source S5 of the fifth field-effect transistor 1200.

[0121] According to embodiments of this disclosure, the step-down circuit 1000 can be used to reduce the voltage of the first power output terminal Pout1 to a set voltage value, such that the voltage at the SYS_VIN_MV terminal is 5V. This set voltage value can be related to the voltage drop of the fifth field-effect transistor 1200. For example, the set voltage value can be set to 5V + V. th , among which, the V th This indicates the voltage drop of the fifth field-effect transistor 1200.

[0122] According to embodiments of this disclosure, the fourth field-effect transistor 1100 may include a fourth source S4, a fourth drain D4, and a fourth gate G4. The fourth source S4 is configured to be grounded, the fourth drain D4 is configured to be connected to the first power output terminal Pout1 through the tenth resistor R10 and the eleventh resistor R11, and the fourth gate G4 is configured to be connected to the fifth input / output terminal IO5 of the microcontroller 600.

[0123] According to embodiments of this disclosure, the fifth field-effect transistor 1200 may include a fifth source S5, a fifth drain D5, and a fifth gate G5. The fifth drain D5 is configured to be connected to the SYS_VIN_MV terminal, and the fifth gate G5 is configured to be connected to the tenth resistor R10 and the eleventh resistor R11.

[0124] According to embodiments of this disclosure, the fourth field-effect transistor 1100 and the fifth field-effect transistor 1200 and their peripheral circuits may have the same or similar structures as the first field-effect transistor 700 and the second field-effect transistor 800 and their peripheral circuits. For a detailed description, please refer to the foregoing description of the first field-effect transistor 700 and the second field-effect transistor 800, which will not be repeated here.

[0125] According to embodiments of this disclosure, the first input / output terminal IO1 and the fifth input / output terminal IO5 of the microcontroller 600 may have the same output level, so that the two circuits supplying power to the processor 500 can be turned on or off simultaneously.

[0126] According to embodiments of this disclosure, the level of the Carrier_PWR_ON terminal can be used to indicate the operating state of the processor 500. When the Carrier_PWR_ON terminal is in a high-level state, it can indicate that the processor 500 is in an operating state, and when the Carrier_PWR_ON terminal is in a low-level state, it can indicate that the processor 500 is powered off.

[0127] Figure 6BThe schematic diagram illustrates the operation timing of a shutdown control device for an unmanned vehicle according to another embodiment of the present disclosure.

[0128] like Figure 6B As shown, between t0 and t1, power supply 400 is in normal working condition; at t1, the voltage of power supply 400 drops sharply.

[0129] Between times t0 and t1, the electrical energy provided by power supply 400 can be input to energy storage circuit 200 through reverse cutoff circuit 100, and then input to the SYS_VIN_HV terminal of processor 500 through second field-effect transistor 800. It can also be input to the SYS_VIN_MV terminal of processor 500 through buck circuit 1000 and fifth field-effect transistor 1200. Due to the voltage drop of third field-effect transistor 110, the voltage at the non-inverting input terminal IN+ of comparator 313 is greater than the voltage at the inverting input terminal IN-. Comparator 313 outputs a high-level signal at the second signal output terminal Sout2, causing transistor 320 to conduct, pulling its collector C low. The second input / output terminal IO2 and the Module_SHDN_N terminal receive a low-level signal. Processor 500 can operate normally when both the first input / output terminal IO1 and the fifth input / output terminal IO5 of microcontroller 600 output high-level signals.

[0130] At time t1, the voltage of power supply 400 drops sharply, and the voltage at the non-inverting input terminal IN+ of comparator 313 also decreases accordingly. Control chip 121 detects that the voltage at the Anode terminal is lower than the voltage at the Cathode terminal and immediately short-circuits the third source S3 and the third gate G3 of the third field-effect transistor 110, thus turning off the third field-effect transistor 110 to prevent the electrical energy in the energy storage circuit 200 from flowing back to power supply 400 through the third field-effect transistor 110. The voltage at the non-inverting input terminal IN+ of comparator 313 is less than the voltage at the inverting input terminal IN-, so comparator 313 outputs a low-level signal at the second signal output terminal Sout2, and transistor 320 switches to the off state. Due to the presence of the buck converter circuit 330, the Module_SHDN_N terminal receives a high-level signal, thereby triggering processor 500 to enter the shutdown procedure. When the microcontroller 600 receives a high-level signal at its second input / output terminal IO2, it can also detect that Carrier_PWR_ON is high through its fourth input / output terminal IO4. At this time, the microcontroller 600 can output a low-level signal to the load 900 through its third input / output terminal IO3 to control the load 900 to shut down, thereby extending the running time of the energy storage circuit 200 to support the processor 500 and giving the processor 500 enough time to complete the shutdown procedure.

