Unmanned vehicle based on cold start safety measures, control method and device

Abstract

The invention provides an unmanned vehicle cold start safety measure control method comprising the following steps: when an unmanned vehicle is in a cold start stage, a cold start sensing system is controlled to collect environmental data; identifying whether the unmanned vehicle has a risk according to the environmental data; and if the unmanned vehicle has the risk, controlling an alarm device arranged on the unmanned vehicle to give an alarm. The invention further provides an unmanned vehicle cold start safety measure device. The invention further provides an unmanned vehicle. According to the control method for the cold start safety measures of the unmanned vehicle, the unmanned vehicle can be controlled to recognize risks and give an alarm in the cold start stage.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving technology, and in particular to control methods, devices and sensors based on cold start safety measures. Background Technology

[0002] Existing self-driving vehicles shut down after parking, including their infotainment and autonomous driving systems, potentially leaving them in a "sleep state." During this time, the vehicle becomes unable to detect its surroundings, and a blind cold start followed by a direct entry into autonomous driving mode could pose a safety hazard. Summary of the Invention

[0003] This invention provides a control method for cold start safety measures of autonomous vehicles. By controlling the cold start sensing system to collect environmental data of the autonomous vehicle during the cold start phase, and controlling the alarm device to issue an alarm, the safety of cold start is ensured.

[0004] The first aspect of this invention provides a control method for cold start safety measures of an unmanned vehicle, the method comprising:

[0005] During the cold start phase of an autonomous vehicle, the cold start sensing system is controlled to collect environmental data.

[0006] Based on the environmental data, identify whether the autonomous vehicle poses a risk;

[0007] When a risk is detected in an autonomous vehicle, the alarm device installed in the vehicle will issue an alert.

[0008] A second aspect of the present invention provides a control device for cold start safety measures of an unmanned vehicle, the control device comprising:

[0009] Cold start sensing system for collecting environmental data;

[0010] Alarm device, used to issue an alarm;

[0011] The controller includes:

[0012] The sensing and control module controls the cold start sensing system to collect environmental data during the cold start phase of the autonomous vehicle.

[0013] The identification module identifies whether the autonomous vehicle poses a risk based on the environmental data.

[0014] The alarm control module controls the alarm device installed on the autonomous vehicle to issue an alarm when there is a risk to the autonomous vehicle.

[0015] A third aspect of the present invention provides an unmanned vehicle, the unmanned vehicle including a cold start sensing system, an alarm device, and a controller, the controller including a processor and a memory, the cold start sensing system for collecting environmental data, the alarm device for issuing an alarm, the memory for storing control program instructions for cold start safety measures of the unmanned vehicle, and the processor for executing the control program instructions for the cold start safety measures of the unmanned vehicle to implement the control method for the cold start safety measures of the unmanned vehicle.

[0016] The control method for the above-mentioned cold start safety measures for autonomous vehicles involves an alarm device emitting vibrations and sounds at a specific frequency when there is a risk around the vehicle during the cold start phase, warning and alerting people and animals that may be hiding around the vehicle. If the risk around the vehicle is not eliminated by the end of the cold start phase, the autonomous vehicle enters a standby state to solve the safety problem during the cold start phase. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without any creative effort.

[0018] Figure 1 A flowchart of a control method for cold start safety measures of an unmanned vehicle provided in an embodiment of the invention.

[0019] Figure 2 A scenario diagram illustrating the control method for cold start safety measures of unmanned vehicles provided in an embodiment of the invention.

[0020] Figure 3 A structural block diagram of the control device for cold start safety measures of unmanned vehicles provided in the embodiments of the invention.

[0021] Figure 4 A substructure block diagram of the control device 300 is provided for embodiments of the invention.

[0022] Figure 5 A schematic diagram of a cold start safety measure for an autonomous vehicle provided for another embodiment of the invention. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only for explaining this application and are not intended to limit this application.

[0024] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a particular order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in a sequence other than that illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0025] It should be noted that the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of those features. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed in this application.

[0026] Please see Figure 1-2 , Figure 1 A flowchart of a control method for cold start safety measures of an unmanned vehicle 98 provided in one embodiment. Figure 2 This is a schematic diagram illustrating an application scenario of the control method for cold start safety measures of an autonomous vehicle 98, provided in one embodiment. This application scenario involves the autonomous vehicle 98 implementing cold start safety measures when it is at a parking spot. The control method for cold start safety measures of the autonomous vehicle 98 is applied to the autonomous vehicle 98. The control method for cold start safety measures of the autonomous vehicle 98 includes the following steps.

