CN110194180B - Automatic parking method and system - Google Patents
Automatic parking method and system Download PDFInfo
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- CN110194180B CN110194180B CN201910537793.3A CN201910537793A CN110194180B CN 110194180 B CN110194180 B CN 110194180B CN 201910537793 A CN201910537793 A CN 201910537793A CN 110194180 B CN110194180 B CN 110194180B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/0205—Diagnosing or detecting failures; Failure detection models
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/0225—Failure correction strategy
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Abstract
The invention provides an automatic parking method, which comprises the following steps: the motor driving controller receives node data sent by each functional node of the automatic driving operation unit; the node data includes CRC check data; the CRC data is obtained by calculating the random number distributed by the CRC random number node of the automatic driving operation unit as the functional node; checking the CRC check data; when the verification is unsuccessful, counting as the number of one-time errors; and when the accumulated error times are not less than a preset threshold value, generating parking information and fault information, and sending the fault information to the cloud server. Therefore, under the condition that the automatic driving operation unit cannot work normally, the abnormal working condition of the automatic driving operation unit can be detected quickly, the automatic driving vehicle is stopped and protected, hardware redundancy is not required to be increased, the economical efficiency is good, the method is simple, the number of connecting wire harnesses is small, and the reliability is high.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a method and a system for automatic parking.
Background
The automatic driving technology is a hot topic in recent years, and the automatic driving brings subversive changes in the fields of relieving traffic jam, improving road safety, reducing air pollution and the like. The software architecture of the autopilot computing unit is mostly based on a Robot Operating System (ROS) or modifies the ROS System. The normal operation of the ROS depends on the normal operation of an ROS master node (ROS system master node). In practice, the ROS master node occasionally fails to work properly. In this case, the entire autonomous driving calculation unit may collapse, and the safe and stable operation of the autonomous vehicle may not be ensured.
The methods for ensuring safe and stable operation of the automatic driving calculation unit, which are applied more currently, can be roughly divided into a method for utilizing hardware redundancy of the automatic driving calculation unit and a method for utilizing a software system backup.
The method based on the hardware redundancy of the automatic driving operation unit mainly means that two sets of automatic driving operation units are arranged in the whole unmanned vehicle framework. The main/backup automatic driving operation unit runs the same automatic driving algorithm or the main automatic driving operation unit runs the automatic driving algorithm, and the backup automatic driving operation unit runs the automatic driving safety supervision algorithm. Once the main automatic driving operation unit collapses, the backup automatic driving operation unit can control the whole vehicle to safely and stably stop, and the safety of the unmanned vehicle is ensured.
The method based on software system backup mainly aims to improve an ROS framework and construct a standby main node outside an ROS master node (ROS system main node). And if the main node of the ROS system fails, the software system automatically starts the standby main node to ensure the safe and stable operation of the automatic driving system.
The hardware redundancy method based on the automatic driving arithmetic unit can greatly increase the hardware cost and the complexity of the system architecture. And the switching rule of the automatic driving operation unit needs to be skillfully designed, so that the backup automatic driving operation unit can seamlessly take over the control authority of the automatic driving system after the main automatic driving operation unit breaks down.
The method based on software system backup cannot fundamentally stop the possibility of the crash of the automatic driving operation unit. Software redundancy cannot solve system crash caused by faults caused by aging, damage and the like of hardware components. When a hardware system is crashed, the vehicle cannot be stopped reliably and stably.
Disclosure of Invention
The embodiment of the invention aims to provide an automatic parking method and system, which can solve the problems of hardware cost increase and system architecture complexity increase of a hardware redundancy method in the prior art and the problem of incapability of fundamentally avoiding the possibility of breakdown of an automatic driving operation unit by using software system backup.
To solve the above problem, in a first aspect, the present invention provides a method for automatically parking a vehicle, the method comprising:
the motor driving controller receives node data sent by each functional node of the automatic driving operation unit; the node data includes CRC check data; the CRC data is obtained by calculating the random number distributed to the functional node through the CRC random number node of the automatic driving operation unit;
checking the CRC check data;
when the verification is unsuccessful, counting as the number of one-time errors;
and when the accumulated error times are not less than a preset threshold value, generating parking information and fault information, and sending the fault information to a cloud server.
In a possible implementation manner, before when the accumulated number of errors is greater than a preset threshold, the method further includes:
when the verification is successful, if the current previous accumulated error times are less than a preset threshold value, clearing the current previous accumulated error times.
