Vehicle-mounted module, anti-collision system and control system of unmanned vehicle

Abstract

The utility model provides a vehicle-mounted module, an anti-collision system and a control system of an unmanned vehicle. The vehicle-mounted module comprises a first satellite positioning device, a first communication device and a first radio frequency signal receiving and transmitting device, the first satellite positioning device is arranged on the first vehicle and is used for determining satellite positioning information of the vehicle in real time; the first communication device is arranged on the first vehicle and is used for communicating with a second communication device of a second vehicle so as to obtain satellite positioning information of the second vehicle; the first radio-frequency signal receiving and transmitting device is arranged on the first vehicle and used for receiving a radio-frequency signal sent by a second radio-frequency signal receiving and transmitting device on the second vehicle, and the radio-frequency signal received by the first vehicle carries information of the relative distance between the first vehicle and the second vehicle.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of unmanned vehicles, and particularly relates to a vehicle-mounted module, a collision prevention system and a control system of an unmanned vehicle. BACKGROUND

[0002] With the development of unmanned driving technology, more and more operation scenarios use unmanned vehicles, for example, mine scenarios. In the operation process of the unmanned vehicle, the real-time positioning information of other vehicles is usually needed to be known to realize mutual cooperation in the operation process or to ensure the driving safety in the driving process. In the related art, the unmanned vehicle usually relies on a cloud platform to obtain the real-time positioning information of other vehicles. In terms of inter-vehicle communication, the cloud platform can act as a relay station for communication between unmanned vehicles to help vehicles share positioning information in real time.

[0003] However, the real-time performance of the unmanned vehicle in obtaining the positioning information of other vehicles by relying on the cloud platform is poor. There is a risk of network interruption between the unmanned vehicle and the cloud platform, and if the network signal is unstable or interrupted, the positioning information of the other vehicle cannot be obtained in time by the unmanned vehicle. In addition, there may be a delay problem in the transmission of information. The data is sent from the unmanned vehicle to the cloud platform and then transmitted from the cloud platform to other vehicles, which requires a certain time. In the scenario of high-speed driving, even a short delay may cause danger. For example, when an unmanned vehicle needs to brake urgently, the information is transmitted to the rear vehicle through the cloud platform, and if the delay time is too long, the rear vehicle may not be able to take braking measures in time, thereby causing a rear-end collision accident. Moreover, with the increase in the number of unmanned vehicles, the communication load of the cloud platform will also increase, and the delay may be further aggravated. UTILITY MODEL CONTENT

[0004] The present disclosure provides a vehicle-mounted module, a collision prevention system and a control system of an unmanned vehicle to solve the problem that the real-time performance of the existing unmanned vehicle in obtaining the positioning information of other vehicles through a cloud platform is poor, which increases the risk.

[0005] To solve the above problems, in a first aspect, the present disclosure provides a vehicle-mounted module, comprising: a first satellite positioning device, a first communication device and a first radio frequency signal transceiver device;

[0006] The first satellite positioning device is arranged on a first vehicle and is configured to determine the satellite positioning information of the vehicle in real time.

[0007] The first communication device is arranged on the first vehicle and is configured to communicate with a second communication device of a second vehicle to obtain the satellite positioning information of the second vehicle.

[0008] The first radio frequency signal transceiver is arranged on the first vehicle and is configured to receive a radio frequency signal transmitted by a second radio frequency signal transceiver arranged on a second vehicle, wherein the radio frequency signal received by the first vehicle carries information about a relative distance between the first vehicle and the second vehicle.

[0009] With reference to the first aspect, in a possible implementation, the vehicle-mounted module further includes: a posture detection sensor arranged on the first vehicle and configured to determine an orientation of the first vehicle in real time.

[0010] With reference to the first aspect, in a possible implementation, the vehicle-mounted module further includes: an inertial navigation system arranged on the first vehicle and configured to determine acceleration and / or angular velocity information of the first vehicle in real time.

[0011] With reference to the first aspect, in a possible implementation, the radio frequency signal transmitted between the first radio frequency signal transceiver and the second radio frequency signal transceiver attenuates as the distance between the two vehicles increases.

[0012] The second aspect provides a collision avoidance system, including: a first vehicle and a second vehicle, wherein the first vehicle is provided with the vehicle-mounted module according to the first aspect or any possible implementation of the first aspect.

[0013] With reference to the second aspect, in a possible implementation, the collision avoidance system further includes:

[0014] The warning device is in communication with the vehicle-mounted module and is configured to output an alarm information, wherein the alarm information is used to represent a collision risk between the first vehicle and the second vehicle.

