An unmanned logistics vehicle and a safety coordination processing system and method thereof

Abstract

The application provides an unmanned logistics vehicle and a safety cooperative processing system and method thereof, the safety cooperative processing system comprises a triggering module, a control module and an execution module, the triggering module and the execution module are connected with the control module; the triggering module is used for monitoring a triggering signal in the driving process of the unmanned logistics vehicle; when the triggering module detects the triggering signal, the control module sends a safety cooperative control instruction to the execution module; the execution module executes at least two preset disposal actions in sequence according to the safety cooperative control instruction. The safety cooperative processing system provided by the application confirms the triggering source through the triggering module, controls the execution module to execute a series of preprogrammed hardware-level safety cooperative disposal actions through the control module, so that the electrical safety risk is reduced to the maximum extent, and the vehicle and cargo safety are improved.

Description

Technical Field

[0001] This invention relates to the field of unmanned logistics vehicle technology, and in particular to an unmanned logistics vehicle and its safety collaborative processing system and method. Background Technology

[0002] Currently, collision safety protection for autonomous logistics vehicles mainly relies on two aspects: 1) Active collision avoidance by the autonomous driving system: using cameras, lidar, and other sensors to perceive the environment, calculate in advance, and execute braking or steering to avoid collisions. However, this solution may fail in extreme scenarios (such as when other road users suddenly intrude or the system's performance is insufficient). 2) Passive safety devices: such as bumpers and anti-collision beams, which physically absorb energy after a collision, but offer limited protection against electrical system safety and secondary disasters (such as fires caused by electrical short circuits) at the moment of collision.

[0003] The existing solution has obvious flaws: the "golden window" before and after a collision is not effectively utilized, which may lead to risks such as damage to vehicle assets and goods, and fire. Summary of the Invention

[0004] This invention provides an unmanned logistics vehicle and its safety collaborative processing system and method. The safety collaborative processing system confirms the trigger source through a trigger module and controls the execution module to perform a series of pre-programmed hardware-level safety collaborative processing actions through a control module, so as to minimize electrical safety risks and improve the safety of vehicles and goods.

[0005] According to one aspect of the present invention, a safety collaborative processing system for an unmanned logistics vehicle is provided, comprising a triggering module, a control module, and an execution module, wherein the triggering module and the execution module are both connected to the control module; The triggering module is used to monitor the triggering signals during the driving process of the unmanned logistics vehicle; When the triggering module detects the trigger signal, the control module sends a security coordination control command to the execution module; The execution module executes at least two preset actions sequentially according to the security coordination control instructions.

[0006] Optionally, the triggering module includes a primary triggering module, which includes a mechanical contact edge disposed at at least one edge of the unmanned logistics vehicle, and the triggering signal during the operation of the unmanned logistics vehicle includes a collision signal of the mechanical contact edge.

[0007] Optionally, the mechanical contact may include a normally open reed switch or a micro switch.

[0008] Optionally, the execution module includes a power supply unit. When the execution module receives the safety coordination control command, the power supply unit controls the load other than the driving load in the unmanned logistics vehicle to disconnect from the power.

[0009] Optionally, the triggering module includes a secondary triggering module, which includes an autonomous driving controller, and the triggering signal during the operation of the unmanned logistics vehicle includes a collision warning signal sent by the autonomous driving controller.

[0010] Optionally, the execution module further includes an on-board actuator. When the execution module receives the safety coordination control command, the on-board actuator performs a preset action to control the driving state of the unmanned logistics vehicle.

[0011] Optionally, the execution module further includes a storage unit. When the execution module receives the safety collaborative control command, the storage unit records and stores the operating data of the unmanned logistics vehicle within a preset time.

[0012] Optionally, the execution module further includes a communication unit, which is used to upload the running data to the cloud platform.

[0013] Optionally, the triggering module includes a primary triggering module and a secondary triggering module. The primary triggering module includes a mechanical contact edge disposed at at least one edge of the unmanned logistics vehicle. The secondary triggering module includes an autonomous driving controller. The triggering signals during the operation of the unmanned logistics vehicle include a collision warning signal sent by the autonomous driving controller, a collision warning signal sent by the autonomous driving controller, or a collision warning signal sent by the autonomous driving controller and a collision signal from the mechanical contact edge.