[0131] At time t2, the processor 500 completes the shutdown process, and the running data is normally saved to the storage device, avoiding data loss. Carrier_PWR_ON then transitions to a low level.

[0132] Between t2 and t3, the collector C is pulled low, meaning that the second input / output terminal IO2 of the microcontroller 600 receives a low-level signal. At the same time, the fourth input / output terminal IO4 can also receive a low-level signal. At this time, the microcontroller 600 can output a high-level signal to the load 900 through the third input / output terminal IO3, thereby connecting the load 900 to the energy storage circuit 200, and allowing the electrical energy in the energy storage circuit to be discharged to the load 900.

[0133] At time t3, the electrical energy in the energy storage circuit 200 is completely discharged, and the unmanned vehicle completes a soft shutdown.

[0134] According to embodiments of this disclosure, after a power outage, the processor is triggered to enter a forced shutdown mode. Simultaneously, the reverse cutoff circuit blocks the return flow of electrical energy from the energy storage circuit to the power source. The processor can rely on the electrical energy in the energy storage circuit to shut down the running program, preserve relevant data, and prevent data loss and damage to the storage device.

[0135] Figure 7 A schematic diagram of the structure of an unmanned vehicle according to an embodiment of the present disclosure is shown.

[0136] like Figure 7 As shown, an autonomous vehicle may include a chassis, an autonomous driving kit, and a shutdown control device.

[0137] According to embodiments of this disclosure, the chassis may include a battery device 400 and a power unit.

[0138] According to embodiments of this disclosure, the autonomous driving kit may include a processor 500 and sensors.

[0139] According to embodiments of this disclosure, a shutdown control device is connected in series between the battery device 400 and the processor 500.

[0140] According to embodiments of this disclosure, the shutdown control device may include a reverse cutoff circuit 100, an energy storage circuit 200, and a control circuit 300.

[0141] According to embodiments of this disclosure, the reverse cutoff circuit 100 may include a first power input terminal and a first power output terminal, the first input terminal being configured to connect to the battery device 400, and the first output terminal being configured to connect to the processor 500.

[0142] According to embodiments of the present disclosure, the energy storage circuit 200 may include at least one energy storage capacitor, one end of which is configured to be connected to a first power output terminal and the other end of which is configured to be grounded.

[0143] According to embodiments of this disclosure, the control circuit 300 may include a first signal input terminal, a second signal input terminal, and a first signal output terminal. The first signal input terminal is configured to be connected to a first power input terminal, the second signal input terminal is configured to be connected to a first power output terminal, and the first signal output terminal is configured to be connected to a processor 500.

[0144] According to an embodiment of this disclosure, in the event of a sudden voltage drop in the battery device 400, the reverse cutoff circuit 100 is configured to switch to a cutoff state in response to the voltage at the first power input terminal and the voltage at the first power output terminal satisfying a first voltage threshold condition. The energy storage circuit 200 is configured to supply power to the processor, and the control circuit 300 is configured to output a first control signal at a first level at the first signal output terminal in response to the voltage at the first signal input terminal and the second signal input terminal satisfying the first voltage threshold condition, so as to control the processor 500 to enter the shutdown process.

[0145] According to embodiments of this disclosure, the battery device 400 may include a battery and a power management module, the battery being configured to supply power to the power unit, processor 500, and sensors via the power management module.

[0146] According to embodiments of this disclosure, a sensor can be configured to be electrically connected to a processor, and the sensor is configured to acquire environmental information of the autonomous vehicle and send the environmental information to the processor.

[0147] According to embodiments of the present disclosure, the processor 500 can be configured to be electrically connected to the power unit, and the processor 500 is configured to process environmental information, generate and store motion control signals, and send motion control signals to the power unit.

[0148] According to embodiments of this disclosure, the power unit is configured to control the movement of the unmanned vehicle in response to a motion control signal.

