Unmanned vehicle collision monitoring processing method and system

Abstract

The invention discloses an unmanned vehicle collision monitoring processing system and method. The processing system comprises a collision controller, a sensing sensor and a vehicle driving controller. Anti-collision rods are arranged on the front portion and the rear portion of a vehicle respectively, triggers are arranged in the anti-collision rods, and the output ends of the triggers are connected to a collision controller. The collision rod is an elastic anti-collision strip and is configured to enable the trigger corresponding to the collision rod to be triggered after collision; the output end of the trigger is connected to a collision controller, the collision controller is connected with a vehicle driving controller, the input end of the vehicle driving controller is connected to a sensing sensor, and the sensing sensor is arranged on a vehicle and used for sensing the surrounding environment where the vehicle is driven. The method has the advantages that monitoring processing and recovery control over collision of the unmanned vehicle are achieved, the collision strength is reduced, safety is improved, and the unmanned vehicle can be automatically controlled to run away after a collision fault is recovered.

Description

Technical Field

[0001] The present invention relates to the field of unmanned vehicle control, and in particular to an unmanned vehicle collision monitoring and processing method and system. Background Art

[0002] With the continuous advancement of autonomous driving related technologies, the autonomous driving function of low-speed unmanned vehicles has achieved relatively mature applications in specific scenarios, such as transportation tasks in parks, campuses, airports, and fixed routes on public roads. As the low-speed unmanned vehicle technology matures and its application expands, the market size is expected to continue to expand. Large-scale application will lead to frequent collision accidents. How to ensure the reliable operation and safe driving of unmanned low-speed trucks is of paramount importance.

[0003] In a low-speed driving environment, unmanned vehicles still need to face traffic participants such as motor vehicles, non-motor vehicles, and pedestrians, so effective anti-collision protection measures are needed to ensure safety. The traditional unmanned vehicle's safe driving requires the use of laser radar, millimeter-wave radar, or vision to detect obstacles in front of the vehicle and the distance to the obstacles, and to judge the collision risk based on the distance and stop the vehicle in time.

[0004] Although this method can effectively avoid accidents, it still cannot avoid collisions. How to obtain collision signals after a collision and how to protect the polarity of the colliding pedestrians, objects or the vehicle itself still need to be considered. The existing technology often uses elastic anti-collision strips to be set in front of the vehicle to protect the vehicle through the elastic anti-collision strips, but there is no relevant disclosure on the detection and processing methods after the collision, and the vehicle can only stop directly after the collision. Summary of the invention

[0005] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a method and system for monitoring and processing unmanned vehicle collisions, so as to realize monitoring and processing of unmanned vehicle collisions and recovery control, reduce the intensity of collisions, improve safety, and automatically control driving away after the collision fault is recovered.

[0006] In order to achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a collision monitoring and processing system for an unmanned vehicle, the processing system comprising a collision controller, a perception sensor, and a vehicle driving controller; anti-collision bars are respectively arranged at the front and rear of the vehicle, the anti-collision bars are equipped with a trigger, and the output end of the trigger is connected to the collision controller; the collision bar is an elastic anti-collision bar and is configured so that the trigger corresponding to the collision bar is triggered after the collision; the output end of the trigger is connected to the collision controller, the collision controller and the vehicle driving controller, and the input end of the vehicle driving controller is connected to the perception sensor, and the perception sensor is arranged on the vehicle for sensing the surrounding environment in which the vehicle is traveling.

[0007] The collision controller is connected to a cloud platform, and the cloud platform sends corresponding control or setting instructions to the collision controller.

[0008] The processing system also includes a remote controller, which is connected to the vehicle driving controller via a wireless network and is used for remotely controlling the operation of the vehicle.

[0009] The unmanned vehicle is provided with a panoramic camera, which is connected to a collision controller. The panoramic camera is used to obtain collision video data after a collision occurs, and an output end of the panoramic camera is connected to the collision controller. The collision controller identifies and classifies the type of collision and performs vehicle driving control accordingly.

[0010] A method for monitoring and processing collision of an unmanned vehicle, the method comprising:

[0011] During the driving process of the unmanned vehicle, the output signals of the front and rear anti-collision bar triggers are collected in real time to analyze and determine whether a collision accident has occurred and determine whether the collision accident occurred in front of or behind the vehicle. After the collision occurs, the collision controller outputs a collision signal to the vehicle driving controller, and the vehicle enters emergency mode, at which time the vehicle is controlled to stop and alarm.