[0015] With reference to the second aspect, in a possible implementation, the warning device includes at least one of the following devices: a display device, a warning light and an audio output device.

[0016] The display device is configured to display at least one of the following information of the first vehicle and the second vehicle: a position, an orientation and a distance between the first vehicle and the second vehicle.

[0017] The warning light is configured to emit a corresponding warning signal for different distances.

[0018] The audio output device is configured to output a corresponding prompt audio for different distances.

[0019] With reference to the second aspect, in a possible implementation, the collision avoidance system further includes:

[0020] The warning device is arranged at an end of a vehicle or at a cloud platform.

[0021] In a third aspect, a control system of an unmanned vehicle is provided, and includes the anti-collision system of the second aspect or any possible implementation manner of the second aspect.

[0022] In a possible implementation manner of the third aspect, the first vehicle or the second vehicle is one of the following unmanned vehicles: a mining truck, a shovel, a bulldozer, and a water truck.

[0023] The beneficial effects of the embodiments of the present disclosure include:

[0024] The control system of the unmanned vehicle provided by the embodiments of the present disclosure includes: a first satellite positioning device, a first communication device, and a first radio frequency signal transceiver device; the first satellite positioning device is arranged on the first vehicle and is configured to determine satellite positioning information of the vehicle in real time; the first communication device is arranged on the first vehicle and is configured to communicate with a second communication device of a second vehicle to obtain satellite positioning information of the second vehicle; and the first radio frequency signal transceiver device is arranged on the first vehicle and is configured to receive a radio frequency signal transmitted by a second radio frequency signal transceiver device on the second vehicle, wherein the radio frequency signal received by the first vehicle carries information of a relative distance between the first vehicle and the second vehicle. The vehicle-mounted module provided by the embodiments of the present disclosure can be installed on a vehicle, the first communication device and the first radio frequency signal transceiver device of the vehicle-mounted module can respectively directly communicate with corresponding devices of a vehicle-mounted module installed on another vehicle, without needing to be transferred through a cloud platform, and the satellite positioning information of the second vehicle is obtained through the first communication device, and the relative distance information of the second vehicle is obtained through the first radio frequency signal transceiver device, so that the positioning information of another vehicle can be obtained in time, the real-time performance is high, and the risk of the vehicle is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 FIG. 1 is a structural schematic diagram of a vehicle-mounted module provided by an embodiment of the present disclosure;

[0026] Figure 2 FIG. 2 is another structural schematic diagram of a vehicle-mounted module provided by an embodiment of the present disclosure. DETAILED DESCRIPTION

[0027] The control system of the unmanned vehicle provided by the embodiments of the present disclosure includes: a first satellite positioning device, a first communication device, and a first radio frequency signal transceiver device; the first satellite positioning device is arranged on the first vehicle and is configured to determine satellite positioning information of the vehicle in real time; the first communication device is arranged on the first vehicle and is configured to communicate with a second communication device of a second vehicle to obtain satellite positioning information of the second vehicle; and the first radio frequency signal transceiver device is arranged on the first vehicle and is configured to receive a radio frequency signal transmitted by a second radio frequency signal transceiver device on the second vehicle, wherein the radio frequency signal received by the first vehicle carries information of a relative distance between the first vehicle and the second vehicle. The vehicle-mounted module provided by the embodiments of the present disclosure can be installed on a vehicle, the first communication device and the first radio frequency signal transceiver device of the vehicle-mounted module can respectively directly communicate with corresponding devices of a vehicle-mounted module installed on another vehicle, without needing to be transferred through a cloud platform, and the satellite positioning information of the second vehicle is obtained through the first communication device, and the relative distance information of the second vehicle is obtained through the first radio frequency signal transceiver device, so that the positioning information of another vehicle can be obtained in time, the real-time performance is high, and the risk of the vehicle is reduced.

