An unmanned special tunnel rescue system and method

Abstract

The application discloses a tunnel rescue system and method special for unmanned vehicles, which comprises a plurality of intelligent road surface boxes arranged in the middle of a one-way lane in a driving direction, wherein each of the intelligent road surface boxes is provided with a containing cavity; a plurality of intelligent rescue vehicles are respectively arranged in the corresponding containing cavities, wherein each of the intelligent rescue vehicles comprises a second communication module, a vehicle carrying plate for carrying an unmanned vehicle, a power system for driving the intelligent rescue vehicle to drive, a vehicle control module, a positioning and navigation module for positioning and navigating the intelligent rescue vehicle, and an environment sensing module for sensing the surrounding environment; after receiving position information sent by an accident vehicle, a background control system locks the intelligent rescue vehicle closest to the accident vehicle, the intelligent rescue vehicle drives out of the containing cavity and moves to be directly below the accident vehicle, and the accident vehicle is lifted to drive to the nearest rescue station; the application has the advantages of full-process automation of a rescue process, extremely fast response, maximum reduction of traffic interruption, avoidance of secondary accidents, improvement of rescue efficiency and the like.

Description

Technical Field

[0001] This invention relates to the field of unmanned rescue technology, specifically to an unmanned dedicated tunnel rescue system and method. Background Technology

[0002] With urban traffic congestion becoming increasingly severe, the development of efficient new transportation modes has become an urgent need. Driverless dedicated tunnels, as a forward-looking solution, construct closed, dedicated channels connecting core urban functional areas—specifically, one-way, single-lane, small-diameter tunnels—aiming to achieve point-to-point, uninterrupted, and rapid vehicle passage, thereby significantly improving travel efficiency. However, this highly automated and specialized transportation scenario presents entirely new requirements for its supporting safety systems, especially in terms of vehicle breakdown rescue methods, which are drastically different from those of traditional tunnels.

[0003] Currently, there are no precedents for the construction of dedicated unmanned tunnels in China, and there is a technological gap in the availability of specialized devices capable of fully automated, rapid, and safe rescue operations. Traditional tunnels generally rely on manual or semi-automatic rescue modes, where rescue personnel drive specialized vehicles to the site to manually hook and tow the vehicles. However, dedicated unmanned one-way lanes are characterized by high-speed and high-density traffic flow, which places stringent demands on rapid obstacle removal. As a result, there are problems such as slow rescue response, low rescue efficiency, which seriously undermines the fully automated closed loop pursued by unmanned driving systems and creates a weak link in the operation system. Summary of the Invention

[0004] The technical problem this invention aims to solve is to overcome existing deficiencies and provide an unmanned dedicated tunnel rescue system and method. The rescue process is fully automated, with extremely fast response, minimizing traffic disruption, avoiding secondary accidents, improving rescue efficiency, reducing traffic impact, and being easy to expand and maintain. It provides an efficient, safe, and reliable all-weather rescue solution for unmanned tunnels; and significantly reduces construction difficulty, scale, construction period, and investment. It enables a fully automated closed-loop operation of the unmanned system, solving weak links in the operational system; and effectively addressing the problems in the background technology.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an unmanned dedicated tunnel rescue system, comprising a back-end control system, multiple intelligent road boxes, and multiple intelligent rescue vehicles;

[0006] The smart road box is set in the middle of the one-way lane inside the tunnel structure. Each smart road box has a unique number and a housing cavity.

[0007] The intelligent rescue vehicles are each housed in the corresponding intelligent road box. The intelligent rescue vehicle includes a second communication module, a vehicle platform for carrying the unmanned vehicle and a lifting device for driving the vehicle platform to rise and fall, a power system for driving the intelligent rescue vehicle, a vehicle control module for controlling the intelligent rescue vehicle's movement, a positioning and navigation module for positioning and navigation of the intelligent rescue vehicle, and an environmental perception module for sensing the surrounding environment.