[0012] The unmanned vehicle includes a preparation mode, an emergency mode, and a driving mode. In the preparation mode, the unmanned vehicle performs a vehicle self-inspection. If no fault is detected and there is no collision signal or a collision disable signal is present, the self-inspection passes. If a collision signal is detected in the preparation mode or driving mode and there is no collision disable signal, the unmanned vehicle performs a vehicle self-inspection. If no fault or disable signal of the collision controller is detected, it directly enters the emergency mode. In the emergency mode, an emergency stop command is issued to drive the vehicle to brake and stop. The unmanned vehicle enters the preparation mode after a set delay time after stopping.

[0013] Driving modes include automatic driving mode and remote control mode. In automatic driving mode, the vehicle driving controller controls the vehicle's driving based on the vehicle's surrounding environment obtained by the perception sensor; in remote control mode, the safety officer remotely controls the vehicle's driving.

[0014] An anti-collision detection disable command is sent to the driving controller of the unmanned vehicle through the cloud platform. After receiving the anti-collision detection disable command, the vehicle driving controller prohibits enabling the collision controller and restores the vehicle to driving mode.

[0015] After a collision is detected, the panoramic camera is activated to collect video data of the collision. The severity of the collision accident and whether the vehicle can continue driving are determined by analyzing the video, and the results are determined in a timely manner to control the vehicle mode and alarm status.

[0016] When entering the driving mode after a collision, the vehicle's forward and backward movement is controlled according to the front and rear positions where the collision occurred and the forward and backward movement control of the vehicle is limited according to the states of the front and rear collision bars.

[0017] The advantages of the present invention are: it realizes the monitoring and recovery control of unmanned vehicle collisions, reduces the intensity of collisions, improves safety, and can automatically control the vehicle to leave after the collision failure is recovered. The control strategy of the unmanned vehicle of this scheme can stop the vehicle in time when a collision occurs to avoid casualties. At the same time, when the anti-collision bar trigger fails or there is a non-accident collision, the number of stops of the unmanned vehicle is reduced to improve efficiency. A disable signal is set. When the anti-collision bar trigger fails, or the background security officer confirms that there are no safety hazards on the scene through the panoramic camera, or the security officer confirms that there are no safety hazards on the scene, the anti-collision bar signal is ignored and the vehicle continues to drive. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The following is a brief description of the contents expressed in the drawings of the present invention and the symbols in the drawings:

[0019] Figure 1 It is a driving mode and signal transmission principle diagram of the unmanned vehicle anti-collision processing control strategy of the present invention. DETAILED DESCRIPTION

[0020] The specific implementation of the present invention will be further explained in detail below by describing the optimal embodiment with reference to the accompanying drawings.

[0021] Unmanned delivery trucks are different from other vehicles in the prior art. They have the characteristics of low-speed driving. Although intelligent automatic driving technology is applied to unmanned delivery trucks, collisions will occur due to the complexity of the operating environment. Therefore, a set of reliable control is required in collision detection, protection and post-collision processing to meet the operating requirements of unmanned delivery trucks. This embodiment provides a collision monitoring and processing solution for unmanned delivery vehicles. The specific solution is as follows:

[0022] This embodiment provides an unmanned vehicle collision monitoring and processing system, the processing system includes a collision controller, a perception sensor, and a vehicle driving controller;

[0023] The input end of the vehicle driving controller is connected to the perception sensor, which is installed on the vehicle to sense the surrounding environment of the vehicle. The vehicle driving controller can be implemented by vehicle-mounted controllers such as the vehicle VCU and intelligent driving domain control. It realizes automatic driving or other driving modes based on the environment around the vehicle collected by the perception sensor.