[0028] The control system of the unmanned vehicle provided by the embodiments of the present disclosure includes: a first satellite positioning device, a first communication device, and a first radio frequency signal transceiver device; the first satellite positioning device is arranged on the first vehicle and is configured to determine satellite positioning information of the vehicle in real time; the first communication device is arranged on the first vehicle and is configured to communicate with a second communication device of a second vehicle to obtain satellite positioning information of the second vehicle; and the first radio frequency signal transceiver device is arranged on the first vehicle and is configured to receive a radio frequency signal transmitted by a second radio frequency signal transceiver device on the second vehicle, wherein the radio frequency signal received by the first vehicle carries information of a relative distance between the first vehicle and the second vehicle. The vehicle-mounted module provided by the embodiments of the present disclosure can be installed on a vehicle, the first communication device and the first radio frequency signal transceiver device of the vehicle-mounted module can respectively directly communicate with corresponding devices of a vehicle-mounted module installed on another vehicle, without needing to be transferred through a cloud platform, and the satellite positioning information of the second vehicle is obtained through the first communication device, and the relative distance information of the second vehicle is obtained through the first radio frequency signal transceiver device, so that the positioning information of another vehicle can be obtained in time, the real-time performance is high, and the risk of the vehicle is reduced. Figure 1As shown, it comprises: a first satellite positioning device 101, a first communication device 102 and a first radio frequency signal transceiver device 103;

[0029] The first satellite positioning device 101 is arranged on the first vehicle and is used to determine the satellite positioning information of the vehicle in real time.

[0030] The first communication device 102 is arranged on the first vehicle and is used to communicate with the second communication device 102 of the second vehicle to obtain the satellite positioning information of the second vehicle.

[0031] The first radio frequency signal transceiver device 103 is arranged on the first vehicle and is used to receive the radio frequency signal transmitted by the second radio frequency signal transceiver device 103 on the second vehicle, wherein the radio frequency signal received by the first vehicle carries the information of the relative distance between the first vehicle and the second vehicle.

[0032] In the embodiments of the present disclosure, in order to solve the risk caused by information delay in the prior art that vehicles (for example: unmanned vehicles) transmit information through a cloud platform, a vehicle-mounted module for realizing direct communication between vehicles is designed. The vehicle-mounted module is a hardware device that can be installed on a vehicle and contains at least two devices for communication, namely the first communication device 102 and the first radio frequency signal transceiver device 103.

[0033] The first radio frequency signal transceiver device 103 can include a communication device using radio frequency (RF, Radio Frequency) 433 regional radio frequency communication technology, with a frequency range of 433.05 MHz to 434.79 MHz. RF433 is a wireless communication technology working at 433 MHz frequency band, belonging to ISM (Industrial, Scientific and Medical) frequency band, which can be used without applying for permission. The radio waves in this frequency band have a longer wavelength and better penetration ability, suitable for long-distance transmission at low data rate. The transmission distance is usually between tens of meters and hundreds of meters, depending on the transmission power, reception sensitivity and environmental factors. For example, in an open environment, the transmission distance of a small power module can reach 500 meters, and the transmission distance of a large power module can reach 800 meters. The power consumption is low, suitable for battery-powered devices. For example, the quiescent current is less than 0.1 μA, and the transmitting current is less than 35 mA. In the mine application scenario, it is suitable for unmanned vehicles to communicate directly at a relatively close distance.

[0034] The first radio frequency signal transceiver device 103 can include an RF433 MHz transmitter module for transmitting data, an RF433 MHz receiver module for receiving data, and a microcontroller for controlling the transmitter and receiver.

[0035] The first communication device 102 can include direct communication methods other than RF 433 region radio frequency communication technology, such as: dedicated short-range communication (DSRC, Dedicated Short Range Communication), cellular vehicle-to-everything (C-V2X, Cellular-Vehicle-to-Everything), wireless local area network (WLAN, Wireless Local Area Network), Bluetooth communication, millimeter wave communication, optical communication, etc. When implemented, one or more communication technologies can be used according to the needs of the first communication device 102. After determining the selected communication technology, the first communication device 102 can include the corresponding hardware. In addition, the first communication device 102 can be installed at the front or top of the vehicle during installation to ensure signal coverage and reduce signal obstruction.

[0036] Taking cellular vehicle-to-everything as an example, the first communication device 102 can include: a C-V2X communication module (supporting Long Term Evolution Vehicle-to-Everything (LTE-V2X) or 5G New Radio (NR-V2X) standards for vehicle-to-everything, working in the 5.9GHz frequency band (such as 5905-5925MHz)), an antenna (a high-gain, low-loss antenna for transmitting and receiving wireless signals), a processor and a memory (for processing communication data and running communication protocol stacks), and an interface (including a CAN interface (communicating with the vehicle bus), an Ethernet interface (communicating with the vehicle gateway), etc. In addition, after installation is complete, communication parameters need to be configured, which can be set using a configuration tool, such as frequency, power, modulation method, etc.; and network parameters, such as APN (access point name), IP address, etc.

