Fully automatic unmanned system garage door closing management method, equipment and medium

Abstract

The present invention relates to a method, device, and medium for managing garage door closing in a fully automatic, unmanned system. This method closes the garage door protection signal only when the garage door is in the closing process, or not in the open and locked state, and there is a risk of a train collision with the garage door. The method comprises: Step A, logical processing of a door closing request; Step B, outputting a door closing drive; Step C, logical processing of canceling the door closing request; and Step D, route and signal protection. Compared with existing technologies, this invention solves the problem of premature signal closing affecting system operations when there is no safety risk, improves system availability, and reduces the impact on normal line operations.

Description

Technical Field

[0001] The present invention relates to a train signal control system, and in particular to a method, equipment and medium for managing garage door closing of a fully automatic unmanned driving system. Background Art

[0002] To increase train departure frequency and reduce dispatcher workload, fully automated unmanned systems inevitably require the signaling system to consider garage door management for train inspection and car wash garages. Garage door closing is a safety-critical operation, ensuring that trains or personnel do not collide with closing garage doors. Due to construction constraints, garage door installation locations cannot accommodate independent management by CI (interlocking control). Since CI can only determine train occupancy on a segment-by-segment basis, a ZC (Zone Controller) is required to ensure that moving trains do not collide with closing garage doors based on movement authorization and accurate train position status. Simultaneously, the ATS (Automatic Train Monitoring System) automatically issues garage door closing commands based on the operation plan or the dispatcher. These three elements work together to manage garage door closing. Therefore, how the CI, as the executing entity, interacts with the ZC / ATS to ensure that trains do not collide with garage doors is crucial.

[0003] According to a search, Chinese patent publication number CN110920676A discloses a method for managing garage door closing. Specifically, upon receiving a closing command from the TIAS (Integrated Automation System), the CI immediately drives the target garage door's protective signal to close. Simultaneously, it checks that the trigger conditions for garage door closing are met (the garage door control mode is not local control, the garage door is not faulty, the garage door is not bypassed, and the garage door is not closed), and the SPKS (Staff Protection Key Switch) in the garage door protection section is not pressed. It then determines whether ZC intervention is required based on the idle state of the protection section. If the protection section is idle, a garage door closing command is output to the actuator of the target garage door. If the protection section is not completely idle, a garage door closing request is sent to the ZC. If the ZC responds with a garage door closing permission, a garage door closing command is output to the actuator of the target garage door. If any of the above conditions are not met, the command to close the target garage door is cleared.

[0004] However, this existing patent has the following defects:

[0005] (1) Directly shutting down the signal when there is no security risk, affecting the normal operation of the system;

[0006] In the existing patent, the CI immediately disables the protective signal upon receiving the door-closing command from the TIAS (Training Integrated Automation System). This operation is unreasonable. First, the TIAS is a non-safety system, and there is a possibility that the dispatcher may erroneously issue the command. Disabling the signal at this time could cause the train to enter an emergency stop (EB), impacting system operations. If the garage door closing conditions are not met and there is no risk of a train or crew member colliding with the garage door, simply disabling the signal could also cause the train to enter an emergency stop (EB), impacting system operations.

[0007] (2) The access routes to and from the garage are handled, but the garage door protection section is vacant, and there is a risk of collision between the train and the garage door;

[0008] The existing patent only confirms the idle state of the protection section, and does not consider that after the entry and exit routes are processed, the train has not yet entered the garage door protection section. At this time, the garage door closing command is output, and the door closing command can only be cleared after the train enters the protection section. At this time, the braking distance requirement is no longer met, which will cause the train to collide with the garage door. Summary of the Invention

[0009] The purpose of the present invention is to overcome the defects of the above-mentioned prior art and provide a high-safety fully automatic unmanned system garage door closing management method, equipment and medium, thereby solving the safety hazards caused by directly closing the garage door without considering that the vehicle has not entered the garage door protection section and the problem of premature closing of the protection signal affecting the system operation.