[0014] According to another aspect of the present invention, a safety collaborative processing method for an unmanned logistics vehicle is provided, executed by the aforementioned safety collaborative processing system for the unmanned logistics vehicle, the safety collaborative processing method comprising: The trigger module monitors the trigger signals during the operation of the unmanned logistics vehicle; When the triggering module detects the trigger signal, the control module sends a security coordination control command to the execution module; The execution module executes at least two preset actions sequentially according to the security coordination control instructions.

[0015] Optionally, the triggering module includes a primary triggering module and / or a secondary triggering module. The primary triggering module includes a mechanical contact edge disposed at at least one edge of the unmanned logistics vehicle, and the secondary triggering module includes an autonomous driving controller. The triggering module detects the trigger signal in any of the following ways: The trigger module detects a collision signal from the mechanical contact edge; The triggering module detects the collision warning signal sent by the autonomous driving controller; The triggering module detects the collision warning signal sent by the autonomous driving controller and the collision signal of the mechanical touch edge.

[0016] Optionally, the execution module includes a power supply unit, an on-board actuator, a storage unit, and a communication unit; When the triggering module detects that the trigger signal is a collision signal of the mechanical contact edge, the execution module executes at least two preset handling actions in sequence according to the safety coordination control command, including: The power supply unit controls the power outage of loads other than the driving load in the unmanned logistics vehicle; The on-board actuator performs preset actions to control the driving status of the unmanned logistics vehicle; The storage unit records and stores the operating data of the unmanned logistics vehicle within a preset time period; The communication unit uploads the operational data to the cloud platform; When the triggering module detects that the trigger signal is a collision warning signal sent by the autonomous driving controller, the execution module executes at least two preset handling actions in sequence according to the safety cooperative control command, including: The on-board actuator performs preset actions to control the driving status of the unmanned logistics vehicle; The storage unit records and stores the operating data of the unmanned logistics vehicle within a preset time period; The communication unit uploads the operational data to the cloud platform; When the triggering module detects that the trigger signal is a collision warning signal sent by the autonomous driving controller and a collision signal from the mechanical contact edge, the execution module, according to the safety coordination control command, sequentially executes at least two preset handling actions, including: The on-board actuator performs preset actions to control the driving status of the unmanned logistics vehicle; The power supply unit controls the power outage of loads other than the driving load in the unmanned logistics vehicle; The storage unit records and stores the operating data of the unmanned logistics vehicle within a preset time period; The communication unit uploads the operational data to the cloud platform.

[0017] According to another aspect of the present invention, an unmanned logistics vehicle is provided, including the above-described safety collaborative processing system.

[0018] The safety collaborative processing system for unmanned logistics vehicles provided in this embodiment of the invention includes a triggering module, a control module, and an execution module. Both the triggering module and the execution module are connected to the control module. The triggering module monitors trigger signals during the operation of the unmanned logistics vehicle to identify the trigger source. When the triggering module detects a trigger signal, the control module sends a safety collaborative control command to the execution module. Then, the execution module executes at least two preset handling actions in sequence according to the safety collaborative control command to minimize electrical safety risks and improve the safety of the vehicle and cargo.

[0019] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the structure of a safety collaborative processing system for an unmanned logistics vehicle provided in an embodiment of the present invention; Figure 2 This is a flowchart illustrating a safety collaborative processing method for an unmanned logistics vehicle provided in an embodiment of the present invention. Detailed Implementation

[0022] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. 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 should fall within the scope of protection of the present invention.

[0023] It should be noted that the terminology used in the embodiments of this invention is for the purpose of describing specific embodiments only and is not intended to limit the invention. It should be noted that directional terms such as "above," "below," "left," and "right" described in the embodiments of this invention are used to describe the angles shown in the accompanying drawings and should not be construed as limiting the embodiments of this invention. Furthermore, in the context, it should be understood that when referring to an element being formed "above" or "below" another element, it can be formed not only directly "above" or "below" the other element, but also indirectly "above" or "below" the other element through an intermediate element. The terms "first," "second," etc., are used for descriptive purposes only and do not indicate any order, quantity, or importance, but are only used to distinguish different components. It should be understood that such terms can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having”, and any variations thereof, are intended to cover non-exclusive inclusion, such that a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product, or apparatus.