[0008] The background control system is equipped with a first communication module for receiving fault information and location information sent by the accident vehicle. The background control system and the intelligent rescue vehicle establish a communication connection through the first communication module and the second communication module. The background control system is equipped with a central processor. The background control system is also equipped with a high-precision map module for sending high-precision map data of the tunnel to the intelligent rescue vehicle and a path planning module for a path planning algorithm for driving to the nearest rescue station.

[0009] Once the back-end control system receives the fault information and location information sent by the accident vehicle, it locks onto the nearest intelligent rescue vehicle. After receiving the instruction from the back-end control system, the intelligent rescue vehicle drives out of the containment cavity and moves directly under the accident vehicle. It then uses a lifting device to drive the vehicle platform to lift the accident vehicle. The intelligent rescue vehicle then uses the vehicle control module, positioning and navigation module, and environmental perception module, combined with high-precision map data and path planning algorithms sent by the back-end control system, to drive towards the nearest rescue station.

[0010] Furthermore, the intelligent road box adopts a modular structure and is continuously spliced ​​along the one-way lane, and the receiving cavities of the intelligent road box are interconnected to form a fully connected rescue channel; the top of the intelligent road box is hinged with an intelligent opening and closing top plate that can be flipped open and closed, and the intelligent road box is equipped with a top plate opening and closing control system for controlling the opening and closing of the intelligent opening and closing top plate, and the top plate opening and closing control system is equipped with a third communication module that establishes a communication connection with the back-end control system; when the intelligent rescue vehicle receives the instruction from the back-end control system, it drives towards the accident vehicle along the rescue channel; when the top plate opening and closing control system receives the opening instruction from the back-end control system, the intelligent opening and closing top plate opens, and the intelligent rescue vehicle drives out of the rescue channel and is located directly under the accident vehicle.

[0011] Furthermore, the intelligent opening and closing top panel has a double-door structure, and it is hinged to the top of the intelligent road box via an electric hinge. The vehicle platform is equipped with a locking mechanism for fixing and locking the chassis of the accident vehicle. When the intelligent rescue vehicle moves under the accident vehicle and the intelligent opening and closing top panel opens, the intelligent rescue vehicle drives the vehicle platform to rise and abut against the chassis of the accident vehicle via a lifting device. The chassis of the accident vehicle is fixed and locked by the locking mechanism. The lifting device retracts, allowing the intelligent rescue vehicle to rise and drive out of the intelligent road box. The intelligent road box is also equipped with a position sensor, which is used to detect whether the intelligent rescue vehicle has driven out of the intelligent road box. After the position sensor detects that the intelligent rescue vehicle has driven out of the intelligent road box, the top panel opening and closing control system controls the intelligent opening and closing top panel to close.

[0012] Furthermore, the intelligent road boxes are spaced apart along the one-way lane travel direction, and the top surface of the intelligent road boxes is provided with a rescue vehicle parking slot, which has an arc-shaped curved surface structure; after receiving the instruction issued by the control system, the intelligent rescue vehicle drives out of the rescue vehicle parking slot to the middle of the one-way lane, and travels along the one-way lane to directly under the accident vehicle.

[0013] Furthermore, the environmental perception module includes a camera, lidar, and ultrasonic sensor installed on the intelligent rescue vehicle.

[0014] Furthermore, the intelligent rescue vehicle is also equipped with a visual sensor and a lidar scanner. The intelligent rescue vehicle uses the visual sensor and lidar scanner to scan the chassis structure of the accident vehicle, and controls the rise of the vehicle platform to contact the stress points of the accident vehicle chassis.

[0015] Furthermore, the width of the smart road box is less than the minimum wheelbase of the autonomous vehicle.

[0016] To achieve the above objectives, the present invention also provides the following technical solution: a method for unmanned dedicated tunnel rescue, comprising the aforementioned unmanned dedicated tunnel rescue system, the rescue method comprising the following steps:

[0017] S1. When an unmanned vehicle has an accident inside the tunnel structure, it sends fault information and location information to the background control system.

[0018] S2. After receiving the fault information and location information from the accident vehicle, the background control system locks onto the intelligent rescue vehicle closest to the accident vehicle and sends the location information of the accident vehicle to the target intelligent rescue vehicle; at the same time, it sends warning information to other vehicles behind the accident vehicle.