[0149] It should be noted that the shutdown control device part in the embodiments of this disclosure corresponds to the shutdown control device part for unmanned vehicles in the embodiments of this disclosure. For a detailed description of the shutdown control device part, please refer to the shutdown control device part for unmanned vehicles, which will not be repeated here.

[0150] Those skilled in the art will understand that the features described in the various embodiments and / or claims of this disclosure can be combined and / or combined in various ways, even if such combinations or combinations are not explicitly described in this disclosure. In particular, the features described in the various embodiments and / or claims of this disclosure can be combined and / or combined in various ways without departing from the spirit and teachings of this disclosure. All such combinations and / or combinations fall within the scope of this disclosure.

[0151] The embodiments of this disclosure have been described above. However, these embodiments are for illustrative purposes only and are not intended to limit the scope of this disclosure. Although various embodiments have been described above, this does not mean that the measures in the various embodiments cannot be used advantageously in combination. The scope of this disclosure is defined by the appended claims and their equivalents. Various substitutions and modifications can be made by those skilled in the art without departing from the scope of this disclosure, and all such substitutions and modifications should fall within the scope of this disclosure.

Claims

1. A shutdown control device for an unmanned vehicle, comprising: The reverse cutoff circuit includes a first power input terminal and a first power output terminal, wherein the first power input terminal is configured to be connected to a power supply and the first power output terminal is configured to be connected to a processor. An energy storage circuit includes at least one energy storage capacitor, one end of which is configured to be connected to the first power output terminal and the other end is configured to be grounded. as well as The control circuit includes a first signal input terminal, a second signal input terminal, and a first signal output terminal. The first signal input terminal is configured to be connected to the first power input terminal, the second signal input terminal is configured to be connected to the first power output terminal, and the first signal output terminal is configured to be connected to the processor. In the event of a sudden voltage drop in the power supply, the reverse cutoff circuit is configured to switch to a cutoff state in response to the voltage at the first power input terminal and the voltage at the first power output terminal satisfying a first voltage threshold condition. The energy storage circuit is configured to supply power to the processor. The control circuit is configured to output a first control signal at a first level at the first signal output terminal in response to the voltage at the first signal input terminal and the voltage at the second signal input terminal satisfying the first voltage threshold condition, so as to control the processor to enter the shutdown process.

2. The apparatus according to claim 1, wherein, The control circuit includes: The first control sub-circuit includes a first signal input terminal, a second signal input terminal, and a second signal output terminal, wherein the second signal output terminal is configured to be connected to the base of a transistor. The transistor includes a base, a collector, and an emitter, wherein the collector is configured to be connected to the first signal output terminal, and the emitter is configured to be grounded; and The step-down sub-circuit includes a second power input terminal and a second power output terminal, wherein the second power input terminal is configured to be connected to the first power output terminal, and the second power input terminal is configured to be connected to the collector through a first resistor.

3. The apparatus according to claim 2, wherein, The transistor is an NPN type transistor; In the event of a sudden voltage drop in the power supply, the first control sub-circuit is configured to output a second control signal at a low level at the second signal output terminal in response to the voltage at the first signal input terminal and the second signal input terminal satisfying the first voltage threshold condition. The transistor is configured to switch to a cutoff state in response to the second control signal; and The step-down sub-circuit is configured to output the first control signal at the first level to the first signal output terminal.

4. The apparatus according to claim 2, wherein, The first control sub-circuit includes: The first voltage divider unit includes a second resistor and a third resistor connected in series. One end of the second resistor is configured to be connected to the first signal input terminal, and one end of the third resistor is configured to be grounded. The second voltage divider unit includes a fourth resistor and a fifth resistor connected in series. One end of the fourth resistor is configured to be connected to the second signal input terminal, and one end of the fifth resistor is configured to be grounded. The comparator includes a non-inverting input, an inverting input, and a comparator output. The non-inverting input is configured to connect to the second resistor and the third resistor, the inverting input is configured to connect to the fourth resistor and the fifth resistor, and the comparator output is configured to connect to the second signal output.

5. The apparatus according to claim 1, further comprising: A microcontroller includes a first input / output terminal configured to connect to the first gate of a first field-effect transistor. The first field-effect transistor includes a first source, a first drain, and a first gate. The first source is configured to be grounded, and the first drain is configured to be connected to the first power output terminal through a sixth resistor and a seventh resistor. as well as The second field-effect transistor includes a second source, a second drain, and a second gate. The second source is configured to be connected to the first power output terminal, the second drain is configured to be connected to the processor, and the second gate is configured to be connected to the sixth resistor and the seventh resistor.

