CN114120472A - Automatic driving vehicle safety management system - Google Patents
Automatic driving vehicle safety management system Download PDFInfo
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- CN114120472A CN114120472A CN202111397293.8A CN202111397293A CN114120472A CN 114120472 A CN114120472 A CN 114120472A CN 202111397293 A CN202111397293 A CN 202111397293A CN 114120472 A CN114120472 A CN 114120472A
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/008—Registering or indicating the working of vehicles communicating information to a remotely located station
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G07C5/0808—Diagnosing performance data
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G07C5/0816—Indicating performance data, e.g. occurrence of a malfunction
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Abstract
The application provides an automatic driving vehicle safety management system, which comprises a vehicle-mounted terminal, a vehicle monitoring center and an operation and maintenance terminal. The vehicle-mounted terminal collects vehicle sensor data in the vehicle running process, detects whether an abnormal event occurs in real time, and sends an abnormal event warning message to inform manual disposal. The vehicle monitoring center provides vehicle end access service and operation and maintenance access service; receiving vehicle sensor data and abnormal event warning messages uploaded by a vehicle terminal through a vehicle terminal access service; and providing a data service interface for the operation and maintenance terminal through the operation and maintenance access service. The fault diagnosis is carried out on the vehicle regularly through the operation and maintenance terminal, whether the vehicle has faults or fault symptoms or not is detected, and a fault diagnosis report is generated. By combining the real-time abnormal event detection of the vehicle-mounted terminal with the periodic fault diagnosis of the operation and maintenance terminal, the abnormal event and the fault symptoms in the vehicle running process can be found in time, and the problem that the running safety of the vehicle cannot be ensured when a person automatically drives the vehicle is not in a driving loop is solved.
Description
Technical Field
The application relates to the technical field of automatic driving, in particular to an automatic driving vehicle safety management system.
Background
An automatic driving vehicle is an intelligent vehicle which realizes an autonomous driving function through an automatic driving control host. The automatic driving vehicle senses external environment information by means of sensors such as a camera, a laser radar and a microwave radar, and can automatically drive without depending on driver intervention under the control of the automatic driving control host by matching with a high-precision map and a high-precision positioning module.
Currently, the automatic driving vehicle on the road cannot be separated from a security officer, and some vehicles can be remotely monitored through video monitoring by the security officer. In the future, the driver is completely liberated only if the safety guard is disengaged. In such a scenario, when a person completely leaves the driving control loop, how to deal with various accidents of the vehicle in the driving process is a problem to be solved. When a vehicle breaks down or a traffic accident occurs, how to carry out emergency treatment in the first time and inform manual intervention treatment is very important for realizing the operation of an unsafe person of an automatic driving vehicle.
The traditional vehicle maintenance is a maintenance mode with fixed intervals, a user carries out maintenance according to the recommended period of a manufacturer, the maintenance mode is generally poor in conservation, resource waste can be caused, sometimes, the vehicle can not be found in time after fault symptoms appear, and the vehicle fault expansion can be caused to influence safety. This problem becomes particularly acute for autonomous vehicles operating in bulk.
Disclosure of Invention
In view of the above, embodiments of the present application provide an autonomous vehicle safety management system, which at least partially solves the problems of safe driving and maintenance management of an autonomous vehicle in which a person is not in a loop.
The embodiment of the application provides an automatic driving vehicle safety management system which is characterized by comprising a vehicle-mounted terminal, a vehicle monitoring center and an operation and maintenance terminal,
the vehicle-mounted terminal collects vehicle sensor data in the vehicle running process, reads vehicle running state data in an automobile ECU (electronic control Unit), detects whether an abnormal event influencing the safe running of the vehicle occurs in the vehicle running process in real time, and transmits the vehicle sensor data, the vehicle running state data and an abnormal event warning message to the vehicle monitoring center;
one or more servers are installed in the vehicle monitoring center and used for storing data and providing vehicle-end access service and operation and maintenance access service; receiving the vehicle sensor data and the abnormal event warning message uploaded by the vehicle terminal through the vehicle terminal access service; providing a data service interface for the operation and maintenance terminal through the operation and maintenance access service;
and the operation and maintenance terminal is connected to the vehicle monitoring center through a network and is used for checking the abnormal event warning message, periodically analyzing the vehicle sensor data to carry out vehicle fault diagnosis and generating a fault diagnosis report.
According to a particular implementation of an embodiment of the present application, the vehicle sensor data includes vehicle vibration data and vehicle sound data; the vehicle driving state data comprises position, speed, steering, throttle opening, brake and automobile ECU fault codes of vehicle driving.