[0019] S3. After receiving instructions from the back-end control system, the intelligent rescue vehicle drives out of the containment cavity and moves directly under the accident vehicle. It then uses the lifting device to drive the vehicle platform to lift the accident vehicle.

[0020] S4. The background control system sends high-precision map data of the tunnel and a path planning algorithm to the nearest rescue station to the intelligent rescue vehicle. The intelligent rescue vehicle travels to the nearest rescue station through the vehicle control module, positioning and navigation module, environmental perception module and the high-precision map data and path planning algorithm sent by the background control system.

[0021] S5. After the accident vehicle enters the rescue station for repairs, the intelligent rescue vehicle drives back into the containment cavity inside the intelligent road box.

[0022] S6. Once the background control system determines that the rescue effect meets the conditions for continued operation, traffic will be restored.

[0023] Compared with existing technologies, the beneficial effects of this invention are as follows: This unmanned dedicated tunnel rescue system and method, by setting up an intelligent road box in the middle of the one-way lane of the unmanned dedicated tunnel, and the intelligent road box housing an intelligent rescue vehicle, allows the background control system to dispatch the nearest intelligent rescue vehicle to quickly rise directly from under the accident vehicle and rigidly support it, safely transporting it to the next station for repair when the unmanned vehicle malfunctions. The entire rescue process is automated, with extremely fast response, minimizing traffic interruption, avoiding secondary accidents, improving rescue efficiency, reducing traffic impact, and being easy to expand and maintain, providing an efficient, safe, and reliable all-weather rescue solution for unmanned tunnels. This rescue system does not require separate continuous parking lanes in the small-diameter tunnel structure of the one-way lane, significantly reducing construction difficulty, scale, construction period, and investment. All vehicles in the tunnel are unmanned intelligent driving vehicles, ensuring the standardization and continuity of vehicle driving, not only reducing personal safety risks, but also enabling the fully automated operation of the unmanned system in a closed loop, solving the weak links in the operation system. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the internal structure of the tunnel of the present invention;

[0025] Figure 2 A top view of a smart pavement box installed in a one-way lane inside a tunnel according to the first embodiment of the present invention;

[0026] Figure 3 This is a schematic diagram of the internal structure of the intelligent road box according to the first embodiment of the present invention;

[0027] Figure 4 This is a schematic diagram of the structure of the intelligent rescue vehicle inside the intelligent road box in the first embodiment of the present invention when it travels directly under the driverless car;

[0028] Figure 5 This is a schematic diagram of the structure of the intelligent rescue vehicle lifting the unmanned car after driving out of the intelligent road box according to the first embodiment of the present invention;

[0029] Figure 6 This is a schematic diagram of the connection structure between the intelligent opening and closing top plate and the intelligent road box in the first embodiment of the present invention;

[0030] Figure 7 This is a schematic diagram of the intelligent rescue vehicle structure of the present invention;

[0031] Figure 8 This is a top view of the intelligent opening and closing top plate according to the first embodiment of the present invention;

[0032] Figure 9 This is a side view of the intelligent opening and closing top plate according to the first embodiment of the present invention;

[0033] Figure 10 This is a schematic diagram of the tunnel rescue system according to the first embodiment of the present invention;

[0034] Figure 11 A top view of a smart pavement box installed in a one-way lane inside a tunnel according to a second embodiment of the present invention;

[0035] Figure 12 This is a schematic diagram of the intelligent road box structure according to the second embodiment of the present invention;

[0036] Figure 13 This is a schematic diagram of the internal structure of the intelligent road box according to the second embodiment of the present invention;

[0037] Figure 14 This is a schematic diagram of the structure of the intelligent rescue vehicle lifting the unmanned car after driving out of the rescue parking trench according to the second embodiment of the present invention;

[0038] Figure 15 This is a schematic diagram of the tunnel rescue system according to the second embodiment of the present invention;

[0039] Figure 16 This is a schematic diagram of the unmanned tunnel rescue method of the present invention.