[0037] In the embodiments of the present disclosure, the first vehicle and the second vehicle can each be installed with a vehicle-mounted module, the satellite positioning information of the first vehicle is determined in real time by the first satellite positioning device, the satellite positioning information of the first vehicle is sent to the second vehicle by the first communication device, and the satellite positioning information sent by the second vehicle is received, in addition, the relative distance information between the first vehicle and the second vehicle can also be obtained by receiving the radio frequency signal sent by the second vehicle through the first radio frequency signal transceiver, and the first radio frequency signal transceiver can also send a radio frequency signal to the second vehicle and carry the relative distance information between the first vehicle and the second vehicle determined by the first vehicle.

[0038] In this way, the first vehicle and the second vehicle can directly interact with each other in satellite positioning information through the first communication device and the second communication device, and directly interact with each other in the determined relative distance information through the first radio frequency signal transceiver device and the second radio frequency signal transceiver device, and can directly communicate with other vehicles without the mediation of the cloud platform, can obtain the positioning information and the distance information of other vehicles in a timely manner, and improve the safety of the unmanned vehicle. Moreover, different information is transmitted through different hardware communication devices, further ensuring the safety of the unmanned vehicle.

[0039] Further, the relative distance information between the vehicles can be determined through the satellite positioning information of the two vehicles. The satellite positioning technology determines the accurate position of the vehicle by receiving satellite signals and calculating the distance between the vehicle and the satellite. In this way, the first vehicle determines its satellite positioning information through the first satellite positioning device installed thereon, obtains the satellite positioning information of the second vehicle through the first communication device, and determines the distance between the first vehicle and the second vehicle through the satellite positioning information of the first vehicle and the second vehicle. Then, the first radio frequency signal transceiver device sends the calculated relative distance to the second vehicle. At the same time, the first vehicle can also obtain the relative distance between the two vehicles determined by the second vehicle through the first radio frequency signal transceiver device, compare the two relative distances, and correct one of them, further ensuring the safety of the vehicle.

[0040] In yet another embodiment provided in the present disclosure, as shown in Figure 2 The vehicle-mounted module further comprises:

[0041] The attitude detection sensor 201 is arranged on the first vehicle and is used to determine the orientation of the vehicle in real time.

[0042] In the embodiment of the present disclosure, the vehicle-mounted module can further comprise an attitude detection sensor 201 for real-time detection of the orientation of the first vehicle. Since the satellite positioning information of the second vehicle can be obtained through the first communication device, and the relative distance between the first vehicle and the second vehicle can be obtained through the first radio frequency signal transceiver device, if the first vehicle and the second vehicle do not exist in conflict, for example, driving in the same direction, or the driving routes predicted according to the orientations of the two vehicles will not intersect, the risk of collision will be greatly reduced. Therefore, the orientation of the vehicle can also be determined through the attitude detection sensor to more accurately determine whether the vehicle exists in the risk of collision.

[0043] The attitude detection sensor 201 is generally used to measure the three-dimensional attitude (such as the pitch angle, the roll angle and the yaw angle) of the vehicle, and the acceleration and angular velocity of the vehicle and the like. It can be implemented as an inertial measurement unit (IMU), which is a commonly used attitude detection sensor and can measure the acceleration and angular velocity of the vehicle. The acceleration of the vehicle in three axial directions can be measured by an accelerometer, the angular velocity of the vehicle in three axial directions can be measured by a gyroscope, and the pitch angle, the roll angle and the yaw angle of the vehicle can be calculated by fusing the data of the accelerometer and the gyroscope. The attitude detection sensor 201 can also include a magnetometer for measuring the direction and strength of the earth's magnetic field. The yaw angle of the vehicle relative to the geographic north direction is provided by the magnetometer. The orientation of the vehicle can be determined by combining the IMU and the magnetometer.

[0044] The attitude detection sensor 201 can also be implemented as a visual sensor (detecting the attitude of the vehicle through image processing technology), a laser radar (generating a point cloud map of the environment around the vehicle, and the attitude and position of the vehicle can be detected by analyzing the point cloud map), a combined sensor system (combining multiple sensors such as IMU, magnetometer, camera, laser radar, etc. to improve the accuracy and reliability of attitude detection), etc. Here, no longer described.