According to a specific implementation manner of the embodiment of the application, the vehicle-mounted terminal comprises a data acquisition and processing unit, a vibration sensor, a sound sensor and a vehicle-mounted communication module;
the vibration sensor is used for acquiring the vehicle vibration data in the vehicle running process;
the sound sensor is used for collecting the vehicle sound data in the vehicle running process;
the data acquisition and processing unit reads data of the sensor and reads vehicle running state information from an automobile ECU (electronic control Unit) through a CAN (controller area network) bus;
the data acquisition and processing unit detects abnormal events according to the acquired data and detects the abnormal events of the vehicle in the driving process in real time, wherein the abnormal events comprise vehicle faults and vehicle collision;
and the data acquisition and processing unit is in communication connection with the vehicle monitoring center through a vehicle-mounted communication module.
According to a specific implementation of an embodiment of the present application,
the vibration sensor is arranged on a vehicle chassis and a gearbox shell and is used for acquiring vibration signals of a vehicle body and a power system in the running process of the vehicle;
the sound sensor is arranged outside the chassis of the vehicle and used for collecting sound in the running process of the vehicle and detecting whether the vehicle has an abnormal event of collision or tire burst.
According to a specific implementation manner of the embodiment of the application, after detecting that an abnormal event occurs in the vehicle running process, the vehicle-mounted terminal judges the grade of the abnormal event according to a predefined abnormal event grading principle, sends an abnormal event warning message to the automatic driving control host, executes an abnormal event handling program, and sends the abnormal event warning message to the vehicle monitoring center to inform manual intervention handling.
According to a specific implementation manner of the embodiment of the application, a database is deployed in the server, the vehicle sensor data and the vehicle running state data of each automatic driving vehicle in the running process are stored in the database, and a vehicle basic information table, an abnormal event warning message table, a vehicle sensor data table, a vehicle running state data table, a vehicle fault diagnosis report table and a vehicle maintenance schedule report table are created in the database.
According to a specific implementation manner of the embodiment of the application, the vehicle-side access service is used for the vehicle-mounted terminal to establish communication connection, and can receive the vehicle running state data, the vehicle sensor data and the abnormal event warning message reported by the vehicle-mounted terminal.
According to a specific implementation manner of the embodiment of the application, the operation and maintenance access service is used for the operation and maintenance terminal to establish communication connection, and is used for completing vehicle registration management, checking the vehicle running state information, pushing an abnormal event warning message to the operation and maintenance terminal, responding to a request of the operation and maintenance terminal, providing vehicle running state data and vehicle sensor data from a database, storing a vehicle fault diagnosis report, and managing data interaction of maintenance planning operation of a vehicle.
According to a specific implementation manner of the embodiment of the application, client software is deployed on the operation and maintenance terminal, and the client software is used for acquiring the vehicle sensor data from the server, evaluating the running condition of the vehicle by calculating the time domain characteristic parameter and the frequency domain characteristic parameter of the vehicle sensor data, judging whether the vehicle has a fault or a fault symptom, generating a fault diagnosis report, and arranging vehicle maintenance according to needs.
Advantageous effects
According to the safety management system for the automatic driving vehicle, the real-time abnormal event detection of the vehicle-mounted terminal is combined with the periodic fault diagnosis of the operation and maintenance personnel, the abnormal event and the fault symptoms in the driving process of the vehicle can be found in time, the maintenance personnel are informed to deal with the abnormal event and the fault symptoms in time, the problem that the automatic driving vehicle cannot guarantee the driving safety of the vehicle when the automatic driving vehicle is not in a driving loop is solved, and the safety management system is particularly suitable for batch operation management of the automatic driving vehicle.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic diagram of an autonomous vehicle safety management system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a vehicle-mounted terminal of an autonomous vehicle safety management system according to an embodiment of the present invention;
FIG. 3 is a hardware block diagram of a data acquisition processing unit of an autonomous vehicle safety management system according to an embodiment of the present invention;
FIG. 4 is a software composition diagram of a data acquisition processing unit of an autonomous vehicle safety management system in accordance with an embodiment of the present invention;
FIG. 5 is a flowchart of a process of a data acquisition processing unit of an autonomous vehicle safety management system according to an embodiment of the present invention;
FIG. 6 is a message interaction diagram of an autonomous vehicle safety management system according to an embodiment of the present invention.