[0024] Existing collision safety protection solutions for autonomous logistics vehicles suffer from the following main shortcomings: 1) Delayed response and lack of coordinated asset protection: Current systems rely on sensor data processed by the controller to determine if a collision has occurred. This process is lengthy, has high latency, and each system (power, steering, braking, and power distribution) responds independently, lacking a central hub for global, rapid, and coordinated control at the moment of collision to prioritize the protection of the vehicle's electrical assets and cargo. 2) High risk of electrical fires, threatening the vehicle and cargo: Damage to wiring harnesses caused by a collision can turn any electrical equipment into a short circuit and ignition source, especially high-power equipment (such as cold chain compressors) or lithium-battery powered cargo within the container. The existing architecture lacks a mechanism to proactively disconnect non-critical loads at the moment of a collision, and the risk of fire could directly damage the entire vehicle and its cargo. 3) Incomplete data recording affects accident liability determination and insurance: Traditional event data recorders mainly record CAN bus data, but the collision may cause network paralysis, and critical high-frequency electrical transient data (such as sudden changes in current and voltage in each circuit at the moment of collision) cannot be reliably recorded, which is not conducive to accurate analysis of the cause of the accident and rapid insurance claims. 4) Inability to use the "collision confirmed" signal for active asset protection: The mechanical contact edges (anti-collision strips) equipped at the front and rear of the vehicle are the most direct and fastest collision confirmation sensors, but the switching signals they generate are usually only used to trigger alarms and are not deeply integrated with the vehicle safety control system, failing to take advantage of their ultra-high reliability and zero delay to activate active protection programs.

[0025] To address the aforementioned issues, this invention provides a safety collaborative processing system for unmanned logistics vehicles based on multi-level hard-wired triggering. This system aims to fill the gap in collision safety procedures between the point of failure of active collision avoidance and the activation of passive safety mechanisms. The system monitors trigger signals during the unmanned logistics vehicle's operation via a trigger module to identify the trigger source. When the trigger module detects a trigger signal, the control module sends a safety collaborative control command to the execution module. The execution module then executes at least two preset actions sequentially according to the safety collaborative control command, thereby minimizing electrical safety risks and enhancing the safety of the vehicle and cargo.

[0026] Figure 1 This is a schematic diagram of the structure of a safety collaborative processing system for an unmanned logistics vehicle provided in an embodiment of the present invention, with reference to... Figure 1 The safety collaborative processing system includes a trigger module 10, a control module 20, and an execution module 30. Both the trigger module 10 and the execution module 30 are connected to the control module 20. The trigger module 10 is used to monitor trigger signals during the operation of the unmanned logistics vehicle. When the trigger module 10 detects a trigger signal, the control module 20 sends a safety collaborative control command to the execution module 30. The execution module 30 executes at least two preset handling actions in sequence according to the safety collaborative control command.

[0027] The control module 20 can be a domain controller, and the execution module 30 can include multiple actuators in the autonomous logistics vehicle. The trigger module 10 is used to acquire trigger signals during the autonomous logistics vehicle's operation. For example, the trigger signal can be a hard-wired collision signal generated when the front and rear physical contact edges of the autonomous logistics vehicle collide. This signal is used as the highest priority and fastest collision confirmation trigger source. Then, the domain controller is authorized to act as a "regional safety coordinator" for a short period (e.g., 5ms) after the collision, executing a series of pre-programmed hardware-level safety collaborative actions across domains to minimize electrical safety risks and improve vehicle and cargo safety. The trigger signal can also be an emergency warning signal for autonomous driving during the autonomous driving process, before a collision occurs (a collision may or may not occur). This signal can send a preset emergency collision warning message to the domain controller via the high-speed CAN bus. This message has the highest CAN ID priority. The domain controller controls the execution module 30 to control the operation of the autonomous logistics vehicle to avoid collisions or reduce collision losses.

[0028] In one embodiment, optionally, the trigger module 10 includes a primary trigger module, which includes a mechanical contact edge disposed at at least one edge of the unmanned logistics vehicle, and the trigger signal during the driving of the unmanned logistics vehicle includes a collision signal of the mechanical contact edge.