[0024] For collision detection, anti-collision bars are respectively provided at the front and rear of the vehicle, namely the front anti-collision bar and the rear anti-collision bar. A trigger is built into each anti-collision bar, namely the front anti-collision bar trigger and the rear anti-collision bar trigger. The output ends of the front and rear triggers are connected to the collision controller. The collision controller sends the collision signal output by the front and rear triggers to the vehicle driving controller to control the driving state of the vehicle. Among them:

[0025] The collision bar is an elastic anti-collision bar and is configured so that the trigger corresponding to the collision bar is triggered after the collision; the elastic anti-collision bar will be deformed after the collision and send a signal to the collision controller through the trigger. According to the state of the signal sent by the trigger, it can be judged whether a collision has occurred and whether the collision has recovered. For example, after the collision occurs, the anti-collision bar is deformed, and the signal sent by the trigger changes from 0 to 1, then it is considered that a collision has occurred. If the collision is completed and separated from the vehicle, the elastic anti-collision bar will recover under the action of elasticity, and the trigger signal will change from 1 to 0. Based on the level signal from 0 to 1 or from 1 to 0, the collision state at this time can be detected, and the vehicle collision can be detected based on this. After a collision occurs, it is necessary to first control the unmanned vehicle to stop urgently and make the next step of judgment. According to the collision situation, the unmanned vehicle can be controlled to continue driving, enter the station for maintenance, or wait for rescue.

[0026] The processing system also includes a remote control, which is connected to the vehicle driving controller via a wireless network and is used to remotely control the operation of the vehicle, thereby expanding the vehicle's remote control mode. In this mode, a remote safety officer can remotely control the driving of the unmanned vehicle via the remote control.

[0027] In a preferred embodiment, a panoramic camera is provided on the unmanned vehicle, which is connected to a collision controller. The panoramic camera is used to obtain collision video data after a collision occurs, and its output end is connected to the collision controller. The collision controller identifies and classifies the type of collision and performs vehicle driving control accordingly, so as to facilitate the identification of whether the unmanned vehicle can continue to drive based on the type and situation of the collision, and provide basic video data for the control of the unmanned vehicle after the collision.

[0028] In this embodiment, the monitoring and processing method based on the above-mentioned unmanned vehicle collision monitoring and processing system includes real-time collection of output signals of front and rear anti-collision bar triggers during the driving of the unmanned vehicle, analysis and judgment of whether a collision accident occurs and determination of whether the collision accident occurs in front of or behind the vehicle. After the collision occurs, the collision controller outputs a disable signal to the vehicle driving controller, and the vehicle driving controller enters emergency mode under the disable signal, at which time the vehicle is controlled to stop and alarm.

[0029] In the control system of the unmanned vehicle for freight transport, multiple modes are pre-developed. The multiple status modes include: preparation mode, emergency mode, driving mode. The driving mode includes automatic driving mode and remote control mode. Each mode is briefly described as follows:

[0030] 1. Autonomous driving mode: In autonomous driving mode, the intelligent driving domain control controls the vehicle's driving based on the vehicle's surrounding environment perceived by sensors such as lidar and cameras;

[0031] 2. Remote control mode: The safety officer remotely controls the vehicle through the remote control;

[0032] 3. Preparation mode: After the vehicle passes the self-check and self-inspection, it is in preparation mode. In preparation mode, the vehicle can enter automatic driving mode, remote control driving mode or emergency mode;

[0033] 4. Emergency mode: When the vehicle fails the self-inspection or under certain operating conditions, the vehicle is not allowed to enter the automatic driving mode and remote control driving mode, the vehicle enters the emergency mode. In the emergency mode, the vehicle is braked and stopped.

[0034] During the driving process of the unmanned vehicle, the output signals of the front and rear anti-collision bar triggers are collected in real time to analyze and determine whether a collision accident has occurred and determine whether the collision accident occurred in front of or behind the vehicle. After the collision occurs, the collision controller outputs a collision signal to the vehicle driving controller, and the vehicle enters emergency mode, at which time the vehicle is controlled to stop and alarm.

[0035] The unmanned vehicle includes a preparation mode, an emergency mode, and a driving mode. In the preparation mode, the unmanned vehicle performs a vehicle self-inspection. If no fault is detected and there is no collision signal or a collision disable signal is present, the self-inspection passes. If a collision signal is detected in the preparation mode or driving mode and there is no collision disable signal, the unmanned vehicle performs a vehicle self-inspection. If no fault or disable signal of the collision controller is detected, it directly enters the emergency mode. In the emergency mode, an emergency stop command is issued to drive the vehicle to brake and stop. The unmanned vehicle enters the preparation mode after a set delay time after stopping.

[0036] Driving modes include automatic driving mode and remote control mode. In automatic driving mode, the vehicle driving controller controls the vehicle's driving based on the vehicle's surrounding environment obtained by the perception sensor; in remote control mode, the safety officer remotely controls the vehicle's driving.