[0027] In step S10, during the cold start phase, the autonomous vehicle 98 controls the cold start sensing system 100 to collect environmental data around the vehicle 98. The cold start sensing system 100 also includes a fusion sensor 96 mounted on the top, which will be described in detail below and will not be repeated here. Specifically, the sensing control module 301 in the controller 300 controls the cold start sensing system 100 to activate several sensors of the autonomous vehicle 98 to acquire environmental data around the vehicle during the cold start phase. The field of view of these sensors covers the underside area, roof area, and the area surrounding the autonomous vehicle 98. In this embodiment, the sensing control module 301 controls the hidden sensor 95 at the bottom of the vehicle 98 to extend out from the bottom of the vehicle body and controls the near-range lidar transmitter in the top sensor 96 of the vehicle 98 to emit a laser beam and controls the long-range lidar transmitter and / or the mid-range lidar transmitter to stop emitting laser beams, thereby collecting environmental data around the autonomous vehicle 98. The bottom sensor 95 of the vehicle 98 can be any type of camera, LiDAR, etc. The long-range lidar transmitter, the mid-range lidar transmitter, and the near-range lidar transmitter emit laser beams at different distances. Compared with ordinary autonomous vehicles, in addition to collecting environmental data of the surrounding area, it can also acquire environmental data of the undercarriage area and the roof area.

[0028] Step S30: Based on the environmental data, identify whether there are risks around the autonomous vehicle 98 during cold start. Specifically, the identification module 302 in the controller 300 identifies whether there are risks in the environmental data. In this embodiment, the neural network can be trained first using obstacle 97 samples. After training, the trained neural network is used to identify images, thereby improving the efficiency of image recognition. The obstacle 97 can be animals, people, or objects, and can be located around the vehicle 98, including the area around the vehicle body, the area under the vehicle, and the area on the roof.

[0029] In step S50, if there is a risk around the autonomous vehicle 98, the alarm device 200 installed on the autonomous vehicle 98 is controlled to issue an alarm. Specifically, the vehicle 98 identifies whether the obstacle 97 is a living or non-living object (such as an object) by emitting waves. When the obstacle 97 is a living object, the camera further distinguishes whether the obstacle 97 is a person or an animal. When the obstacle 97 is an animal, the autonomous vehicle 98 uses the vibration motor in the alarm device 200 to emit a vibration at a preset time of 1 minute and a frequency of 40Hz, and the sound wave generator to emit a wave at a specific frequency for a preset time of 1 minute. When the obstacle 97 is a person, the autonomous vehicle 98 uses the alarm device 200 to flash lights and emit an alarm sound for 1 minute. When the obstacle 97 is a non-living object, the alarm device emits an alarm sound for 1 minute to remind the user to move the obstacle 97.

[0030] In some embodiments, during the cold start phase, the identification module 302 in the controller 300 of the autonomous vehicle 98 identifies a risk based on the environmental data, and the alarm control module 303 in the controller 300 controls the alarm device 200 to issue an alarm. The vehicle 98 identifies the obstacle 97 as a living object by emitting waves, and further activates the camera to distinguish whether the obstacle 97 is an animal. The autonomous vehicle 98 then uses the vibration motor in the alarm device 200 to emit vibrations at a preset time of 1 minute and a frequency of 40Hz, and the sound wave generator to emit waves of a specific frequency for a preset time of 1 minute.

[0031] In some embodiments, during the cold start phase, the identification module 302 in the controller 300 of the unmanned vehicle 98 identifies a risk based on the environmental data, and the alarm control module 303 in the controller 300 controls the alarm device 200 to issue an alarm. The vehicle 98 identifies the obstacle 97 as a living being located at the bottom of the vehicle 98 by emitting waves. By default, the obstacle 97 is an animal. The unmanned vehicle 98 uses the vibration motor in the alarm device 200 to emit vibrations at a preset time of 1 minute and a frequency of 40Hz, and the sound wave generator to emit waves of a specific frequency for a preset time of 1 minute.

[0032] In some embodiments, during the cold start phase, the identification module 302 in the controller 300 of the autonomous vehicle 98 identifies a risk based on the environmental data, and the alarm control module 303 in the controller 300 controls the alarm device 200 to issue an alarm. The vehicle 98 identifies the obstacle 97 as a living entity by emitting waves, and further activates the camera to distinguish whether the obstacle 97 is a person. The autonomous vehicle 98 then activates the alarm device 200 to flash lights and emit a 1-minute alarm sound.

[0033] In some embodiments, during the cold start phase, the identification module 302 in the controller 300 of the autonomous vehicle 98 identifies a risk based on the environmental data, and the alarm control module 303 in the controller 300 controls the alarm device 200 to issue an alarm. The vehicle 98 identifies the obstacle 97 as non-living by emitting waves, and the alarm device issues a 1-minute alarm to remind the user to move the obstacle 97.