[0010] The purpose of the present invention can be achieved by the following technical solutions:

[0011] According to a first aspect of the present invention, a method for managing garage door closing in a fully automatic unmanned system is provided. The method closes a garage door protection signal only when the garage door is in the closing process, or is not in the open and locked state, and there is a risk of a train colliding with the garage door. The method comprises:

[0012] Step A, door closing request logic processing;

[0013] Step B, door closing drive output process;

[0014] Step C, canceling the door closing request logic processing;

[0015] Step D, route and signal protection process.

[0016] As a preferred technical solution, the logical processing process of the door closing request in step A is as follows: after receiving the garage door closing command sent by the ATS, the CI determines whether to generate valid door closing request information based on the garage door status, the access status and idle status of the garage door interlock protection area, and the SPKS activation status; at the same time, the door closing request is sent to the ZC to start the ZC to determine whether there is a risk of collision between the train and the garage door in the inner garage door management domain.

[0017] As a preferred technical solution, the aforementioned step A, the door closing request logic processing process specifically includes the following steps:

[0018] Step S1, determining whether the garage door status meets the door closing request condition;

[0019] Step S2: Under the premise of S1, determine whether the garage door interlock protection area meets the door closing request condition;

[0020] Step S3: On the premise that S2 is met, determine whether the SPKS associated with the garage door is inactivated;

[0021] Step S4: On the premise that S3 is met, generate the door closing request validity information and send it to ZC;

[0022] Step S5, determine whether the door closing request is valid and exceeds the maximum door closing time. If so, execute S6 to cancel the door closing request. Otherwise, return to S1 and continue to determine the above conditions.

[0023] Step S6: If any of the above conditions S1 to S3 are not met, the door closing request is released.

[0024] As a preferred technical solution, the door closing request conditions in step S1 include: the garage door control mode is remote control, the garage door is not faulty, the garage door is not bypassed, and the garage door is not closed.

[0025] As a preferred technical solution, the door closing request condition in step S2 includes: the garage door interlock protection area is not in the approach locked state and the area is idle, or the relevant switch is locked in a position that does not lead to the garage door.

[0026] As a preferred technical solution, the door closing drive output process in step B is specifically as follows:

[0027] Based on the validity of the door closing request calculated by CI, the door closing drive output is performed after receiving the garage door closing confirmation sent by ZC.

[0028] As a preferred technical solution, if the CI has sent a cancellation request to the ZC, on the basis that all the closing conditions are met, after a delay of a set time, a closing drive instruction is output to the actuator of the target garage door.

[0029] As a preferred technical solution, if the CI sends a valid request to cancel door closing to the ZC, the CI is restarted and the timing is restarted.

[0030] As a preferred technical solution, the aforementioned step C, canceling the door closing request logic processing process, has the following scenarios:

[0031] Scenario 1: After CI is initialized, the delay setting time is required to make the door closing cancellation effective;

[0032] Scenario 2: If the CI sends a valid door closing request to the ZC but has not received the door closing confirmation message from the ZC, the door closing request conditions are not met. In this case, the CI calculates the door closing cancellation to be valid.

[0033] Scenario 3: If the CI sends a garage door closing drive command to the garage door, and the closing request is invalid during this period, the CI will delay the set time before canceling the closing request to ensure that the ZC does not cancel the protection zone prematurely;

[0034] Scenario 4: If the CI sends a garage door closing drive command to the garage door, the CI restarts and records the closing process, restarting the timer to ensure that the ZC does not cancel the protection zone prematurely;

[0035] Scenario 5: If the CI sends a garage door closing drive command to the garage door and the maximum closing time is exceeded, the CI will delay the set time before canceling the closing request to ensure that the ZC does not cancel the protection zone prematurely;

[0036] Scenario 6: If the CI sends a garage door closing drive command to the garage door, and within the maximum closing time, it is detected that the garage door is closed and locked, the cancellation request is valid and the ZC cancels the protection zone.

[0037] As a preferred technical solution, the step D, route and signal protection process specifically includes:

[0038] The establishment of an approach through the interlock protection area is allowed only when the garage door is not in the process of closing, that is, when the cancellation of the closing request is valid.

[0039] According to a second aspect of the present invention, an electronic device is provided, comprising a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the method when executing the program.