[0037] In order to prevent the unmanned vehicle from being unable to recover after the anti-collision bar is bent and deformed after a collision, causing the vehicle to always be in a collision state, at this time the collision signal is always valid and is at a high level 1, and always acts on the vehicle driving controller, causing the vehicle to be unable to drive. Therefore, in order to avoid this situation, after the safety officer actively confirms or confirms on-site that the unmanned vehicle can continue to drive, the collision signal is disabled by remote command, that is, an anti-collision detection disable command is sent to the driving controller of the unmanned vehicle through the cloud platform. After receiving the anti-collision detection disable command, the vehicle driving controller prohibits the collision controller from being enabled and restores the vehicle to the driving mode. At this time, the collision disable signal of the unmanned vehicle is manually set to 0 or the remote control signal is used to ignore the collision signal of the collision controller, so that after the collision occurs, the unmanned vehicle can be directly controlled under safe conditions.

[0038] In order to prevent related faults such as misoperation by safety officers or background monitoring personnel or signal disorder, when the anti-collision bar trigger signal changes from 0 to 1, regardless of the anti-collision bar disable signal, the system must enter emergency mode and issue an emergency stop command.

[0039] Since unmanned delivery vehicles are low-speed vehicles, they generally do not cause serious collision accidents or accidents involving people. They often only collide with some unexpected obstacles, such as safety cones set up for temporary maintenance, curbs, etc. This collision is only a minor collision and will not cause any financial losses. You only need to stop and drive in the opposite direction to restore the deformed collision bar and continue driving. Therefore, it is necessary to identify this type of collision situation that can continue to drive, and quickly restore driving after rapid identification. For this purpose, this solution uses the on-board camera of the unmanned delivery vehicle. The on-board camera can be a panoramic camera to collect video data around the vehicle, which is convenient for collecting video data after the collision; after detecting the collision, start the panoramic camera to collect video data of the collision, and judge the severity of the collision accident and whether it can continue to drive by analyzing the video, and judge the results in time to control the vehicle mode and alarm status. There are two ways to analyze the video data at the time of collision:

[0040] 1. Remote safety officer identification and analysis: The video data collected by the camera is uploaded to the cloud platform via the wireless network. The remote safety officer uses the video data from the cloud platform to determine the severity and type of the collision at the time, and whether the vehicle can continue to drive. If so, the corresponding vehicle is sent through the cloud platform to control the unmanned vehicle to resume driving. Otherwise, a command is sent to make the unmanned vehicle stop or enter the maintenance station.

[0041] 2. Automatic recognition and analysis by image recognition algorithm: By building a corresponding image recognition algorithm into the collision controller, the severity and type of the collision can be determined to determine whether the vehicle can continue driving.

[0042] After determining that the unmanned vehicle can continue to drive, the vehicle will enter the driving mode from the emergency stop mode. Then, in the driving mode, the forward and backward movement of the vehicle will be controlled according to the front and rear positions of the collision and the forward and backward control of the vehicle will be limited according to the status of the front and rear collision rods. When the collision occurs in front of the vehicle, the vehicle will first retreat and then move forward; it is responsible for directly controlling the vehicle's forward movement and driving the vehicle to continue driving.

[0043] In a preferred embodiment, when it is determined that the vehicle collision is a minor collision that does not cause property damage, it is determined that the vehicle can continue to drive. At this time, the unmanned vehicle is controlled to detect the collision direction, and after driving a set distance in the principle collision direction, the original driving direction is restored, and the vehicle continues to be controlled for automatic driving or remote control driving. When it is determined that the collision involves people, a voice inquiry reminder is issued through voice and touch screen, inquiring about the status of the pedestrians involved, and asking whether compensation is required by the collision-related personnel through the display screen and voice reminder. Then, the reply information of the collision-related personnel is obtained through the touch screen. If the collision-related personnel chooses that compensation is required through the touch screen, the unmanned vehicle sends a collision accident processing request to the cloud platform, and the vehicle stops and turns off the engine to wait; when the unmanned vehicle self-checks abnormally and determines that the collision is serious and cannot drive normally, a maintenance request instruction is sent through the cloud platform, and the safety officer controls the unmanned vehicle to enter the maintenance station for maintenance.

[0044] The anti-collision bar for low-speed unmanned vehicles provided in this solution is composed of an elastic anti-collision bar and a connector. The connector is connected to the vehicle body, and the anti-collision bar contains a trigger and a wire. The control method of the anti-collision bar designed in this solution can immediately brake and stop the vehicle after hitting an object to reduce the impact force. At the same time, after the fault is restored, the vehicle can automatically drive away.