[0034] In some embodiments, during the cold start phase, the autonomous vehicle 98 poses no risk. The sensing control module 301 in the controller 300 controls the hidden sensor 95 to extend from under the vehicle and expose itself by controlling the cold start sensing system 100. It also controls the near-range lidar transmitter in the top sensor 96 of the vehicle 98 to emit a laser beam and controls the long-range lidar transmitter and / or mid-range lidar transmitter to stop emitting laser beams, collecting environmental data around the autonomous vehicle 98. When the cold start phase ends and the autonomous vehicle 98 still poses no risk, the sensing control module 301 in the controller 300 controls the hidden sensor 95 to retract under the vehicle and stop collecting environmental data by controlling the cold start sensing system 100. It also controls the near-range lidar transmitter in the top sensor 96 of the vehicle 98 to stop emitting laser beams and controls the long-range lidar transmitter and / or mid-range lidar transmitter to emit laser beams, collecting environmental data from a distance within the autonomous vehicle 98.

[0035] In some embodiments, the autonomous vehicle 98 faces risks during the cold start phase, and the alarm control module 303 in the controller 300 controls the alarm device 200 to issue an alarm. The vehicle 98 identifies whether the obstacle 97 is a living or non-living object by emitting waves. If the obstacle 97 is a living object, it further distinguishes whether the obstacle 97 is a person or an animal through a camera. If the obstacle 97 is an animal, the autonomous vehicle 98 uses the vibration motor in the alarm device 200 to emit vibrations at a preset time of 1 minute and a frequency of 40Hz, and the sound wave generator to emit waves of a specific frequency for a preset time of 1 minute. If the obstacle 97 is a person, the autonomous vehicle 98 uses the alarm device 200 to flash lights and emit an alarm sound for 1 minute. If the obstacle 97 is non-living, the alarm device issues an alarm for 1 minute to alert the user to move the obstacle 97. Once obstacle 97 leaves vehicle 98, and the autonomous vehicle 98 poses no risk at the end of the cold start phase, the sensing control module 301 in controller 300 controls the hidden sensor 95 to retract under the vehicle via the cold start sensing system 100. It also controls the near-range lidar transmitter in the roof sensor 96 to stop emitting laser beams and controls the long-range and / or mid-range lidar transmitters to emit laser beams, collecting long-range environmental data from vehicle 98. Furthermore, if the autonomous vehicle 98 experiences any undercarriage collision, malfunction, or other issues during autonomous driving, the sensing control module 301 in controller 300 controls the hidden sensor 95 to extend from under the vehicle via the cold start sensing system 100, collecting environmental data from the underside of vehicle 98.

[0036] In some embodiments, the preset cold start time for the autonomous vehicle is 2 minutes. During the cold start phase, the autonomous vehicle 98 faces a risk, and the alarm control module 303 in the controller 300 controls the alarm device 200 to issue an alarm. The vehicle 98 identifies whether the obstacle 97 is a living or non-living object by emitting waves. If the obstacle 97 is a living object, it further distinguishes whether the obstacle 97 is a person or an animal using a camera. If the obstacle 97 is an animal, the autonomous vehicle 98 uses a vibration motor in the alarm device 200 to emit vibrations at a preset time of 1 minute at a frequency of 40Hz, and a sound wave generator to emit waves of a specific frequency for a preset time of 1 minute. If the obstacle 97 is a person, the autonomous vehicle 98 uses the alarm device 200 to flash lights and emit an alarm sound for 1 minute. If the obstacle 97 is non-living, the alarm device emits an alarm sound for 1 minute to remind the user to move the obstacle 97. If obstacle 97 does not leave vehicle 98, the alarm control module 303 in controller 300 will re-control the alarm device 200 to issue an alarm. If obstacle 97 still does not leave vehicle 98 within the preset time of 2 minutes during the cold start phase, controller 300 will control the unmanned vehicle 98 to enter standby mode.

[0037] The preset time for the cold start phase, the preset time for the alarm, and the frequency described in the above embodiments can be set according to the actual calculation accuracy requirements. The above 2min, 1min, and 40Hz are just examples. The alarm device 200 includes a vibration motor, a sound wave generator, and a speaker, etc., which are not limited here.

[0038] Please see Figure 3 , Figure 3 A control device for an unmanned vehicle 98 is provided as a second aspect of the present invention. The control device includes a cold start sensing system 100, an alarm device 200, and a controller 300.