[0029] For example, mechanical contact edges can be set at the front and rear of the autonomous logistics vehicle, such as on the anti-collision strips of the front and rear bumpers, or around the autonomous logistics vehicle, or at the corners. The specific implementation can be designed according to the actual situation. Optionally, the mechanical contact edges include normally open reed switches or microswitches. When a collision occurs, the mechanical contact edge is squeezed, the switch closes instantaneously, generating a passive, low-latency hard-wired switching signal. This signal line is directly and uniquely connected to a dedicated hardware interrupt input pin with the highest interrupt priority on the domain controller. In this embodiment of the invention, a dedicated safety circuit is designed inside the domain controller. The dedicated safety circuit includes: 1) a hardware watchdog and a safety state machine, designed independently of the main CPU, used to monitor the system status and execute uninterruptible safety sequences. Specifically, the hardware watchdog monitors the following: the main CPU's operating status: whether it has crashed, the program has run away, or the watchdog has not been fed within a timeout period. If an anomaly occurs, the watchdog automatically resets the system or triggers a safe state; hard-wired interrupt pin status: whether the collision signal is correctly identified and enters the interrupt service routine; the safe state machine itself: preventing the state machine from entering an illegal state due to software errors; critical output drivers: whether the solid-state relay driver circuit is normal (e.g., whether it is short-circuited or open-circuited); power supply voltage: whether the core power supply is within the normal range. Uninterruptible means: once a collision is confirmed, the sequence is directly executed by the hardware safe state machine, and the main CPU cannot interrupt or overwrite it, ensuring the integrity and reliability of the action. The reason for being uninterruptible is: if the main CPU is executing a high-priority task (such as communication processing) at the moment of the collision, it may delay or skip the safe action. The hardware state machine operates independently, ensuring that these actions can be executed under any circumstances. 2) Multi-channel high-speed, high-current solid-state relay driver circuit: used to control the total power cut-off of non-critical loads. 3) Dedicated data buffer area: a protected independent area is set aside in non-volatile memory, used as an "electrical black box".

[0030] Based on the above embodiments, optionally, the execution module 30 includes a power supply unit, an on-board actuator, and a storage unit. When the execution module 30 receives a safety collaborative control command, the power supply unit controls the load other than the driving load in the unmanned logistics vehicle to be powered off, the on-board actuator performs a preset action to control the driving state of the unmanned logistics vehicle, and the storage unit records and stores the operating data of the unmanned logistics vehicle within a preset time.

[0031] The loads in autonomous logistics vehicles can be divided into critical loads and non-critical loads. Critical loads include the chassis power, steering, braking, critical lights, and communication systems. Non-critical loads include the container locks, container lights, cargo box accessory systems, and non-critical chassis lights. Specifically, critical lights include: headlights (low beam / high beam, essential for nighttime driving, affecting safety), side marker lights, position lights (mandatory, vehicle outline markings), brake lights (rear vehicle warning, critical for safety), turn signals (lane change / turn signal), daytime running lights (improving visibility), fog lights (front and rear, safety in inclement weather), and reversing lights (reversing safety). Non-critical lights include: interior cargo lighting, container door lights (only used during loading and unloading, useless after a collision), cab dome lights / reading lights (comfort lighting), ambient lighting, decorative lights (no safety function), and chassis auxiliary lighting (such as work lights, for maintenance, not essential for driving). During normal operation, the power supply system supplies power to both critical and non-critical loads simultaneously. When a hardwire collision signal is triggered (switch closed), a first-level triggering and transient response (0-50ms after the collision) occurs. The domain controller's hardware interrupt responds immediately, without software polling or complex judgment. The domain controller's safety state machine immediately enters the "collision confirmed" state and sequentially executes the following hardware-level preset actions: Step 1: Power-off of all non-critical loads: By driving solid-state relays, cut off the power supply circuits to all non-critical loads such as container locks, container lights, and container accessory systems (via interfaces such as CON4) within 5ms, as well as non-critical chassis lights and reserved power supplies. Maintain power supply to critical load systems such as chassis power, steering, braking, critical lights, and communication.

[0032] Step 2: Actuator Preload Command Sending: Send a predefined "emergency preload" command to the Electric Power Steering (EPS) system and TwoBox controller via the Power CAN bus. This command causes the EPS motor to generate a small holding torque, keeping the steering column "taut" and pre-pressurizing the TwoBox's brake lines. This state prepares for possible post-collision steering correction or emergency braking.

[0033] Step 3: Trigger high-speed recording of the "electrical black box": Start the high-speed recording mode of the dedicated data buffer area to record the voltage, current, temperature, key CAN messages and its own status of all critical circuits within a preset time period (e.g., 2 seconds) at the highest sampling rate.