[0045] In yet another embodiment provided by the present disclosure, as shown in Figure 2 The vehicle-mounted module further comprises:

[0046] The inertial navigation system 202 is arranged on the first vehicle and is used to determine the acceleration and / or angular velocity information of the vehicle in real time.

[0047] The inertial navigation system 202 (INS) is an autonomous navigation system that uses inertial sensors (such as accelerometers and gyroscopes) to measure and calculate the position, velocity and attitude of a carrier (such as an airplane, a ship, a vehicle, etc.). It does not rely on external signals (such as GPS satellite signals), so it can work independently in environments without external navigation signals (such as underwater, indoors or areas where GPS signals are blocked). The high-precision absolute position information of the satellite positioning system can be fused with the high-dynamic performance and short-time high-precision information of the inertial navigation system. The high-precision absolute position information provided by the satellite positioning system corrects the cumulative error of the inertial navigation system, and the high-dynamic performance and short-time high-precision information provided by the inertial navigation system provides navigation information when satellite signals are unavailable. By combining the advantages of both, more accurate position information is determined for the unmanned vehicle.

[0048] In yet another embodiment provided by the present disclosure, the radio frequency signals transmitted between the first radio frequency signal transceiver and the second radio frequency signal transceiver attenuate as the distance between the two vehicles increases.

[0049] The attenuation of the radio frequency signal refers to the phenomenon that the energy of the signal gradually weakens in the process of propagation. Such attenuation is inevitable and becomes more significant as the propagation distance increases. If the distance between the two vehicles is far, the risk is also low, and once the distance between the two vehicles becomes closer and closer, the radio frequency signal of the other party that can be detected becomes stronger and stronger, so that the radio frequency communication connection can be established, and the real-time interaction of the relative distance information can be carried out.

[0050] The anti-collision system provided in the embodiments of the present disclosure comprises: a first vehicle and a second vehicle, and the first vehicle is provided with the vehicle-mounted module in any one of the above embodiments of the present disclosure.

[0051] In the embodiments of the present disclosure, the vehicle-mounted module as a hardware device can be installed on the vehicle. If the first vehicle and the second vehicle are both installed with the vehicle-mounted module, the two vehicles can know the positioning information of the other party by interacting the respective satellite positioning information and the respective determined relative distance information, so as to take timely strategies to avoid the risk of collision and form an anti-collision system.

[0052] In another embodiment provided in the present disclosure, the anti-collision system further comprises:

[0053] The warning device is in communication with the vehicle-mounted module and is configured to output alarm information, wherein the alarm information is used to represent that there is a risk of collision between the first vehicle and the second vehicle.

[0054] In the examples of the present disclosure, the anti-collision system can also be provided with a warning device. For the first vehicle and the second vehicle driven by a driver, or the first vehicle and the second vehicle as unmanned vehicles with staff, the collision risk information can be prompted to the driver or the staff, that is, the warning device is provided.

[0055] The warning device can be in communication with the vehicle-mounted module, and the warning device and the vehicle-mounted module are both installed on the vehicle. The communication mode between the two can include various modes, including wired communication mode and wireless communication mode, which will not be described here.

[0056] In another embodiment provided in the present disclosure, the warning device comprises at least one of the following devices: a display device, a warning light and an audio output device.

[0057] The display device is configured to display at least one of the following information of the first vehicle and the second vehicle: position, orientation and distance between the two vehicles.

[0058] The warning light is configured to emit corresponding warning signals for different distances.

[0059] The audio output device is configured to output corresponding prompt audio for different distances.

[0060] In the embodiments of the present disclosure, the early warning device can be implemented in various ways. The display device can include a display screen and the like, and can display at least one of the position, orientation and distance between the first vehicle and the second vehicle in real time through a video or an image, so that the staff on the vehicle can intuitively obtain the current dangerous state of the vehicle; the warning light can emit different warning signals according to the distance between the first vehicle and the second vehicle, for example, different dangerous levels can be distinguished by color, a green light can be emitted when the distance is far, a yellow light can be emitted when the distance is close to a certain extent, and a red light can be emitted when the distance is very close, so that the personnel on the vehicle can have the most intuitive feeling of the dangerous situation; the audio output device can emit corresponding prompt sounds according to different distances, which will not be described here.

[0061] In yet another embodiment provided by the present disclosure, the anti-collision system further comprises:

[0062] The early warning device is arranged at the vehicle end or arranged at the cloud platform.

[0063] In the embodiments of the present disclosure, the early warning device can be arranged at the vehicle end or at the cloud platform according to requirements. In the case that there is no personnel on the unmanned vehicle, the early warning device can be arranged at the cloud platform, so that the management personnel can take timely measures to prevent collision danger.