Detailed Description
The embodiments of the present application will be described in detail below with reference to the accompanying drawings.
The following description of the embodiments of the present application is provided by way of specific examples, and other advantages and effects of the present application will be readily apparent to those skilled in the art from the disclosure herein. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. The present application is capable of other and different embodiments and its several details are capable of modifications and/or changes in various respects, all without departing from the spirit of the present application. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It is noted that various aspects of the embodiments are described below within the scope of the appended claims. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and/or function described herein is merely illustrative. Based on the present application, one skilled in the art should appreciate that one aspect described herein may be implemented independently of any other aspects and that two or more of these aspects may be combined in various ways. For example, an apparatus may be implemented and/or a method practiced using any number of the aspects set forth herein. Additionally, such an apparatus may be implemented and/or such a method may be practiced using other structure and/or functionality in addition to one or more of the aspects set forth herein.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present application, and the drawings only show the components related to the present application rather than the number, shape and size of the components in actual implementation, and the type, amount and ratio of the components in actual implementation may be changed arbitrarily, and the layout of the components may be more complicated.
In addition, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects may be practiced without these specific details.
At present, vehicle fault diagnosis technology becomes a hotspot technology concerned by many automobile professionals, an automobile ECU can monitor running data such as engine water temperature, engine rotating speed, air inlet pressure and the like in real time through various sensors, and fault codes are recorded when a vehicle breaks down. The fault diagnosis technology is limited to detecting the fault of the vehicle, lacks of collecting external state information when the vehicle runs, and cannot comprehensively detect the abnormal condition of the vehicle in the running process. The TBOX vehicle-mounted networking terminal realizes a basic vehicle state remote monitoring function, but is only limited to basic safety detection of a vehicle battery and the like, is only limited to vehicle recall of an emergency fault, lacks of comprehensive monitoring of a vehicle running process, and cannot be used for safety monitoring of an automatic driving vehicle.
The embodiment of the application provides an automatic driving vehicle safety management system, and referring to fig. 1, the automatic driving vehicle safety management system comprises a vehicle-mounted terminal, a vehicle monitoring center and an operation and maintenance terminal.
The vehicle-mounted terminal is configured on an automatic driving vehicle, vibration data and sound data in the driving process of the vehicle are collected through a vibration sensor and a sound sensor, automobile ECU data are read through a CAN bus, the driving state of the vehicle is monitored in real time through an abnormal event monitoring algorithm, and when the abnormality such as the fault or the collision affecting the safety of the vehicle is detected, an abnormal event warning message is sent to inform manual intervention handling. The vehicle-mounted terminal uploads the data of the vehicle sensor to a server of a vehicle monitoring center periodically;
the vehicle monitoring center deploys one or more servers for storing data and providing services. Receiving vehicle sensor data uploaded by a vehicle terminal through a vehicle terminal access service; providing a data service interface for the operation and maintenance terminal through the operation and maintenance access service;
the operation and maintenance terminal is connected to the vehicle monitoring center through the operation and maintenance access service, provides an operation management interface for operation and maintenance personnel, can display vehicle running state data, display abnormal event warning messages sent by the vehicle-mounted terminal, performs follow-up treatment process tracking, can check historical state data of the vehicle, performs fault diagnosis on the vehicle, finds fault signs of the vehicle and arranges an overhaul plan.
According to a specific implementation manner of the embodiment of the application, the vehicle-mounted terminal comprises a data acquisition and processing unit, a vibration sensor, a sound sensor and a vehicle-mounted communication module, as shown in fig. 2;
the vibration sensor adopts 2 triaxial acceleration sensors supporting a maximum acceleration range of 80g, and one of the three triaxial acceleration sensors is arranged on a vehicle chassis and is used for collecting vehicle body vibration data in the vehicle running process; and the other one is arranged on a shell of a vehicle gearbox and is used for acquiring vibration data of a power system in the running process of the vehicle.
The sound sensor adopts a noise sensor with 2 measuring ranges not less than 120dB, a dustproof and waterproof outer cover is additionally arranged outside the noise sensor, and the noise sensor is arranged at a proper position outside a vehicle chassis and used for collecting sound and external sound in an engine room in the running process of a vehicle so as to detect whether the vehicle has an abnormal accident of collision or tire burst.