[0039] A cold start sensing system 100 is used to collect environmental data from an autonomous vehicle 98. It includes several sensors installed on the autonomous vehicle 98, including a hidden sensor 95 on the bottom of the vehicle 98 and a fusion sensor 96 on the top of the vehicle 98. Specifically, the hidden sensor 95 on the bottom of the vehicle controls the cold start sensing system 100 to collect environmental data by: extending the hidden sensor from the bottom of the vehicle during the cold start phase to collect environmental data; and retracting the hidden sensor back to the bottom of the vehicle and stopping the collection of environmental data when the cold start phase ends. The fusion sensor 96 includes at least one of a long-range lidar transmitter, a mid-range lidar transmitter, and a short-range lidar transmitter, and a lidar receiver. The long-range lidar transmitter, mid-range lidar transmitter, and short-range lidar transmitter respectively emit... The system emits laser beams at different distances; the lidar receiver is used to receive at least one laser beam reflected back from the long-range lidar transmitter, the mid-range lidar transmitter, and the short-range lidar transmitter, wherein: when the autonomous vehicle is in the cold start phase, the sensing control module is used to control the short-range lidar transmitter to emit laser beams and control the long-range lidar transmitter and / or the mid-range lidar transmitter to stop emitting laser beams; and when the autonomous vehicle ends the cold start phase, the sensing control module 100 is also used to control the short-range lidar transmitter to stop emitting laser beams and control the long-range lidar transmitter and / or the mid-range lidar transmitter to emit laser beams.

[0040] The alarm device 200 includes a vibration motor, a sound wave generator, and a speaker, etc., for issuing an alarm.

[0041] The controller 300, which controls the cold start sensing system 100 and the alarm device 200, will be described in detail below.

[0042] Please see Figure 4 , Figure 4 The diagram shows a substructure of the control device 300 of the present invention, which includes a sensing control module 301, an identification module 302, and an alarm control module 303.

[0043] The sensing control module 301 is used to control the cold start sensing system 100 to collect environmental data during the cold start phase of the unmanned vehicle 98.

[0044] The identification module 302 is used to identify whether there are risks around the autonomous vehicle 98 during the cold start phase.

[0045] The alarm control module 303 is used to control the alarm device 200 to issue an alarm when there is a risk around the unmanned vehicle 98 during the cold start phase.

[0046] A third aspect of the present invention provides an unmanned vehicle 98, please refer to [link / reference]. Figure 5 The unmanned vehicle 98 includes a cold start sensing system 900, an alarm device 700, and a controller 800. The controller 800 includes a processor 801 and a memory 802. The memory 801 stores control program instructions for the unmanned vehicle 98, and the processor 802 executes the control program instructions for the unmanned vehicle 98 to implement the control method of the unmanned vehicle 98.

[0047] In some embodiments, the processor 801 may be a central processing unit (CPU), microcontroller, microprocessor or other data processing chip, used to run the control program instructions of the intelligent sweeping robot 98 stored in the memory 802.

[0048] The memory 802 includes at least one type of readable storage medium, including flash memory, hard disk, multimedia card, card-type memory (e.g., SD or DX memory), magnetic memory, magnetic disk, optical disk, etc. In some embodiments, the memory 802 can be an internal storage unit of a computer device, such as a hard disk. In other embodiments, the memory 802 can be an external storage device of a computer device, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, FlashCard, etc., mounted on a computer device. Furthermore, the memory 802 can include both internal and external storage units of a computer device. The memory 802 can be used not only to store application software and various types of data installed on the computer device, such as code implementing intelligent processing, but also to temporarily store data that has been output or will be output.

[0049] In the above embodiments, the implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, in the form of a computer program product.

[0050] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions according to the embodiments of this application are generated. The computer device may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can store or a data storage device such as a server or data center that integrates one or more available media. The available medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., a solid-state disk (SSD)).

[0051] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0052] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection between devices or units through some interfaces, and may be electrical, mechanical, or other forms.

[0053] The unit described as a separate component may or may not be physically separate. The component shown as a unit may or may not be a physical unit; that is, it may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0054] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist independently, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0055] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard disks, read-only storage media (ROM), random access storage media (RAM), magnetic disks, or optical disks.

[0056] It should be noted that the sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, apparatus, article, or method that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, apparatus, article, or method. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, apparatus, article, or method that includes that element.

[0057] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

[0058] The above are merely preferred embodiments of this application and do not limit the scope of protection of this application. Any equivalent structural or procedural transformations made based on the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the scope of protection of this application.