[0040] In the diagram: 1. Tunnel structure; 2. Intelligent road box; 3. Autonomous vehicle; 4. Intelligent rescue vehicle; 5. Intelligent opening and closing roof slab; 6. One-way lane; 7. Electric hinge; 8. Rescue passage; 9. Roof slab opening and closing control system; 10. Carrier plate; 101. Slide; 102. Clamping plate; 103. Servo telescopic cylinder; 104. Buffer pad; 11. Lifting device; 12. Power system; 13. Vehicle control module; 14. Rescue vehicle parking slot. Detailed Implementation

[0041] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0042] Example 1

[0043] Please see Figure 1-7 and Figure 10 The present invention provides a technical solution: an unmanned dedicated tunnel rescue system, including a background control system, multiple smart road boxes 2 and multiple smart rescue vehicles 4;

[0044] The intelligent road box 2 is set in the middle of the one-way lane 6 inside the tunnel structure 1. Each intelligent road box 2 has a unique number and a receiving cavity. The width of the intelligent road box 2 is less than the minimum wheelbase of the driverless car 3.

[0045] The intelligent rescue vehicle 4 is housed in the corresponding intelligent road box 2. The intelligent rescue vehicle 4 includes a second communication module, a vehicle platform 10 for carrying the unmanned vehicle 3 and a lifting device 11 for driving the vehicle platform 10 to rise and fall, a power system 12 for driving the intelligent rescue vehicle 4, a vehicle control module 13 for controlling the movement of the intelligent rescue vehicle 4, a positioning and navigation module for positioning and navigation of the intelligent rescue vehicle 4, and an environmental perception module for sensing the surrounding environment. The environmental perception module includes a camera, a lidar, and an ultrasonic sensor installed on the intelligent rescue vehicle 4. The intelligent rescue vehicle 4 is also equipped with a vision sensor and a lidar scanner (existing technology, not shown in the figure). The intelligent rescue vehicle 4 scans the chassis structure of the accident vehicle through the vision sensor and lidar scanner to control the vehicle platform 10 to rise and contact the stress points of the accident vehicle chassis.

[0046] The intelligent road box 2 adopts a modular structure and is continuously spliced ​​along the driving direction of the one-way lane 6. The accommodating cavities of the intelligent road box 2 are interconnected to form a fully connected rescue channel 8. The top of the intelligent road box 2 is hinged with an intelligent opening and closing top plate 5 that can be flipped open and closed. The intelligent road box 2 is equipped with a top plate opening and closing control system 9 for controlling the opening and closing of the intelligent opening and closing top plate 5. The top plate opening and closing control system 9 is equipped with a third communication module that establishes a communication connection with the background control system.

[0047] The intelligent opening and closing top plate 5 is a double-door structure, and the intelligent opening and closing top plate 5 is hinged to the top of the intelligent road box 2 via an electric hinge 7; the vehicle-carrying plate 10 is provided with a locking mechanism for fixing and locking the chassis of the accident vehicle; the intelligent road box 2 is also provided with a position sensor, which is used to detect whether the intelligent rescue vehicle 4 has driven out of the intelligent road box 2; in this embodiment, the locking mechanism for fixing and locking the chassis of the accident vehicle can be a conventional three-point or more mechanical locking mechanism provided on the existing intelligent vehicle moving robot, and the existing mechanical locking mechanism will not be described in detail in this embodiment.

[0048] The background control system is equipped with a first communication module for receiving fault information and location information sent by the accident vehicle. The background control system and the intelligent rescue vehicle 4 establish a communication connection through the first communication module and the second communication module. The background control system is equipped with a central processor. The background control system is also equipped with a high-precision map module for sending high-precision map data of the tunnel to the intelligent rescue vehicle 4 and a path planning module for the path planning algorithm to the nearest rescue station.