[0034] In existing technologies, when a physical collision has already occurred (such as triggering the mechanical contact edges of the vehicle's front and rear bumpers), the vehicle's electrical system remains in a disordered state, which may lead to the following problems: 1) A short circuit may occur in a high-voltage or high-current circuit due to the pulling or squeezing of the wiring harness, causing a fire that endangers vehicle assets and the surrounding environment; 2) Additional damage to the goods due to collision or subsequent loss of control of the vehicle; 3) Critical safety actuators (steering and braking) are not in optimal response state, missing the opportunity for post-collision attitude correction or secondary collision avoidance, increasing the overall risk to the vehicle and cargo; 4) The loss of vehicle electrical status data at critical moments of collision makes it difficult to determine liability for the accident, make insurance claims and make technical improvements.

[0035] The embodiments of the present invention systematically solve the above-mentioned risks by using multi-level hard-wired triggering, domain controller hardware interruption, and pre-programmed safety coordinated actions to simultaneously perform power cut-off, actuator pre-tensioning, and black box recording within milliseconds after a collision occurs.

[0036] 1) After a collision is confirmed (within <5ms), the domain controller cuts off the power supply to all non-critical loads (container locks, lights, accessory systems, etc.) via solid-state relays, while preserving critical systems such as chassis power, steering, braking, and communication, eliminating short circuit points and ignition sources from the source and greatly reducing the risk of electrical fires.

[0037] 2) By pre-treating the power supply, pre-tensioning the actuators, and stabilizing the vehicle's posture during the collision, non-critical loads (such as cold chain compressors and lighting) inside the container are immediately cut off, preventing secondary damage to the cargo due to electrical faults (such as short circuits, fires, or machine failures). The actuator pre-tensioning generates holding torque in the EPS, tightens the steering column, and pre-pressurizes the brake lines of the TwoBox controller, ensuring the vehicle immediately regains a controllable posture after the collision. This allows for rapid correction of direction or braking, preventing secondary collisions or uncontrolled rollovers, thus protecting the cargo from subsequent impacts. 3) The domain controller sends an "emergency command" to the EPS / TwoBox via the high-speed power CAN, causing it to enter the backup / pretension state, resulting in zero-delay response after a collision and significantly improving attitude correction and secondary accident avoidance capabilities.

[0038] 4) An independent protected storage area is set up in the storage unit. Recording is done through an electrical black box and hardware-level locking. After triggering, key electrical parameters (voltage, current, temperature) and CAN data are recorded for 2 seconds at the highest sampling rate, so that they will not be lost even if the network is paralyzed.

[0039] Furthermore, optionally, the execution module 30 also includes a communication unit for uploading runtime data to a cloud platform.

[0040] Specifically, the vehicle-mounted T-Box can automatically upload the "collision event" marker and "electrical black box" data index to the cloud operation platform in real time for accident liability determination, insurance claims, system improvement analysis, etc.

[0041] The data recorded by the electrical black box is divided into the following categories: 1) Electrical transient data at the moment of collision, including voltage waveforms of key circuits (power battery, 12V battery, each distribution branch): to check for abnormal drops or surges and determine the moment of short circuit or open circuit; current waveforms of each circuit: to identify the precise time point of overcurrent or short circuit occurrence; temperature data (key connection points, battery, motor controller): to determine whether there are signs of overheating or fire. 2) Vehicle network data, including CAN / LIN messages within 5 seconds before the collision (vehicle speed, acceleration, steering angle, braking pressure, gear, accelerator pedal, etc.): to restore the vehicle state before the collision; key commands before and after the collision trigger moment (such as whether the autonomous driving system issued braking / steering commands and whether they were executed); 3) Safety system response data, including hard-wired collision trigger timestamps (accurate to microseconds), execution timestamps of various safety actions of the domain controller (power off, pretensioning, recording start), EPS / TwoBox feedback status (whether it entered pretensioning mode, actual response delay). 4) Fault and abnormal indicators, including whether there were any fault codes before the collision (such as sensor failure, communication interruption), and the status of each load before and after the power outage (whether it was successfully disconnected).

[0042] These data can be used for the following applications: Liability determination: clarifying whether the autonomous driving system fulfilled its reasonable obligation to avoid collisions before the collision, or whether the system failed; Fire cause determination: determining whether the fire was caused by the collision or by a vehicle malfunction by analyzing the relationship between the time of current / voltage change and the time of collision; Insurance claims: providing objective electrical and mechanical data to avoid disputes; Technological improvement: analyzing whether the safety actions were fast enough and whether there is room for optimization.