Claims

1. A control method for cold start safety measures, characterized in that, The control method for the cold start safety measures includes: During the cold start phase of an autonomous vehicle, the cold start sensing system is controlled to collect environmental data. Based on the environmental data, identify whether the autonomous vehicle poses a risk; When a risk is detected in an autonomous vehicle, the alarm device installed in the vehicle will issue an alert.

2. The control method for cold start safety measures as described in claim 1, characterized in that, The control method for the cold start safety measures also includes: The cold start sensing system stops working when there is no risk to the autonomous vehicle within a preset time period.

3. The control method for cold start safety measures as described in claim 2, characterized in that, The cold start sensing system is installed on several sensors of the autonomous vehicle, and the field of view of the sensors covers the underside area, the roof area, and the area surrounding the vehicle body.

4. The control method for cold start safety measures as described in claim 3, characterized in that, The cold start sensing system includes a hidden sensor installed on the bottom of the vehicle. Controlling the cold start sensing system to collect environmental data specifically includes: During the cold start phase of the autonomous vehicle, the hidden sensors are extended from the bottom of the vehicle to collect environmental data. When the autonomous vehicle finishes the cold start phase, the hidden sensors retract to the bottom of the vehicle and are hidden, and the collection of environmental data ceases.

5. The control method for cold start safety measures as described in claim 3, characterized in that, The cold start sensing system further includes a fusion sensor mounted on the top of the vehicle. The fusion sensor includes at least one of a long-range lidar transmitter, a mid-range lidar transmitter, and a short-range lidar transmitter, as well as a lidar receiver. The long-range, mid-range, and short-range lidar transmitters emit laser beams at different distances. The lidar receiver receives at least one laser beam reflected from the long-range, mid-range, and short-range lidar transmitters. Controlling the cold start sensing system to collect environmental data specifically includes: When the autonomous vehicle is in the cold start phase, control the near-range lidar transmitter to emit a laser beam and control the long-range lidar transmitter and / or the mid-range lidar transmitter to stop emitting laser beams; When the autonomous vehicle finishes the cold start phase, it controls the near-range lidar transmitter to stop emitting laser beams and controls the long-range lidar transmitter and / or the mid-range lidar transmitter to emit laser beams.

6. The control method for cold start safety measures as described in claim 3, characterized in that, The control method for cold start safety measures also includes: when the cold start phase of the autonomous vehicle ends and the risks around the vehicle have not been eliminated, controlling the autonomous vehicle to enter a standby state.

7. A control system for cold start safety measures, characterized in that... include: Cold start sensing system for collecting environmental data; Alarm device, used to issue an alarm; The controller includes: The sensing and control module controls the cold start sensing system to collect environmental data during the cold start phase of the autonomous vehicle. The identification module identifies whether the autonomous vehicle poses a risk based on the environmental data. The alarm control module controls the alarm device installed on the autonomous vehicle to issue an alarm when there is a risk to the autonomous vehicle.

8. The control system for cold start safety measures as described in claim 7, characterized in that, include: The cold start sensing system includes a hidden sensor located on the bottom of the vehicle, wherein: During the cold start phase of the autonomous vehicle, the sensing and control module is used to control the hidden sensors to extend from the bottom of the vehicle to collect environmental data. When the autonomous vehicle finishes the cold start phase, the sensing control module is also used to control the hidden sensors to retract to the bottom of the vehicle and be hidden, and to stop collecting environmental data.

9. The control system for cold start safety measures as described in claim 7, characterized in that, The cold start sensing system further includes a fusion sensor disposed on the top of the vehicle. The fusion sensor includes at least one of a long-range lidar transmitter, a mid-range lidar transmitter, and a short-range lidar transmitter, and a lidar receiver. The long-range, mid-range, and short-range lidar transmitters emit laser beams at different distances. The lidar receiver is used to receive at least one laser beam reflected back from the long-range, mid-range, and short-range lidar transmitters. When the autonomous vehicle is in the cold start phase, the sensing and control module is used to control the near-range lidar transmitter to emit a laser beam and to control the long-range lidar transmitter and / or the mid-range lidar transmitter to stop emitting a laser beam. When the autonomous vehicle ends the cold start phase, the sensing control module is also used to control the near-range lidar to stop emitting laser beams and to control the long-range lidar and / or mid-range lidar to emit laser beams.

10. An unmanned vehicle, characterized in that, The unmanned vehicle includes: a cold start sensing system for collecting environmental data; Alarm device, used to issue an alarm; and The controller includes: The memory is used to store control program instructions for the cold start safety measures of the unmanned vehicle; the processor is used to execute the control program instructions for the cold start safety measures of the unmanned vehicle to implement the control method for the cold start safety measures of the unmanned vehicle as described in any one of claims 1-8.

Images