[0064] The embodiments of the present disclosure provide a control system of an unmanned vehicle, which comprises the anti-collision system of any one of the above embodiments.

[0065] In the embodiments of the present disclosure, a control system of an unmanned vehicle is provided, which can control the unmanned vehicle, such as path planning, decision making, vehicle control and the like. The control system can comprise the anti-collision system provided by any one of the embodiments of the present disclosure.

[0066] In yet another embodiment provided by the present disclosure, the first vehicle or the second vehicle is one of the following unmanned vehicles: a mine truck, a shovel, a bulldozer and a watering truck.

[0067] In the mine operation scene, the first vehicle or the second vehicle can be an unmanned vehicle. For example, a mine truck is a heavy truck specially used for mine transportation, mainly used for transporting materials such as ore, rock and coal; a shovel is an engineering machinery used for excavating, loading and transporting materials; a bulldozer is an engineering machinery used for pushing earthwork, rock, coal and other materials; and a watering truck is a special vehicle used for watering, dust suppression, road cleaning and irrigation.

[0068] Those skilled in the art can understand that the drawings are only schematic diagrams of a preferred embodiment, and the devices in the drawings are not necessarily necessary for implementing the present disclosure.

[0069] Those skilled in the art can understand that the devices in the apparatus in the embodiments can be distributed in the apparatus in the embodiments according to the description of the embodiments, or can be changed to be located in one or more devices different from the embodiments. The devices in the above embodiments can be combined into one device, or can be further split into multiple sub-devices.

[0070] The sequence numbers of the above embodiments of the present disclosure are only for description, and do not represent advantages or disadvantages of the embodiments.

[0071] Obviously, various modifications and variations of the present disclosure can be made by those skilled in the art without departing from the spirit and scope of the disclosure. Thus, it is intended that the present disclosure include modifications and variations of this disclosure within its scope. The modifications and variations of the present disclosure belong to the scope of the claims of the present disclosure and their equivalent technologies.

Claims

1. A vehicle-mounted module, characterized in that, include: A first satellite positioning device, a first communication device, and a first radio frequency signal transceiver; The first satellite positioning device is installed in the first vehicle and is used to determine the satellite positioning information of the vehicle in real time. The first communication device is installed in the first vehicle and is used to communicate with the second communication device of the second vehicle to obtain the satellite positioning information of the second vehicle; The first radio frequency signal transceiver is installed in the first vehicle and is used to receive radio frequency signals transmitted by the second radio frequency signal transceiver on the second vehicle, wherein the radio frequency signal received by the first vehicle carries information about the relative distance between the first vehicle and the second vehicle.

2. The vehicle-mounted module as described in claim 1, characterized in that, Also includes: An attitude detection sensor is installed on the first vehicle to determine the vehicle's orientation in real time.

3. The vehicle-mounted module as described in claim 1, characterized in that, Also includes: An inertial navigation system, installed in the first vehicle, is used to determine the acceleration and / or angular velocity information of the vehicle in real time.

4. The vehicle-mounted module as described in claim 1, characterized in that, The radio frequency signal transmitted between the first radio frequency transceiver and the second radio frequency transceiver attenuates as the distance between the two vehicles increases.

5. A collision avoidance system, characterized in that, include: A first vehicle and a second vehicle, wherein the first vehicle is equipped with an on-board module as described in any one of claims 1-4.

6. The anti-collision system as described in claim 5, characterized in that, Also includes: The warning device communicates with the vehicle module to output alarm information, wherein the alarm information is used to indicate that there is a collision risk between the first vehicle and the second vehicle.

7. The anti-collision system as described in claim 6, characterized in that, The warning device includes at least one of the following: a display device, a warning light, and an audio output device; The display device is used to display at least one of the following information about the first vehicle and the second vehicle: position, orientation, and distance between them; The warning light is used to emit corresponding warning signals for different distances; The audio output device is used to output corresponding prompt audio for different distances.

8. The anti-collision system as described in claim 6, characterized in that, Also includes: The warning device is deployed on the vehicle or on a cloud platform.

9. A control system for an unmanned vehicle, characterized in that, include: The collision avoidance system as described in any one of claims 5-8.

10. The control system for the unmanned vehicle as described in claim 9, characterized in that, The first or second vehicle is one of the following unmanned vehicles: mining truck, excavator, bulldozer, water truck.

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