[0049] As an alternative to existing mechanical locking mechanisms, please refer to Figure 8-9 The top two ends of the vehicle carrier plate 10 are provided with sliding grooves 101 along its width direction. Clamping plates 102 for clamping the side ends of the chassis of the accident vehicle are slidably arranged in the sliding grooves 101. Servo telescopic cylinders 103 are provided at the bottom end of the vehicle carrier plate 10 at the position corresponding to the clamping plates 102, and the servo telescopic cylinders 103 are used to drive the corresponding clamping plates 102 to move. The clamping surfaces of the clamping plates 102 are provided with buffer pads 104. The structure is simpler than the existing three-point or above mechanical locking mechanism.

[0050] Working principle:

[0051] After the background control system receives the fault information and location information sent by the accident vehicle, it locks onto the nearest intelligent rescue vehicle 4. Upon receiving the instruction from the background control system, intelligent rescue vehicle 4 moves towards the accident vehicle along the rescue channel 8. Upon receiving the opening instruction from the background control system, the roof opening and closing control system 9 opens the intelligent roof opening and closing system 5. After intelligent rescue vehicle 4 moves under the accident vehicle and the intelligent roof opening and closing system 5 is open, intelligent rescue vehicle 4 drives the vehicle platform 10 to rise and abut against the chassis of the accident vehicle via the lifting device 11. The chassis of the accident vehicle is then locked by a locking mechanism. The lifting device 11 retracts, causing intelligent rescue vehicle 4 to rise and exit the intelligent road box 2, positioning itself directly under the accident vehicle. After the position sensor detects that intelligent rescue vehicle 4 has exited the intelligent road box 2, the roof opening and closing control system 9 controls the intelligent roof opening and closing system 9 to close the intelligent roof opening and closing system 5. The vehicle platform 10 is then lifted by the lifting device 11. Intelligent rescue vehicle 4, through the vehicle control module 13, positioning and navigation module, and environmental perception module, combined with high-precision map data and path planning algorithms sent by the background control system, moves towards the nearest rescue station.

[0052] The unmanned dedicated tunnel rescue system disclosed in this embodiment uses an intelligent road box 2 installed in the middle of the one-way lane 6 of the unmanned dedicated tunnel. The intelligent road box 2 houses an intelligent rescue vehicle 4. When the unmanned vehicle 3 malfunctions, the background control system dispatches the nearest intelligent rescue vehicle 4 to quickly deploy, lift it directly from under the malfunctioning vehicle and rigidly support it, safely transporting it to the next station for repair. The entire rescue process is automated, with extremely fast response, minimizing traffic interruption, avoiding secondary accidents, improving rescue efficiency, reducing traffic impact, and being easy to expand and maintain. It provides an efficient, safe, and reliable all-weather rescue solution for unmanned tunnels. This rescue system does not require a separate continuous parking lane in the small-diameter tunnel structure 1 of the one-way lane 6, significantly reducing construction difficulty, scale, construction period, and investment. All vehicles in the tunnel are unmanned intelligent driving vehicles, ensuring the standardization and continuity of vehicle traffic.

[0053] Example 2

[0054] Please see Figure 1 , Figure 7 and Figure 11-15 The present invention also provides a technical solution: an unmanned dedicated tunnel rescue system. In this embodiment, compared with the first embodiment, the intelligent road box 2 is arranged at intervals along the driving direction of the one-way lane 6, and the top surface of the intelligent road box 2 is provided with a rescue vehicle parking slot 14, which is an arc-shaped curved surface structure.

[0055] Compared to Embodiment 1, in this embodiment, the intelligent road boxes 2 are spaced apart, and the intelligent rescue vehicle 4 resides in the rescue parking slot 4 of the intelligent road box 2. When the background control system receives the fault information and location information sent by the accident vehicle, it locks the nearest intelligent rescue vehicle 4. After receiving the instruction from the background control system, the intelligent rescue vehicle 4 drives out of the rescue vehicle parking slot 14 to the middle of the one-way lane 6, and drives along the one-way lane 6 to directly under the accident vehicle. The lifting device 11 drives the vehicle platform 10 to lift the accident vehicle. The intelligent rescue vehicle 4 drives to the nearest rescue station through the vehicle control module 13, the positioning and navigation module, and the environmental perception module, combined with the high-precision map data and path planning algorithm sent by the background control system.