In one possible implementation, the node data further includes time information; before the checking the CRC check data, the method further includes:
judging whether the time of currently receiving the node data and the time of receiving the node data last time exceed a preset time threshold value or not according to the time information;
when the preset time threshold is exceeded, counting as the number of times of one error;
and when the preset time threshold is not exceeded, checking the CRC data.
In a possible implementation manner, the checking the CRC check data specifically includes:
and dividing the CRC data by a generator polynomial identical to the functional node, and when the remainder is zero, successfully verifying.
In a possible implementation manner, the functional node receives a random number sent by the CRC random number node;
and after the random number is shifted to the left by 3 bits, dividing the random number by a generated polynomial, and forming CRC (cyclic redundancy check) data by using a remainder and the random number.
In one possible implementation manner, the functional nodes include a sensing node, a positioning node, a planning node and a control node.
In a second aspect, the present invention provides an automated parking system, comprising:
the receiving unit is used for receiving node data sent by each functional node of the automatic driving operation unit; the node data includes CRC check data; the CRC data is obtained by calculating the random number distributed to the functional node through the CRC random number node of the automatic driving operation unit;
a checking unit, configured to check the CRC check data;
the statistical unit is used for counting the number of times of one-time error when the verification is unsuccessful;
and the processing unit is used for generating parking information and fault information when the accumulated error times are not less than a preset threshold value, and sending the fault information to the cloud server.
In one possible implementation, the processing unit is further configured to,
when the verification is successful, if the current previous accumulated error times are less than a preset threshold value, clearing the current previous accumulated error times.
In one possible implementation, the node data further includes time information; the system further comprises: a judgment unit;
the judging unit is used for judging whether the time of currently receiving the node data and the time of receiving the node data last time exceed a preset time threshold value or not according to the time information;
the counting unit is further used for counting the number of times of one-time error when the preset time threshold value is exceeded;
the check unit is further configured to check the CRC data when the preset time threshold is not exceeded.
In a possible implementation manner, the verification unit is specifically configured to:
and dividing the CRC data by a generator polynomial identical to the functional node, and when the remainder is zero, successfully verifying.
In a third aspect, the invention provides an apparatus comprising a memory for storing a program and a processor for performing the method of any of the first aspects.
In a fourth aspect, the present invention provides a computer program product comprising instructions which, when run on a computer, cause the computer to perform the method according to any one of the first aspect.
In a fifth aspect, the invention provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the method of any of the first aspects.
By applying the automatic parking method and the automatic parking system provided by the embodiment of the invention, the working state of the automatic driving operation unit can be monitored in real time, the working abnormal condition of the automatic driving operation unit can be rapidly detected, the vehicle can be stably and safely stopped under the condition that the automatic driving operation unit cannot normally work, and the safety of the automatic driving vehicle is protected by parking. The automatic parking method does not need to increase hardware redundancy, and is good in economy, simple, few in connecting wire harness and high in reliability.
Drawings
Fig. 1 is a flowchart of an automatic parking method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a CRC check data generation process;
FIG. 3 is a schematic diagram of a CRC check data checking process;
fig. 4 is a schematic structural diagram of an automatic parking system according to a second embodiment of the present invention.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be further noted that, for the convenience of description, only the portions related to the related invention are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
Fig. 1 is a flowchart of an automatic parking method according to an embodiment of the present invention, in which an execution main body of the method is a motor driving controller, the motor driving controller has a capability of determining that an automatic driving operation unit is abnormal, and is connected to a motor and configured to control a vehicle to stop by controlling the motor. The motor drive controller and the automatic driving operation unit are modules in an automatic driving vehicle. As shown in fig. 1, the method for automatically parking includes the following steps:
Specifically, the automatic driving operation unit comprises a plurality of functional nodes such as a sensing node, a positioning node, a planning node and a control node, and each functional node can broadcast data to the ROS.
A Cyclic Redundancy Check (CRC) random number node may be newly added to the automatic driving operation unit, and the CRC random number node may allocate a random number to the functional node.
In one example, as shown in fig. 2, fig. 2 is a schematic diagram of a CRC check data generation process. The CRC random number node added in the autopilot unit sends a four-bit binary random number 1110 to the functional node as an information field for CRC checking. A fixed generator polynomial 1011 is used, the highest power of which is 3. The number of bits of the random number may be set according to specific situations, which is not limited in the present application, and the generator polynomial may be other fixed polynomials.