[0043] In another embodiment, optionally, the triggering module 10 includes a secondary triggering module, which includes an autonomous driving controller. The triggering signal during the operation of the unmanned logistics vehicle includes a collision warning signal sent by the autonomous driving controller.

[0044] In this embodiment, the scenario before a collision occurs is applied. The emergency warning for autonomous driving is used as a secondary trigger source. The autonomous driving controller sends a preset emergency collision warning message to the domain controller through the high-speed CAN bus. This message has the highest CAN ID priority.

[0045] Specifically, the collision warning message generation mechanism is as follows: The autonomous driving controller runs a collision prediction algorithm in real time. When the camera, lidar, and other perception sensors predict an extremely high probability of collision between the vehicle and an object in front or to the side within a very short time (e.g., <500ms) (i.e., collision time TTC < preset threshold), this mechanism is triggered. At this time, the autonomous driving controller will immediately issue this preset "emergency collision warning message" with the highest CAN ID priority via the high-speed CAN bus. It is an "irreversible collision trend warning" that integrates relative speed, distance, and trajectory.

[0046] Optionally, the execution module 30 includes an on-board actuator, a storage unit, and a communication unit. When the execution module receives a safety collaborative control command, the on-board actuator performs a preset action to control the driving state of the unmanned logistics vehicle. The storage unit records and stores the operating data of the unmanned logistics vehicle within a preset time. The communication unit is used to upload the operating data to the cloud platform.

[0047] This embodiment differs from the previous embodiments in that, in this embodiment, when the autonomous driving emergency warning message arrives before the hard-wired signal, indicating that a collision may or may not occur, the domain controller enters a "collision warning" state. Therefore, it executes steps similar to those described above (actuator pretensioning) and 3 (start recording), but not step 1 (power off all non-critical loads) because the collision has not yet been physically confirmed, and all vehicle functions must be maintained to perform collision avoidance operations.

[0048] In another embodiment, optionally, the triggering module 10 includes a primary triggering module and a secondary triggering module. The primary triggering module includes a mechanical contact edge disposed at at least one edge of the unmanned logistics vehicle. The secondary triggering module includes an autonomous driving controller. The triggering signals during the operation of the unmanned logistics vehicle include a collision warning signal sent by the autonomous driving controller, a collision warning signal sent by the autonomous driving controller, or a collision warning signal sent by the autonomous driving controller and a collision signal from the mechanical contact edge.

[0049] The secure coordination processing system provided in this embodiment can operate in the following scenarios: Scenario A: There is only a second-level trigger, and no first-level trigger.

[0050] The autonomous driving controller predicts an impending collision using its perception algorithm and sends an emergency warning message via the CAN bus. Upon receiving this message, the domain controller immediately enters "warning mode": That is, by performing step 2 above, the actuator is pre-tightened (EPS holding torque, TwoBox pre-load) and step 3, the electrical black box starts high-speed recording, and the power supply to non-critical loads is not cut off (because the collision has not actually occurred, the vehicle still needs to maintain full control, and it is possible to avoid the collision at the last moment).

[0051] If a collision does not ultimately occur (e.g., the other vehicle swerves to avoid it), the warning will automatically exit after a period of time.

[0052] Scenario B: There is only a first-level trigger, and no second-level trigger.

[0053] A collision occurs suddenly (e.g., being rear-ended by a vehicle, or an obstacle suddenly appearing ahead without the autonomous driving system having time to warn of it), the physical contact edge is compressed, and the hardwire signal directly triggers the domain controller. At this point, the system enters the "Collision Confirmed" state. That is, execute the above steps in sequence: 1. Immediately cut off the power supply to all non-critical loads; 2. Pre-tighten the actuator; 3. Record at high speed using the black box.

[0054] This sequence is used to handle the case of "direct collision without warning".

[0055] Scenario C: After the second-level trigger, the first-level trigger follows.

[0056] The autonomous driving system first issues a warning (level 2 trigger), and the domain controller begins executing the warning sequence; tens of milliseconds later, a collision actually occurs, triggering a hard-wired signal (level 1 trigger). At this point, the domain controller will superimpose a power-off action on top of the warning sequence. While maintaining the actuator preload and the electrical black box continues recording, a new action is added: immediately disconnecting the power supply to non-critical loads, thereby achieving a smooth transition from warning to collision and ultimately completing full asset protection.