[0056] Compared to Embodiment 1, this embodiment features a more efficient rescue system, a simpler structure, and further reduced construction difficulty, scale, construction period, and investment.

[0057] Example 3

[0058] Please see Figure 1-16 This invention provides a technical solution: a method for unmanned dedicated tunnel rescue, including the aforementioned unmanned dedicated tunnel rescue system, the rescue method comprising the following steps:

[0059] S1. When the driverless car 3 has an accident in the tunnel structure 1, the driverless car 3 sends fault information and location information to the background control system.

[0060] S2. After receiving the fault information and location information from the accident vehicle, the background control system determines whether to activate rescue. If rescue is required, it locks onto the intelligent rescue vehicle 4 closest to the accident vehicle and sends the location information of the accident vehicle to the target intelligent rescue vehicle 4. At the same time, it sends warning information to other vehicles behind the accident vehicle.

[0061] After receiving instructions from the back-end control system, the S3 and intelligent rescue vehicle 4 drive out of the containment cavity and move directly under the accident vehicle. The lifting device 11 drives the vehicle platform 10 to lift the accident vehicle.

[0062] S4. The background control system sends high-precision map data of the tunnel and a path planning algorithm for driving to the nearest rescue station to the intelligent rescue vehicle 4. The intelligent rescue vehicle 4 drives to the nearest rescue station through the vehicle control module 13, the positioning and navigation module, the environmental perception module, and in combination with the high-precision map data and path planning algorithm sent by the background control system.

[0063] S5. After the accident vehicle enters the rescue station for repair, the intelligent rescue vehicle drives back to the containment cavity inside the intelligent road box 2.

[0064] S6. Once the background control system determines that the rescue effect meets the conditions for continued operation, traffic will be restored.

[0065] The unmanned dedicated tunnel rescue method disclosed in this embodiment is highly intelligent, intensive, and rapid. It can ensure safe and rapid rescue without increasing the size of the tunnel, investment, or construction difficulty. Compared with the traditional method of sending personnel into the fully automated environment of the unmanned vehicle for maintenance, it not only reduces personal safety risks but also enables the unmanned system to operate in a fully automated closed loop, solving the weak links in the operation system.

[0066] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An unmanned dedicated tunnel rescue system, characterized in that: This includes a back-end control system, multiple smart road boxes, and multiple smart rescue vehicles; The smart road box is set in the middle of the one-way lane inside the tunnel structure. Each smart road box has a unique number and a housing cavity. The intelligent rescue vehicles are each housed in the corresponding intelligent road box. The intelligent rescue vehicle includes a second communication module, a vehicle platform for carrying the unmanned vehicle and a lifting device for driving the vehicle platform to rise and fall, a power system for driving the intelligent rescue vehicle, a vehicle control module for controlling the intelligent rescue vehicle's movement, a positioning and navigation module for positioning and navigation of the intelligent rescue vehicle, and an environmental perception module for sensing the surrounding environment. The background control system is equipped with a first communication module for receiving fault information and location information sent by the accident vehicle. The background control system and the intelligent rescue vehicle establish a communication connection through the first communication module and the second communication module. The background control system is equipped with a central processor. The background control system is also equipped with a high-precision map module for sending high-precision map data of the tunnel to the intelligent rescue vehicle and a path planning module for a path planning algorithm for driving to the nearest rescue station. Once the back-end control system receives the fault information and location information sent by the accident vehicle, it locks onto the nearest intelligent rescue vehicle. After receiving the instruction from the back-end control system, the intelligent rescue vehicle drives out of the containment cavity and moves directly under the accident vehicle. It then uses a lifting device to drive the vehicle platform to lift the accident vehicle. The intelligent rescue vehicle then uses the vehicle control module, positioning and navigation module, and environmental perception module, combined with high-precision map data and path planning algorithms sent by the back-end control system, to drive towards the nearest rescue station.