[0040] According to a third aspect of the present invention, a computer-readable storage medium is provided, on which a computer program is stored, and when the program is executed by a processor, the method described above is implemented.

[0041] Compared with the prior art, the present invention has the following advantages:

[0042] 1. The present invention closes the garage door protection signal only when the garage door is in the closing process or is not in the open and locked state, and there is a risk of a train colliding with the garage door. This solves the problem of premature signal closure affecting system operation when there is no safety risk, improves system availability, and reduces the impact on normal line operation.

[0043] 2. The door closing request logic of the present invention requires that the garage door interlock protection area is not in the access locked state and the area is idle, or the relevant switch is locked in a position that does not lead to the garage door. As long as the access route is established and the garage door protection section is locked, the door closing drive will not be output, and there will be no risk of the garage door closing and colliding with the train. This solves the safety hazard of directly closing the garage door when the vehicle has not entered the garage door protection section.

[0044] 3. This invention enhances information exchange between the zone controller and the interlocking system. When the interlocking system determines that a garage door closing request has been met, it issues a closing request to the zone controller. Once the conditions are met, the zone controller authorizes the interlocking system to initiate the closing command. After the garage door closing task is completed, the interlocking system initiates a request to cancel the garage door closing. Upon receiving the interlocking request, the zone controller releases security for the relevant area. This information exchange between the two security systems enhances the safety of garage door closing operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 This is a schematic diagram of the garage door management area;

[0046] Figure 2 This is the composition diagram of the garage door closing module;

[0047] Figure 3 Flowchart of the logic processing for the garage door closing request. DETAILED DESCRIPTION

[0048] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0049] The present invention provides a highly secure, fully automatic, unmanned system garage door closing management method. Figure 1 The inner garage door management domain shown involves the dormant area, and the ZC ensures that there is no risk of collision between the train and the garage door. The outer garage door management domain is managed by the CI. Figure 2 As shown in the figure, the garage door closing management process based on CI is divided into the following modules:

[0050] (1) Logical processing of door closing request

[0051] like Figure 3 The door closing request logic processing module, as described above, is the process by which the CI, upon receiving a garage door closing command from the ATS, determines whether to generate a valid door closing request based on the garage door status, the access and idle status of the garage door interlock protection zone, and the SPKS activation status. The door closing request is sent to the ZC, which then determines whether there is a risk of a train collision with the garage door in the inner garage door management domain. The ZC then establishes a corresponding protection zone for the garage door to prevent trains from approaching the garage door. The door closing request logic processing is divided into the following steps:

[0052] S1: Determine whether the garage door status meets the door closing request conditions: including that the garage door control mode is remote control, the garage door is not faulty, the garage door is not bypassed, and the garage door is not closed.

[0053] S2: Under the premise of S1, determine whether the garage door interlock protection area meets the door closing request conditions: including the garage door interlock protection area is not in the access lock state and the area is idle, or the relevant switch is locked in a position that does not lead to the garage door. For example Figure 1 As shown, the interlocking protection area of ​​garage door GD1 is D-RG (D track of the reverse branch of switch P), and the corresponding conditions are that the D track is not in the approach locking state and is idle, or the switch P is locked in the position and does not lead to GD1.

[0054] S3: Under the premise of S2 being established, determine whether the SPKS associated with the garage door is inactivated.

[0055] S4: On the premise that S3 is established, generate a valid door closing request message and send it to ZC.

[0056] S5: Determine whether the door closing request is valid and exceeds the maximum door closing time. If so, execute S6 to cancel the door closing request. Otherwise, return to S1 and continue to determine the above conditions.

[0057] S6: If any of the above conditions S1 to S3 are not met, the door closing request is valid.

[0058] (2) Door closing drive output

[0059] The door closing drive output stage is based on the validity of the door closing request calculated by CI. After receiving the garage door closing confirmation sent by ZC, it means that there is no risk of collision between the train and the garage door in the inner garage door management domain.

[0060] It should be noted here that if CI has sent a cancellation request to ZC, based on the above conditions, after a delay of a period of time (to prevent the use of expired garage door closing confirmation information), a closing drive instruction is output to the actuator of the target garage door.