[0045] Signals related to crash bars: crash bars are divided into front crash bars and rear crash bars. Each crash bar has a built-in trigger, so there are two crash bar triggers. The front and rear crash bar triggers are controlled separately.

[0046] Under normal circumstances, the anti-collision bar trigger signal is 0. If a certain anti-collision bar is deformed by collision, the trigger signal of the anti-collision bar is set to 1. Since the anti-collision bar is made of elastic material, when the squeezing force disappears, the anti-collision bar rebounds and the trigger signal returns to 0. The anti-collision bar trigger rising edge signal mentioned below is the instantaneous process of the anti-collision bar trigger signal changing from 0 to 1.

[0047] In order to prevent the anti-collision bar from failing to pop up, causing the trigger to be always set to 1 and the vehicle unable to drive, an anti-collision bar disable signal is set. This signal can be set manually by the cloud platform or the remote control. When this signal is set to 1, the anti-collision bar trigger signal is not considered. The front and rear anti-collision bars share a disable signal.

[0048] Driving mode classification:

[0049] 1. Autonomous driving mode: In autonomous driving mode, the intelligent driving domain control controls the vehicle's driving based on the vehicle's surrounding environment perceived by sensors such as lidar and cameras;

[0050] 2. Remote control mode: The safety officer controls the vehicle via the remote control;

[0051] 3. Preparation mode: After the vehicle passes the self-check and self-inspection, it is in preparation mode. In preparation mode, the vehicle can enter automatic driving mode and remote control driving mode;

[0052] 4. Emergency mode: When the vehicle fails self-inspection or is not allowed to enter the automatic driving mode or remote control driving mode under certain operating conditions, the vehicle enters the emergency mode.

[0053] The collision handling control method for the unmanned vehicle is as follows:

[0054] In the automatic driving mode: if the vehicle is stationary and detects a rising edge signal in any of the front and rear anti-collision bar triggers, the vehicle enters the emergency mode and sends an emergency stop command; if a vehicle is in motion and detects the anti-collision bar in the direction of the vehicle's movement, for example, when the vehicle is moving forward, only the front anti-collision bar is detected. If the front anti-collision bar trigger has a rising edge signal, the vehicle enters the emergency mode, sends an emergency stop command, and the vehicle stops suddenly.

[0055] In remote control mode, whether in motion or stationary state, if any of the front or rear anti-collision bar triggers has a rising edge signal, it will enter emergency mode and issue an emergency stop command.

[0056] In the preparation mode, if a rising edge signal is detected in any of the front and rear anti-collision bar triggers, the system enters the emergency mode and issues an emergency stop command;

[0057] When the vehicle is in emergency mode and stops, it will enter the preparation mode after a delay of 1s. (After entering the preparation mode, as long as the anti-collision bar trigger signal is always 1, or returns to 0, as long as there is no rising edge from 0 to 1, it will not jump from the preparation mode to the emergency mode again.)

[0058] In the preparation mode, if the anti-collision bar trigger signal is always 1, the following strategy is followed:

[0059] 1. The safety officer determines the on-site situation. If it is confirmed that the crash barrier trigger signal is faulty and the on-site accident has been eliminated and does not affect the vehicle's operation, the crash barrier disable signal is set to 1. After the VCU determines that the crash barrier disable signal is 1, it waits for the automatic driving activation signal and enters the automatic driving mode; if the crash barrier disable signal is always 0, the VCU prohibits the vehicle from entering the automatic driving mode; when entering the automatic driving mode, the crash barrier disable signal automatically changes from 1 to 0.

[0060] At this time, since the trigger signal of a certain anti-collision bar has been 1, when the anti-collision bar collides again, the collision command cannot be sent correctly, so there is a safety risk. It is necessary to set the destination to the maintenance site and go for maintenance immediately. A safety officer is required to follow during the driving process, or the vehicle must be controlled by background personnel to remotely drive to the maintenance site.

[0061] 2. After comprehensive judgment, the safety officer can directly send a remote control mode request through the remote control. When the VCU receives the remote control mode request from the remote control, it does not judge the anti-collision bar disable signal and directly enters the remote control mode. After entering the remote control mode, the anti-collision bar disable signal automatically changes to 0. At this time, if only the rear anti-collision bar trigger is set to 1, the vehicle can only be remotely controlled to move forward; if only the front anti-collision bar trigger is set to 1, the vehicle can only be remotely controlled to move backward. When the anti-collision bar trigger signals are reset, the normal remote control function is restored.