And adding a CRC verification field calculation program into the main function of the functional node, wherein the CRC verification field calculation program needs to be operated once in each operation period of the functional node. The calculation process is as follows:
because the fixed generator polynomial is the highest power of 3, the four-bit binary random number 1110 is left-shifted by 3 bits to become 1110000; dividing the result of the random number left-shifted by 3 bits by a generator polynomial, and adopting a modulo two division method to be equivalent to an exclusive or operation; the remainder of the division is written in the last three bits; the random number 1110 is appended with the remainder 100 of the last three bits as CRC check data 1110100.
Specifically, as shown in fig. 3, fig. 3 is a schematic diagram of a CRC check data checking process. First, the motor drive controller receives CRC check data of the functional node through a Controller Area Network (CAN) bus. Then, the motor drive controller uses the same generator polynomial 1011 as the functional node, and the CRC check data 1110100 is divided by the generator polynomial 1011 using modulo two division, thereby realizing the check of the CRC check data.
And 103, counting as the number of times of one error when the verification is unsuccessful.
Specifically, continuing with the previous example, the results of the verification include two types:
one case is that when the remainder is 0, which indicates that the verification is successful, the automatic driving operation unit and the CAN bus operate normally, and if the accumulated error times exist before and are smaller than a preset threshold, the accumulated error times are cleared.
In another case, the remainder is not 0, which indicates that the automatic driving arithmetic unit is abnormally operated, and the accumulated error number is increased once.
Further, the node data also comprises time information, and before verification, whether the time for receiving the node data currently and the time for receiving the node data last time exceed a preset time threshold value is judged through the time information; when the time exceeds the preset time threshold, counting as one error time, namely, the accumulated error time is increased once.
And when the preset time threshold is not exceeded, executing step 102 to perform verification and verification.
And step 104, when the accumulated error times are larger than a preset threshold value, generating parking information and fault information, and sending the fault information to a cloud server.
Specifically, if the accumulated error times is greater than the threshold, it may be determined that the operation of the automatic driving operation unit is in a problem, or that a certain functional node is in a problem, and the motor driving controller generates parking information, which may control the motor to stop operating, so as to control the vehicle to park. And meanwhile, fault information is generated, the fault information comprises a vehicle ID, and after the motor drive controller reports the fault information, the cloud server receives the fault information and processes the fault vehicle.
By applying the automatic parking method provided by the embodiment of the invention, the working state of the automatic driving operation unit can be monitored in real time, the working abnormal condition of the automatic driving operation unit can be rapidly detected, the vehicle can be stably and safely stopped under the condition that the automatic driving operation unit cannot normally work, and the safety of the automatic driving vehicle is protected by parking. The automatic parking method does not need to increase hardware redundancy, and is good in economy, simple, few in connecting wire harness and high in reliability.
Fig. 4 is a schematic structural diagram of an automatic parking system according to a second embodiment of the present invention. As shown in fig. 4, the system for automatically parking a vehicle includes: a receiving unit 401, a checking unit 402, a counting unit 403, a processing unit 404 and a judging unit 405.
The receiving unit 401 is configured to receive node data sent by each functional node of the automatic driving operation unit; the node data includes CRC check data; the CRC data is obtained by calculating the random number distributed by the CRC random number node of the automatic driving operation unit as the functional node;
the checking unit 402 is configured to check the CRC check data;
the counting unit 403 is configured to count the number of times of one error when the verification is unsuccessful;
the processing unit 404 is configured to generate parking information and fault information when the accumulated error times are not less than a preset threshold, and send the fault information to the cloud server.
Further, the processing unit 404 is also configured to,
when the verification is successful, if the accumulated error times exist before currently and are smaller than a preset threshold value, clearing the accumulated error times before currently.
Further, the determining unit 405 is configured to determine, according to the time information, whether the time for currently receiving the node data and the time for receiving the node data last time exceed a preset time threshold;
the counting unit 403 is further configured to count the number of one-time errors when a preset time threshold is exceeded;
the checking unit 402 is further configured to check the CRC data when a preset time threshold is not exceeded.
Further, the verification unit 402 is specifically configured to:
the CRC check data is divided by the same generator polynomial as the functional node, and when the remainder is zero, the verification is successful.
By applying the automatic parking system provided by the first embodiment of the invention, the working state of the automatic driving operation unit can be monitored in real time, the working abnormal condition of the automatic driving operation unit can be rapidly detected, the vehicle can be stably and safely stopped under the condition that the automatic driving operation unit cannot normally work, and the safety of the automatic driving vehicle is protected by parking. The automatic parking method does not need to increase hardware redundancy, and is good in economy, simple, few in connecting wire harness and high in reliability.