6. The device according to claim 5, wherein the first field-effect transistor is an N-channel enhancement-mode field-effect transistor, and the second field-effect transistor is a P-channel enhancement-mode field-effect transistor; in, When the microcontroller outputs a third control signal at a high level at its first input / output terminal, the first field-effect transistor is configured to switch to an on state in response to the third control signal, so that the connection terminal of the sixth resistor and the seventh resistor generates a fourth control signal at a second level. as well as The second field-effect transistor is configured to switch to an on state in response to the voltage at the first power output terminal and the fourth control signal satisfying a second voltage threshold condition, so that the power supply or the energy storage circuit supplies power to the processor.

7. The apparatus according to claim 5, further comprising: The load includes a third power input terminal, which is configured to be connected to the first power output terminal; The microcontroller further includes a second input / output terminal and a third input / output terminal, wherein the second input / output terminal is configured to be connected to the first signal output terminal, and the third input / output terminal is configured to be connected to the load; In the event of a sudden voltage drop in the power supply, the microcontroller is configured to output a fifth control signal at a third level at the third input / output terminal in response to receiving a first control signal at the first level at the second input / output terminal; and The load is configured to switch to a shutdown state in response to the fifth control signal.

8. The apparatus according to claim 1, wherein, The reverse cutoff circuit includes: A third field-effect transistor includes a third source, a third drain, and a third gate, wherein the third source is configured to be connected to the first power input terminal, and the third drain is configured to be connected to the first power output terminal; and The second control sub-circuit includes a third signal input terminal, a fourth signal input terminal, and a third signal output terminal. The third signal input terminal is configured to be connected to the third source, the fourth signal input terminal is configured to be connected to the third drain, and the third signal output terminal is configured to be connected to the third gate.

9. The apparatus according to claim 8, wherein, The third field-effect transistor is an N-channel enhancement-mode field-effect transistor; In the event of a sudden voltage drop in the power supply, the second control sub-circuit is configured to output a sixth control signal at a low level at the third signal output terminal in response to the voltage at the third signal input terminal and the voltage at the fourth signal input terminal satisfying the first voltage threshold condition; and The third field-effect transistor is configured to switch to the off state in response to the voltage at the first power input terminal and the sixth control signal satisfying a third voltage threshold condition.

10. An unmanned vehicle, comprising: Chassis, including battery and power units; as well as Autonomous driving kit, including processor and sensors; A power-off control device is connected in series between the battery device and the processor; The shutdown control device includes: A reverse cutoff circuit includes a first power input terminal and a first power output terminal, wherein the first power input terminal is configured to connect to a battery device and the first power output terminal is configured to connect to a processor. An energy storage circuit includes at least one energy storage capacitor, one end of which is configured to be connected to the first power output terminal, and the other end of which is configured to be grounded; and The control circuit includes a first signal input terminal, a second signal input terminal, and a first signal output terminal. The first signal input terminal is configured to be connected to the first power input terminal, the second signal input terminal is configured to be connected to the first power output terminal, and the first signal output terminal is configured to be connected to the processor. In the event of a sudden voltage drop in the battery device, the reverse cutoff circuit is configured to switch to a cutoff state in response to the voltage at the first power input terminal and the voltage at the first power output terminal satisfying a first voltage threshold condition. The energy storage circuit is configured to supply power to the processor. The control circuit is configured to output a first control signal at a first level at the first signal output terminal in response to the voltage at the first signal input terminal and the second signal input terminal satisfying the first voltage threshold condition, so as to control the processor to enter the shutdown process.

11. The unmanned vehicle according to claim 10, wherein, The battery device includes a battery and a power management module, wherein the battery is configured to supply power to the power unit, the processor and the sensor via the power management module; The sensor is configured to be electrically connected to the processor, and the sensor is configured to acquire environmental information of the unmanned vehicle and send the environmental information to the processor; The processor is configured to be electrically connected to the power unit, and the processor is configured to process the environmental information, generate and store motion control signals, and send the motion control signals to the power unit; and The power unit is configured to control the movement of the unmanned vehicle in response to the motion control signal.

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