2. The unmanned dedicated tunnel rescue system according to claim 1, characterized in that: The intelligent road box adopts a modular structure and is continuously spliced ​​along the one-way lane. The cavities of the intelligent road box are interconnected to form a fully connected rescue channel. The top of the intelligent road box is hinged with an intelligent opening and closing top plate that can be flipped open and closed. The intelligent road box is equipped with a top plate opening and closing control system for controlling the opening and closing of the intelligent opening and closing top plate. The top plate opening and closing control system is equipped with a third communication module that establishes a communication connection with the back-end control system. When the intelligent rescue vehicle receives the instruction from the back-end control system, it drives towards the accident vehicle along the rescue channel. When the top plate opening and closing control system receives the opening instruction from the back-end control system, the intelligent opening and closing top plate opens, and the intelligent rescue vehicle drives out of the rescue channel and is positioned directly under the accident vehicle.

3. The unmanned dedicated tunnel rescue system according to claim 2, characterized in that: The intelligent opening and closing top panel has a double-door structure and is hinged to the top of the intelligent road box via electric hinges. The vehicle platform is equipped with a locking mechanism for fixing and locking the chassis of the accident vehicle. When the intelligent rescue vehicle moves under the accident vehicle and the intelligent opening and closing top panel opens, the intelligent rescue vehicle drives the vehicle platform to rise and abut against the chassis of the accident vehicle through a lifting device. The chassis of the accident vehicle is fixed and locked by the locking mechanism. The lifting device retracts, allowing the intelligent rescue vehicle to rise and drive out of the intelligent road box. The intelligent road box is also equipped with a position sensor, which is used to detect whether the intelligent rescue vehicle has driven out of the intelligent road box. After the position sensor detects that the intelligent rescue vehicle has driven out of the intelligent road box, the top panel opening and closing control system controls the intelligent opening and closing top panel to close.

4. The unmanned dedicated tunnel rescue system according to claim 1, characterized in that: The intelligent road boxes are spaced apart along the one-way lane. The top surface of the intelligent road box is equipped with a rescue vehicle parking slot, which has an arc-shaped curved surface structure. After receiving the instruction from the control system, the intelligent rescue vehicle drives out of the rescue vehicle parking slot to the middle of the one-way lane and drives along the one-way lane to directly under the accident vehicle.

5. The unmanned dedicated tunnel rescue system according to claim 1, characterized in that: The environmental perception module includes cameras, lidar, and ultrasonic sensors installed on the intelligent rescue vehicle.

6. The unmanned dedicated tunnel rescue system according to claim 1, characterized in that: The intelligent rescue vehicle is also equipped with a vision sensor and a lidar scanner. The intelligent rescue vehicle uses the vision sensor and lidar scanner to scan the chassis structure of the accident vehicle, and uses this information to control the rise of the vehicle platform to contact the stress points of the accident vehicle's chassis.

7. The unmanned dedicated tunnel rescue system according to claim 1, characterized in that: The width of the smart road box is less than the minimum wheelbase of the autonomous vehicle.

8. The unmanned dedicated tunnel rescue method according to claim 1, characterized in that, Including the unmanned dedicated tunnel rescue system as described in any one of claims 1-6, the rescue method includes the following steps: S1. When an unmanned vehicle has an accident inside the tunnel structure, it sends fault information and location information to the background control system. S2. After receiving the fault information and location information from the accident vehicle, the background control system locks onto the intelligent rescue vehicle closest to the accident vehicle and sends the location information of the accident vehicle to the target intelligent rescue vehicle; at the same time, it sends warning information to other vehicles behind the accident vehicle. S3. After receiving instructions from the back-end control system, the intelligent rescue vehicle drives out of the containment cavity and moves directly under the accident vehicle. It then uses the lifting device to drive the vehicle platform to lift the accident vehicle. S4. The background control system sends high-precision map data of the tunnel and a path planning algorithm to the nearest rescue station to the intelligent rescue vehicle. The intelligent rescue vehicle travels to the nearest rescue station through the vehicle control module, positioning and navigation module, environmental perception module and the high-precision map data and path planning algorithm sent by the background control system. S5. After the accident vehicle enters the rescue station for repairs, the intelligent rescue vehicle drives back into the containment cavity inside the intelligent road box. S6. Once the background control system determines that the rescue effect meets the conditions for continued operation, traffic will be restored.

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