The data acquisition and processing unit adopts an ARM + FPGA framework and is in communication connection with the vehicle monitoring center through the vehicle-mounted communication module, and the hardware structure of the data acquisition and processing unit is shown in figure 3:
the data acquisition and processing unit is connected with the vibration sensor and the sound sensor through an A/D sampling channel; and reading vehicle state data such as speed, position, steering angle, accelerator opening, brake and vehicle ECU fault codes in the vehicle ECU through a CAN bus;
the data acquisition processing unit realizes data acquisition processing and abnormal event detection through compiling programs. The software of the data acquisition and processing unit comprises a sensor data acquisition module, a vehicle running state data acquisition module, an abnormal event detection module and an alarm message sending module, and the functions of the modules are as follows as shown in fig. 4:
and the sensor data acquisition module acquires signals of the vibration sensor and the sound sensor according to preset acquisition parameters.
The vehicle running state data acquisition module CAN acquire vehicle running state data such as speed, position, steering, accelerator opening, brake, vehicle ECU fault codes and the like of a vehicle from the vehicle ECU through the CAN bus.
And the abnormal event detection module is used for detecting whether the vehicle has abnormal events such as vehicle faults or vehicle collisions or not according to the vehicle sensor data and the vehicle running state data. Specifically, sample data of various abnormal events under different working conditions are collected in advance, time domain characteristic parameters (maximum value, root mean square value, peak value factor, pulse factor and the like) or frequency domain characteristic parameters (frequency spectrum, power spectrum, cepstrum and the like) of the sample data are calculated, a threshold value is calibrated, and whether the abnormal events occur or not is judged through the threshold values under different working conditions.
And the alarm message sending module is used for triggering abnormal event alarms of different levels according to the detection result of the abnormal event detection module and a preset abnormal event classification principle, sending the abnormal event alarm message to the automatic driving control host, and controlling the vehicle to finish operations such as low-speed driving to a specified place for inspection or deceleration parking for rescue waiting according to a preset alarm handling response.
In another embodiment, the data acquisition and processing unit further includes a sensor data storage module, a sensor data uploading module, a remote alarm response module, a terminal function self-checking module, and an OTA upgrading module, and referring to fig. 4, the functions of the specific modules are as follows:
the sensor data storage module is used for synchronously recording the acquired vehicle sensor data and the vehicle running state data into a local cache file at regular time;
the sensor data uploading module is used for uploading the local cache file to a vehicle monitoring center server periodically according to a set time interval;
the remote alarm response module is used for receiving fault sign early warning information and background detection alarm information sent by the vehicle monitoring center, sending a signal to the automatic driving control system and controlling the vehicle to run at a low speed to a specified place for overhauling or stop at a reduced speed for waiting for rescue;
the terminal function self-checking module is used for completing function self-checking of the vehicle-mounted terminal when the vehicle-mounted terminal is powered on;
and the OTA upgrading module is used for upgrading the software of the data acquisition and processing unit on line.
Further, the software flow of the data acquisition processing unit is described in detail, and as shown in fig. 5, the method includes the following steps:
s1, reading vehicle running state data from the automobile ECU;
s2, collecting signals of a vibration sensor and a sound sensor;
s3, detecting the abnormal event of the vehicle;
s4, judging whether the running vehicle has an abnormal event or not, and judging the grade of the abnormal event according to a predefined abnormal event grading principle;
s5, according to the abnormal event detected in S4, respectively sending an abnormal event warning message to the automatic driving control host and the vehicle monitoring center;
s6, reporting vehicle running state data such as the position, speed, steering, accelerator opening, brake and vehicle ECU fault codes of the vehicle;
and S7, uploading the vehicle sensor data to the vehicle monitoring center at regular time according to the preset interval.
According to a specific implementation manner of the embodiment of the application, the vehicle monitoring center is a data center which provides data storage, vehicle-side access service and operation and maintenance access service. The vehicle monitoring center can be deployed in an independent data machine room, can also be deployed on a cloud server, and is provided with a plurality of servers according to the needs and network safety protection equipment. Each vehicle-mounted terminal can establish communication with a vehicle monitoring center through the vehicle end access service, report vehicle running state data and vehicle sensor data, and the operation and maintenance terminal can acquire the vehicle running state data through the operation and maintenance access service.
A database is deployed in the server, and the following database tables are created in the database and used for storing relevant data:
vehicle basic information table: the system is used for storing vehicle information, assigning a unique vehicle ID to each vehicle and establishing basic information files, such as information of vehicle types, frame numbers, starting time, all persons and the like.
Vehicle driving state data table: the vehicle running state data storage device is used for storing vehicle running state data reported by each vehicle.