[0061] If CI sends a valid cancellation request to ZC, the interlocking machine will restart and CI will restart the timing. It will not use the valid door closing confirmation information sent by ZC too early to ensure safety.

[0062] (3) Cancel the door closing request logic processing

[0063] The Cancel Close Request and the Close Request are mutually exclusive. The Cancel Close Request is sent to the ZC to indicate that the garage door closing process has ended. It is used by the ZC to cancel the protection zone established for the garage door and will not send the garage door close confirmation message again. The logic processing of the Cancel Close Request has the following scenarios:

[0064] Scenario 1: After CI is initialized, there is a delay before the cancellation of door closing is effective.

[0065] Scenario 2: If CI sends a valid door closing request to ZC but has not received the door closing confirmation message from ZC, the door closing request conditions are not met (such as SPKS activation, etc.), and CI calculates the door closing cancellation to be valid.

[0066] Scenario 3: If the CI sends a garage door closing drive command to the garage door, and the closing request fails during this period, the CI will delay for a period of time before canceling the closing request to ensure that the ZC does not cancel the protection area prematurely.

[0067] Scenario 4: If the CI sends a garage door closing drive command to the garage door and the interlocking device restarts, the CI will record the closing process and restart the timer. This will not make the closing request canceled too early, ensuring that the ZC does not cancel the protection zone prematurely.

[0068] Scenario 5: If the CI sends a garage door closing drive command to the garage door and the maximum closing time is exceeded, the CI will delay for a period of time before canceling the closing request to ensure that the ZC does not cancel the protection area prematurely.

[0069] Scenario 6: If the CI sends a garage door closing drive command to the garage door, and within the maximum closing time, it is detected that the garage door is closed and locked, the cancellation request is valid and the ZC cancels the protection zone.

[0070] (4) Route / signal protection

[0071] To ensure that no train approaches the closing garage door, the access routes and signals in the garage door interlock protection area need to be protected. Specific measures include the following:

[0072] The establishment of an approach through the interlock protection area is allowed only when the garage door is not in the process of closing, that is, when the cancellation of the closing request is valid. Specific embodiments

[0074] according to Figure 1 、 Figure 2 and Figure 3 The implementation of the above-mentioned technical solution for garage door closing management can be illustrated as follows:

[0075] like Figure 1 According to the location of the garage door and the operation requirements of the train inspection warehouse, the protection area of ​​the garage door is divided into the inner garage door management area and the outer garage door management area. Figure 2 , garage door closing management is divided into 4 processing modules:

[0076] Module 1: Logical processing of door closing requests

[0077] like Figure 3 ,The processing process of the garage door closing request logic includes :

[0078] S1: When the CI receives the garage door GD1 close command from the ATS, it initiates the garage door close request logic. This logic determines whether the status of garage door GD1 meets the closing conditions: remote control mode is selected for garage door GD1, the garage door is not faulty, the garage door is not bypassed, and the garage door is not closed.

[0079] S2: The interlocking protection area of ​​garage door GD1 is D-RG (when the D track switch P is opened in the reverse position). Under the premise that S1 is established, the switch P is locked in the reverse state and the D track is idle and the routes RK-CKA1 and CKA1-RK are not processed; or when the switch P is locked in the positioning position, that is, it does not lead to the garage door GD1, S2 is established.

[0080] S3: Under the premise of S2, determine whether the SPKS associated with the garage door is not activated. If SPKS is not set, this condition is always true.

[0081] S4: When S1 to S3 are all met, the interlock determines that the garage door closing request is valid and sends this information to the ZC.

[0082] S5: Determine whether the garage door closing request exceeds the maximum closing time. If so, execute S6; if not, continue to determine the above conditions.

[0083] S6: When any of the conditions in S1 to S3 is not satisfied, the door closing request is released.

[0084] Module 2: Garage door closing drive output:

[0085] Based on the calculation that the garage door closing request is valid, CI determines that the garage door closing drive output is valid after receiving the garage door closing authorization sent by ZC.