[0057] In summary, the secure collaborative processing system provided in this embodiment of the invention includes the following operating conditions: Warning condition: Collision not yet confirmed; retain full controllability.

[0058] Collision condition: Collision confirmed, power outage prioritized to protect assets.

[0059] The two events can occur independently or sequentially. When they occur sequentially, the secondary trigger precedes the primary trigger. However, in this embodiment of the invention, the two are designed as independent trigger sources with different priorities, and the domain controller determines the final set of actions to be executed based on the actual combination of signals received.

[0060] Figure 2This is a flowchart illustrating a safety collaborative processing method for an unmanned logistics vehicle provided in an embodiment of the present invention. It is executed by the safety collaborative processing system for the unmanned logistics vehicle provided in the above embodiment. (Refer to...) Figure 2 The secure collaborative processing method provided in this embodiment of the invention includes: S110, the trigger module monitors the trigger signals during the operation of the unmanned logistics vehicle.

[0061] S120. When the trigger module detects the trigger signal, the control module sends a safety coordination control command to the execution module.

[0062] S130. The execution module executes at least two preset actions in sequence according to the safety coordination control instructions.

[0063] Optionally, the triggering module includes a primary triggering module and / or a secondary triggering module. The primary triggering module includes a mechanical contact edge disposed at at least one edge of the autonomous logistics vehicle, and the secondary triggering module includes an autonomous driving controller. The triggering module detects a trigger signal that includes any of the following: The trigger module detected a collision signal from the mechanical contact edge; The trigger module detected a collision warning signal sent by the autonomous driving controller; The trigger module detected the collision warning signal sent by the autonomous driving controller and the collision signal from the mechanical touch.

[0064] Optionally, the execution module includes a power supply unit, an on-board actuator, a storage unit, and a communication unit; When the trigger module detects a collision signal from a mechanical contact edge, the execution module, according to the safety coordination control instructions, sequentially executes at least two preset handling actions, including: The power supply unit controls the power cut-off of loads other than the driving load in the driverless logistics vehicle; The onboard actuators perform preset actions to control the driving status of the driverless logistics vehicle; The storage unit records and stores the operating data of the driverless logistics vehicle within a preset time period; The communication unit uploads operational data to the cloud platform; When the trigger module detects that the trigger signal is a collision warning signal sent by the autonomous driving controller, the execution module executes at least two preset actions in sequence according to the safety cooperative control instructions, including: The onboard actuators perform preset actions to control the driving status of the driverless logistics vehicle; The storage unit records and stores the operating data of the driverless logistics vehicle within a preset time period; The communication unit uploads operational data to the cloud platform; When the trigger module detects that the trigger signal is a collision warning signal sent by the autonomous driving controller and a collision signal from the mechanical contact edge, the execution module, according to the safety cooperative control instructions, sequentially executes at least two preset handling actions, including: The onboard actuators perform preset actions to control the driving status of the driverless logistics vehicle; The power supply unit controls the power cut-off of loads other than the driving load in the driverless logistics vehicle; The storage unit records and stores the operating data of the driverless logistics vehicle within a preset time period; The communication unit uploads the operational data to the cloud platform.

[0065] The structure, function, and working method of the security collaborative processing system can be referred to the aforementioned embodiments, and will not be described in detail here.

[0066] This invention also provides an unmanned logistics vehicle, including any of the safety collaborative processing systems provided in the above embodiments.

[0067] Since the unmanned logistics vehicle provided in this embodiment of the invention includes any of the safety collaborative processing systems provided in the above embodiments and has the same or corresponding technical effects, it will not be described in detail here.

[0068] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A safety coordination processing system of an unmanned logistics vehicle, characterized in that, It includes a trigger module, a control module, and an execution module, wherein the trigger module and the execution module are both connected to the control module; The triggering module is used to monitor trigger signals during the operation of the unmanned logistics vehicle; When the triggering module detects the trigger signal, the control module sends a security coordination control command to the execution module; The execution module executes at least two preset actions sequentially according to the security coordination control instructions.

2. The safety coordination processing system of the unmanned logistic vehicle according to claim 1, wherein, The triggering module includes a primary triggering module, which includes a mechanical contact edge disposed at at least one edge of the unmanned logistics vehicle. The triggering signal during the operation of the unmanned logistics vehicle includes a collision signal from the mechanical contact edge.

3. The safety coordination processing system of the unmanned logistic vehicle according to claim 2, wherein, The mechanical contact includes a normally open reed switch or a micro switch.