The third embodiment of the invention provides equipment, which comprises a memory and a processor, wherein the memory is used for storing programs, and the memory can be connected with the processor through a bus. The memory may be a non-volatile memory such as a hard disk drive and a flash memory, in which a software program and a device driver are stored. The software program is capable of performing various functions of the above-described methods provided by embodiments of the present invention; the device drivers may be network and interface drivers. The processor is used for executing a software program, and the software program can realize the method provided by the first embodiment of the invention when being executed.
A fourth embodiment of the present invention provides a computer program product including instructions, which, when the computer program product runs on a computer, causes the computer to execute the method provided in the first embodiment of the present invention.
The fifth embodiment of the present invention provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the method provided in the first embodiment of the present invention is implemented.
Those of skill would further appreciate that the various illustrative components and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied in hardware, a software module executed by a processor, or a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The above embodiments are provided to further explain the objects, technical solutions and advantages of the present invention in detail, it should be understood that the above embodiments are merely exemplary embodiments of the present invention and are not intended to limit the scope of the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (9)
1. A method of automatically parking a vehicle, the method comprising:
the motor driving controller receives node data sent by each functional node of the automatic driving operation unit; the node data includes CRC check data; the CRC data is obtained by calculating the random number distributed to the functional node through the CRC random number node of the automatic driving operation unit; the functional nodes comprise a sensing node, a positioning node, a planning node and a control node;
checking the CRC check data;
when the verification is unsuccessful, counting as the number of one-time errors;
and when the accumulated error times are not less than a preset threshold value, generating parking information and fault information, and sending the fault information to a cloud server so that the cloud server can process the fault vehicle.
2. The method of claim 1, wherein before the accumulated number of errors is greater than a preset threshold, the method further comprises:
when the verification is successful, if the current previous accumulated error times are less than a preset threshold value, clearing the current previous accumulated error times.
3. The method of claim 1, wherein the node data further comprises time information; before the checking the CRC check data, the method further includes:
judging whether the time of currently receiving the node data and the time of receiving the node data last time exceed a preset time threshold value or not according to the time information;
when the preset time threshold is exceeded, counting as the number of times of one error;
and when the preset time threshold is not exceeded, checking the CRC check data.
4. The method according to claim 1, wherein the checking the CRC check data specifically includes:
and dividing the CRC data by a generator polynomial identical to the functional node, and when the remainder is zero, successfully verifying.
5. The method of claim 1, wherein the functional node receives the random number sent by the CRC random number node;
and after the random number is shifted to the left by 3 bits, dividing the random number by a generated polynomial, and forming CRC (cyclic redundancy check) data by using a remainder and the random number.
6. An automated parking system, comprising:
the receiving unit is used for receiving node data sent by each functional node of the automatic driving operation unit; the node data includes CRC check data; the CRC data is obtained by calculating the random number distributed to the functional node through the CRC random number node of the automatic driving operation unit; the functional nodes comprise a sensing node, a positioning node, a planning node and a control node;
a checking unit, configured to check the CRC check data;
the statistical unit is used for counting the number of times of one-time error when the verification is unsuccessful;
and the processing unit is used for generating parking information and fault information when the accumulated error times are not less than a preset threshold value, and sending the fault information to the cloud server so that the cloud server can process the fault vehicle.
7. The system of claim 6, wherein the processing unit is further configured to,
when the verification is successful, if the current previous accumulated error times are less than a preset threshold value, clearing the current previous accumulated error times.
8. The system of claim 6, wherein the node data further comprises time information; the system further comprises: a judgment unit;
the judging unit is used for judging whether the time of currently receiving the node data and the time of receiving the node data last time exceed a preset time threshold value or not according to the time information;
the counting unit is further used for counting the number of times of one-time error when the preset time threshold value is exceeded;
the check unit is further configured to check the CRC check data when the preset time threshold is not exceeded.
9. The system of claim 6, wherein the verification unit is specifically configured to:
and dividing the CRC data by a generator polynomial identical to the functional node, and when the remainder is zero, successfully verifying.
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| CN111549426B (en) * | 2020-04-15 | 2021-11-19 | 苏州汇川技术有限公司 | Loom galloping protection system and spindle motor driver of loom |
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Address after: B4-006, maker Plaza, 338 East Street, Huilongguan town, Changping District, Beijing 100096 Patentee after: Beijing Idriverplus Technology Co.,Ltd. Address before: B4-006, maker Plaza, 338 East Street, Huilongguan town, Changping District, Beijing 100096 Patentee before: Beijing Idriverplus Technology Co.,Ltd. |
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