[0086] Module 3: Cancel garage door closing request processing

[0087] Scenario 1: After the interlocking system device is powered on and initialized, after the delay time T1, it is determined that the request to cancel the garage door GD1 closing is valid;

[0088] Scenario 2: After the CI sends a request to close the garage door GD1 to the ZC, but does not receive a confirmation message from the ZC regarding the closing of the garage door GD1, any of the conditions S1 to S3 in module 1 are not met, such as GD1 failure, GD1 bypass, or D track occupancy. The CI determines that the cancellation of the request to close the garage door GD1 is valid.

[0089] Scenario 3: If the CI outputs that the garage door GD1 closing control is valid, the garage door GD1 closing request becomes invalid during the garage door closing period. At this time, the CI needs to wait for time T2 to ensure that the garage door GD1 closing control output is invalid and the garage door has completed or ended the corresponding action before determining that the cancellation of the garage door GD1 closing request is valid.

[0090] Scenario 4: If the CI sends a garage door closing drive command to the garage door and the interlocking device restarts, the CI will record the closing process and restart the timer. This will not make the closing request canceled too early, ensuring that the ZC does not cancel the protection zone prematurely.

[0091] Scenario 5: If the CI sends a garage door closing drive command to the garage door and the maximum closing time is exceeded, the CI will delay for a period of time to make the cancellation of the closing request valid, ensuring that the ZC does not cancel the protection area prematurely.

[0092] Scenario 6: If the CI sends a garage door closing drive command to the garage door, and within the maximum closing time, it is detected that the garage door is closed and locked, the cancellation request is valid and the ZC cancels the protection zone.

[0093] Module 4: Route / Signal Protection

[0094] like Figure 1 As shown, routes RK-CKA and CKA1-RK can only be processed when GD1's cancel door closing request is valid. After route RK-CKA1 or CKA1-RK is processed and locked, upon receiving the door closing command from the ATS, CI will not generate a door closing request because the interlocking protection area is in the route locked state.

[0095] like Figure 1 As shown, the RK-CKA1 or CKA1-RK route can only open the signal when GD1's cancel request is valid and GD1 is in the open and locked state. If GD1's open and locked state is not received or the cancel request is invalid, the RK or CKA1 signal is closed to ensure safety.

[0096] The above is an introduction to the method embodiment. The following further illustrates the solution of the present invention through electronic device and storage medium embodiments.

[0097] The electronic device of the present invention includes a central processing unit (CPU), which can perform various appropriate actions and processes according to computer program instructions stored in a read-only memory (ROM) or loaded from a storage unit into a random access memory (RAM). In the RAM, various programs and data required for device operation can also be stored. The CPU, ROM, and RAM are connected to each other via a bus. An input / output (I / O) interface is also connected to the bus.

[0098] Many components in a device are connected to the I / O interface, including: input units, such as a keyboard and mouse; output units, such as various types of displays and speakers; storage units, such as magnetic disks and optical disks; and communication units, such as network cards, modems, and wireless communication transceivers. The communication unit allows the device to exchange information / data with other devices via computer networks such as the Internet and / or various telecommunication networks.

[0099] The processing unit performs the various methods and processes described above, such as the inventive method. For example, in some embodiments, the inventive method can be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit. In some embodiments, part or all of the computer program can be loaded and / or installed on the device via a ROM and / or a communication unit. When the computer program is loaded into RAM and executed by the CPU, one or more steps of the inventive method described above can be performed. Alternatively, in other embodiments, the CPU can be configured to perform the inventive method by any other appropriate means (e.g., by means of firmware).

[0100] The functions described above herein may be performed, at least in part, by one or more hardware logic components. For example, and without limitation, exemplary types of hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chip (SOCs), complex programmable logic devices (CPLDs), and the like.