4. The safety coordination processing system of the unmanned logistics vehicle according to claim 2, wherein, The execution module includes a power supply unit. When the execution module receives the safety coordination control command, the power supply unit controls the load other than the driving load in the unmanned logistics vehicle to disconnect from the power.

5. The safety coordination processing system of the unmanned logistics vehicle according to claim 1, wherein, The triggering module includes a secondary triggering module, which includes an autonomous driving controller. The triggering signals during the operation of the unmanned logistics vehicle include collision warning signals sent by the autonomous driving controller.

6. The safety coordination system of claim 4 or 5, wherein, The execution module also includes an on-board actuator. When the execution module receives the safety coordination control command, the on-board actuator performs a preset action to control the driving status of the unmanned logistics vehicle.

7. The safety coordination processing system of the unmanned logistic vehicle according to claim 6, wherein, The execution module also includes a storage unit. When the execution module receives the safety coordination control command, the storage unit records and stores the operation data of the unmanned logistics vehicle within a preset time.

8. The safety coordination processing system of the unmanned logistic vehicle according to claim 7, wherein, The execution module also includes a communication unit, which is used to upload the running data to the cloud platform.

9. The safety coordination processing system of an unmanned logistics vehicle according to claim 1, wherein, The triggering module includes a primary triggering module and a secondary triggering module. The primary triggering module includes a mechanical contact edge disposed at at least one edge of the unmanned logistics vehicle. The secondary triggering module includes an autonomous driving controller. The triggering signals during the operation of the unmanned logistics vehicle include a collision warning signal sent by the autonomous driving controller, a collision warning signal sent by the autonomous driving controller, or a collision warning signal sent by the autonomous driving controller and a collision signal from the mechanical contact edge.

10. A method for safe collaborative processing of unmanned logistics vehicles, characterized in that, The safety collaborative processing method, executed by the safety collaborative processing system of any one of claims 1 to 9, comprises: The trigger module monitors the trigger signals during the operation of the unmanned logistics vehicle; When the triggering module detects the trigger signal, the control module sends a security coordination control command to the execution module; The execution module executes at least two preset actions sequentially according to the security coordination control instructions.

11. The safety collaborative processing method for unmanned logistics vehicles according to claim 10, characterized in that, The triggering module includes a primary triggering module and / or a secondary triggering module. The primary triggering module includes a mechanical contact edge disposed at at least one edge of the unmanned logistics vehicle. The secondary triggering module includes an autonomous driving controller. The triggering module detects the trigger signal in any of the following situations: The trigger module detects a collision signal from the mechanical contact edge; The triggering module detects the collision warning signal sent by the autonomous driving controller; The triggering module detects the collision warning signal sent by the autonomous driving controller and the collision signal of the mechanical touch edge. 12.The method of claim 11, wherein, The execution module includes a power supply unit, an on-board actuator, a storage unit, and a communication unit; When the triggering module detects that the trigger signal is a collision signal of the mechanical contact edge, the execution module executes at least two preset handling actions in sequence according to the safety coordination control command, including: The power supply unit controls the power outage of loads other than the driving load in the unmanned logistics vehicle; The on-board actuator performs preset actions to control the driving status of the unmanned logistics vehicle; The storage unit records and stores the operating data of the unmanned logistics vehicle within a preset time period; The communication unit uploads the operational data to the cloud platform; When the triggering module detects that the trigger signal is a collision warning signal sent by the autonomous driving controller, the execution module executes at least two preset handling actions in sequence according to the safety cooperative control command, including: The on-board actuator performs preset actions to control the driving status of the unmanned logistics vehicle; The storage unit records and stores the operating data of the unmanned logistics vehicle within a preset time period; The communication unit uploads the operational data to the cloud platform; When the triggering module detects that the trigger signal is a collision warning signal sent by the autonomous driving controller and a collision signal from the mechanical contact edge, the execution module, according to the safety coordination control command, sequentially executes at least two preset handling actions, including: The on-board actuator performs preset actions to control the driving status of the unmanned logistics vehicle; The power supply unit controls the power outage of loads other than the driving load in the unmanned logistics vehicle; The storage unit records and stores the operating data of the unmanned logistics vehicle within a preset time period; The communication unit uploads the operational data to the cloud platform.

13. An unmanned logistics vehicle comprising: Includes the secure collaborative processing system described in any one of claims 1 to 9.

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