[0062] Obviously, the specific implementation of the present invention is not limited to the above-mentioned methods. As long as various non-substantial improvements are made using the method concept and technical solution of the present invention, they are all within the protection scope of the present invention.

Claims

1. An unmanned vehicle collision monitoring and processing system, characterized in that: The processing system includes a collision controller, a perception sensor, and a vehicle driving controller; anti-collision bars are respectively arranged at the front and rear of the vehicle, and a trigger is built into the anti-collision bar, and the output end of the trigger is connected to the collision controller; the collision bar is an elastic anti-collision bar and it is configured so that the trigger corresponding to the collision bar is triggered after a collision; the output end of the trigger is connected to the collision controller, the collision controller and the vehicle driving controller, and the input end of the vehicle driving controller is connected to the perception sensor, and the perception sensor is arranged on the vehicle to perceive the surrounding environment in which the vehicle is traveling.

2. The unmanned vehicle collision monitoring and processing system according to claim 1, characterized in that: The collision controller is connected to a cloud platform, and the cloud platform sends corresponding control or setting instructions to the collision controller.

3. The unmanned vehicle collision monitoring and processing system according to claim 2, characterized in that: The processing system also includes a remote controller, which is connected to the vehicle driving controller via a wireless network and is used for remotely controlling the operation of the vehicle.

4. The unmanned vehicle collision monitoring and processing system according to any one of claims 1 to 3, characterized in that: The unmanned vehicle is provided with a panoramic camera, which is connected to a collision controller. The panoramic camera is used to obtain collision video data after a collision occurs, and an output end of the panoramic camera is connected to the collision controller. The collision controller identifies and classifies the type of collision and performs vehicle driving control accordingly.

5. A method for monitoring and processing collision of an unmanned vehicle, characterized in that: The method comprises: During the driving process of the unmanned vehicle, the output signals of the front and rear anti-collision bar triggers are collected in real time to analyze and determine whether a collision accident has occurred and determine whether the collision accident occurred in front of or behind the vehicle. After the collision occurs, the collision controller outputs a collision signal to the vehicle driving controller, and the vehicle enters emergency mode, at which time the vehicle is controlled to stop and alarm.

6. The unmanned vehicle collision monitoring and processing method according to claim 5, characterized in that: The unmanned vehicle includes a preparation mode, an emergency mode, and a driving mode. In the preparation mode, the unmanned vehicle performs a vehicle self-inspection. If no fault is detected and there is no collision signal or a collision disable signal is present, the self-inspection passes. If a collision signal is detected in the preparation mode or driving mode and there is no collision disable signal, the unmanned vehicle performs a vehicle self-inspection. If no fault or disable signal of the collision controller is detected, it directly enters the emergency mode. In the emergency mode, an emergency stop command is issued to drive the vehicle to brake and stop. The unmanned vehicle enters the preparation mode after a set delay time after stopping.

7. The unmanned vehicle collision monitoring and processing method according to claim 6, characterized in that: Driving modes include automatic driving mode and remote control mode. In automatic driving mode, the vehicle driving controller controls the vehicle's driving based on the vehicle's surrounding environment obtained by the perception sensor; in remote control mode, the safety officer remotely controls the vehicle's driving.

8. The unmanned vehicle collision monitoring and processing method according to claim 7, characterized in that: An anti-collision detection disable command is sent to the driving controller of the unmanned vehicle through the cloud platform. After receiving the anti-collision detection disable command, the vehicle driving controller prohibits the collision controller from being enabled and restores the vehicle to driving mode.

9. The unmanned vehicle collision monitoring and processing method according to claim 7 or 8, characterized in that: After a collision is detected, the panoramic camera is activated to collect video data of the collision. The severity of the collision accident and whether the vehicle can continue driving are determined by analyzing the video, and the results are determined in a timely manner to control the vehicle mode and alarm status.

10. The unmanned vehicle collision monitoring and processing method according to claim 9, characterized in that: When entering the driving mode after a collision, the vehicle's forward and backward movement is controlled according to the front and rear positions where the collision occurred and the forward and backward movement control of the vehicle is limited according to the states of the front and rear collision bars.

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