Abnormal event alert message table: the method is used for storing the abnormal event warning message reported by the vehicle-mounted terminal.
Vehicle sensor data table: the vehicle sensor data storage device is used for storing vehicle sensor data uploaded by the vehicle-mounted terminal.
Vehicle fault diagnosis report table: for storing reports of vehicle fault diagnosis.
Vehicle maintenance schedule report table: and the system is used for storing the vehicle maintenance plan made by the operation and maintenance personnel according to the fault diagnosis report.
In this embodiment, the vehicle monitoring center server provides a vehicle access service and an operation and maintenance access service respectively.
The vehicle-end access service can realize the following functions: the registration authorization confirmation after the startup of the vehicle-mounted terminal is completed; receiving vehicle running state data reported by a vehicle-mounted terminal, wherein the vehicle running state data comprises current state information such as vehicle position information; receiving vehicle sensor data reported by a vehicle-mounted terminal; and receiving an abnormal event warning message reported by the vehicle-mounted terminal.
The operation and maintenance access service can realize the following functions:
providing vehicle registration management data interaction, allocating a unique vehicle ID for each vehicle in a database vehicle basic information table, and establishing basic information files, such as information of vehicle types, frame numbers, starting time, all persons and the like;
providing vehicle running state data for the operation and maintenance terminal to obtain the vehicle running state data;
the method comprises the steps of pushing an abnormal event warning message to an operation and maintenance terminal, finishing warning message treatment and confirmation, sending a message with a data acquisition and processing unit of a vehicle when serious faults occur, controlling the vehicle to perform emergency stop or detailed monitoring, sending a message with the data acquisition and processing unit when general faults occur, and controlling the vehicle to finish a task and then overhaul in a specified place or immediately interrupt the task;
responding to the request of the operation and maintenance terminal, and providing vehicle sensor data in the database according to the vehicle ID and the time identifier;
the method comprises the steps of storing a vehicle fault diagnosis report, receiving the fault diagnosis report generated by operation and maintenance personnel on an operation and maintenance terminal, and providing a data basis for vehicle maintenance planning;
and (4) storing a vehicle maintenance plan, wherein operation and maintenance personnel are connected to the service through a terminal, can check vehicle sensor data and historical alarm information, and judge and determine whether the vehicle needs to be maintained.
In this embodiment, the operation and maintenance terminal is deployed on a personal computer, and may be deployed in a centralized manner in one work place or in multiple work places respectively, so as to provide an interactive interface for management operations for operation and maintenance personnel.
The operation and maintenance terminal needs to provide operation functions for the operator, including:
connecting to a vehicle monitoring center and completing login verification;
finishing vehicle registration management according to the authority, finishing vehicle adding and changing operations, and modifying and transmitting modified data to a server database;
checking the vehicle state, and acquiring vehicle running state data from a server, wherein the vehicle running state data comprises state information such as vehicle position, speed and the like;
receiving an abnormal event warning message sent by a vehicle monitoring center;
processing abnormal event alarm information, and arranging manual intervention treatment according to the grade and content of the alarm;
realizing interactive information with a vehicle task management system according to the handling condition of the abnormal event warning message;
acquiring vehicle sensor data, calculating time domain characteristic parameters (maximum value, root mean square value, peak factor, pulse factor and the like) and frequency domain characteristic parameters (frequency spectrum, power spectrum, cepstrum and the like) of the vehicle sensor data, evaluating the running condition of the vehicle by combining a fault diagnosis algorithm and engineer experience, and judging whether the vehicle has faults or fault symptoms;
generating a fault diagnosis report, and uploading the fault diagnosis report to a server of a vehicle monitoring center;
arranging the vehicle to carry out maintenance planning according to the fault diagnosis report, maintaining and maintaining according to a normal maintenance and maintenance plan when the vehicle normally runs, and controlling the vehicle to check and maintain in a maintenance place after a task is finished when a fault sign or a general fault occurs in the vehicle; when the vehicle has serious faults, the vehicle is controlled to decelerate and stop for waiting for rescue and maintenance.
Further, a message interaction relationship of the automatic driving vehicle safety management system according to the embodiment of the present application is described with reference to fig. 6.