[0101] The program code for implementing the method of the present invention can be written in any combination of one or more programming languages. Such program code can be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device so that when the program code is executed by the processor or controller, the functions / operations specified in the flow chart and / or block diagram are implemented. The program code can be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0102] In the context of the present invention, machine-readable medium can be a tangible medium that can contain or store a program for use with an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. Machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. Machine-readable medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. More specific examples of machine-readable storage media can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0103] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and such modifications or substitutions are intended to be within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. A fully automatic unmanned system garage door closing management method, characterized in that: The method closes the garage door protection signal only when the garage door is in the process of closing, or is not in the open and locked state, and there is a risk of a train colliding with the garage door. The method includes: Step A, door closing request logic processing; Step B, door closing drive output process; Step C, canceling the door closing request logic processing; Step D, route and signal protection process; The aforementioned step A, the door closing request logic processing process specifically includes the following steps: Step S1, determining whether the garage door status meets the door closing request condition; Step S2: Under the premise of S1, determine whether the garage door interlock protection area meets the door closing request condition; Step S3: On the premise that S2 is met, determine whether the SPKS associated with the garage door is inactivated; Step S4: On the premise that S3 is met, generate the door closing request validity information and send it to ZC; Step S5, determine whether the door closing request is valid and exceeds the maximum door closing time. If so, execute S6 to cancel the door closing request. Otherwise, return to S1 and continue to determine the above conditions. Step S6: If any of the above conditions S1 to S3 are not met, the door closing request is released; The aforementioned step C, canceling the door closing request logic processing process, has the following scenarios: Scenario 1: After CI is initialized, the delay setting time is required to make the door closing cancellation effective; Scenario 2: If the CI sends a valid door closing request to the ZC but has not received the door closing confirmation message from the ZC, the door closing request conditions are not met. In this case, the CI calculates the door closing cancellation to be valid. Scenario 3: If the CI sends a garage door closing drive command to the garage door, and the closing request is invalid during this period, the CI will delay the set time before canceling the closing request to ensure that the ZC does not cancel the protection zone prematurely; Scenario 4: If the CI sends a garage door closing drive command to the garage door, the CI restarts and records the closing process, restarting the timer to ensure that the ZC does not cancel the protection zone prematurely; Scenario 5: If the CI sends a garage door closing drive command to the garage door and the maximum closing time is exceeded, the CI will delay the set time before canceling the closing request to ensure that the ZC does not cancel the protection zone prematurely; Scenario 6: If the CI sends a garage door closing drive command to the garage door, and detects that the garage door is closed and locked within the maximum closing time, the cancellation request is valid and the ZC cancels the protection zone; The step D, route and signal protection process specifically includes: The establishment of an approach through the interlock protection area is allowed only when the garage door is not in the process of closing, that is, when the cancellation of the closing request is valid.

2. A fully automatic unmanned system garage door closing management method according to claim 1, characterized in that: In step A, the door closing request logic processing process is as follows: after receiving the garage door closing command sent by the ATS, the CI determines whether to generate valid door closing request information based on the garage door status, the access status and idle status of the garage door interlock protection area, and the SPKS activation status; at the same time, the door closing request is sent to the ZC to start the ZC to determine whether there is a risk of collision between the train and the garage door in the inner garage door management domain.

3. The method for managing garage door closing in a fully automatic unmanned driving system according to claim 1, characterized in that: The door closing request conditions in step S1 include: the garage door control mode is remote control, the garage door is not faulty, the garage door is not bypassed, and the garage door is not closed.

4. The method for managing garage door closing in a fully automatic unmanned system according to claim 1, characterized in that: The door closing request condition in step S2 includes: the garage door interlock protection area is not in the approach locking state and the area is idle, or the relevant switch is locked in a position that does not lead to the garage door.

5. The method for managing garage door closing in a fully automatic unmanned system according to claim 1, characterized in that: The process of the door closing drive output in step B is as follows: Based on the validity of the door closing request calculated by CI, the door closing drive output is performed after receiving the garage door closing confirmation sent by ZC.

6. A fully automatic unmanned system garage door closing management method according to claim 5, characterized in that: If the CI has sent a cancellation request for door closing to the ZC, then on the basis that all door closing conditions are met, after a delay of a set time, a door closing drive instruction is output to the actuator of the target garage door.

7. The method for managing garage door closing in a fully automatic unmanned driving system according to claim 5, characterized in that: If the CI has sent a cancellation request to ZC and it is valid, the CI will be restarted and the timing will start again.

8. An electronic device comprising a memory and a processor, wherein a computer program is stored in the memory, wherein: When the processor executes the program, the method according to any one of claims 1 to 7 is implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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