On one hand, through the vehicle end access service of the vehicle monitoring center, the vehicle-mounted terminal can realize the following message interaction with the vehicle monitoring center:
1. sending vehicle running state data, namely uploading the vehicle running state data by the vehicle-mounted terminal;
2. sending an abnormal event warning message, judging the grade of an abnormal event according to a predefined abnormal event grading principle after the vehicle-mounted terminal detects that the vehicle has the abnormal event, and sending the abnormal event warning message to a vehicle monitoring center;
3. receiving a vehicle emergency response message to control the automatic driving vehicle to finish low-speed driving to a specified place for overhauling or decelerating and stopping to wait for rescue operation;
4. sending vehicle sensor data, and uploading the vehicle sensor data to a vehicle monitoring center periodically;
5. receiving a vehicle maintenance plan instruction sent by a vehicle monitoring center, and controlling the vehicle to run to a specified place for maintenance;
6. and the software OTA upgrading is used for upgrading the software of the data acquisition processing unit on line.
On the other hand, through the operation and maintenance access service of the vehicle monitoring center, the operation and maintenance terminal can realize the following message interaction with the vehicle monitoring center:
1. receiving vehicle running state data for checking the vehicle state on an operation and maintenance terminal;
2. receiving an abnormal event warning message, displaying the abnormal event warning message on an operation and maintenance terminal, and notifying manual intervention treatment;
3. the operation and maintenance personnel process the abnormal event warning message and send the handling operation to the vehicle-mounted terminal;
4. acquiring vehicle sensor data, periodically carrying out vehicle fault diagnosis, and judging whether a vehicle has a fault or a fault sign;
5. and generating a fault diagnosis report of the vehicle and storing the fault diagnosis report on the server.
In another implementation case, the fault diagnosis algorithm may be deployed on a server of a vehicle monitoring center, and an operation and maintenance person accesses the server through a web browser or a remote desktop connection, to complete the fault diagnosis operation of the vehicle.
More specifically, the abnormal events during the driving of the autonomous vehicle include a vehicle malfunction and a vehicle collision. Common vehicle faults include: insufficient tire pressure, tire blow out, suspension failure, motor abnormal sound, clutch failure, etc. Common vehicle crashes include: malfunction with pedestrians or other vehicles, collision with other road surface obstacles, and vehicle overturn.
In any of the above embodiments, the vehicle-mounted terminal may read data of an automobile event recording system (hereinafter referred to as an automobile EDR) through a CAN interface or other interfaces, and periodically read collision event information detected in the automobile EDR. The vehicle-mounted terminal has three modes for detecting the abnormal event of the vehicle, wherein one mode is a vehicle fault code provided by the self-checking function of the automobile ECU; the second is a vehicle crash event detected by the automotive EDR; and the third is that an abnormal event detection module in the data acquisition and processing unit detects whether abnormal events such as vehicle faults, collisions and the like occur according to the data of the vehicle sensors. The three modes jointly detect the abnormal events in the running process of the vehicle, and can solve the problem that the abnormal events of the vehicle cannot be found in time by the automatic driving vehicle.
In the embodiment, the vehicle abnormal driving event is classified into three warning levels according to the following classification principle:
the first-level alarm is carried out, the vehicle is in serious failure and collision, the vehicle can lose control at any time, the vehicle or personnel safety can be caused when the vehicle continuously runs, and the vehicle must be immediately decelerated and stopped to wait for rescue.
And secondary warning, namely the vehicle is in failure or has failure symptoms, and the vehicle can possibly damage parts while continuously running, but the result that the vehicle is out of control can not be caused. The safety risk of the vehicle can be controlled, and the vehicle can continuously run at a low speed.
And three-level warning is carried out, so that the fault of the non-key parts of the vehicle can not keep the vehicle running in a rated running state, the safety risk caused by the running of the vehicle is very low, and the vehicle can continue to run.
In the above embodiment, the influence of vehicle collision on the vehicle-mounted terminal needs to be evaluated, the vehicle-mounted terminal can be ensured not to be damaged by means of shell reinforcement, proper installation position and the like, and an auxiliary power supply measure can be adopted to ensure that the vehicle-mounted terminal can normally work for more than 60 seconds after power supply interruption. In addition, an active detection function can be added in the vehicle monitoring center, the vehicle-mounted terminal loses contact after being detected to be abnormally closed, and an abnormal event warning message is directly sent to the operation and maintenance terminal to inform operation and maintenance personnel to intervene in treatment.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (9)
1. The safety management system for the automatic driving vehicle is characterized by comprising a vehicle-mounted terminal, a vehicle monitoring center and an operation and maintenance terminal,
the vehicle-mounted terminal collects vehicle sensor data in the vehicle running process, reads vehicle running state data in an automobile ECU (electronic control Unit), detects whether an abnormal event influencing the safe running of the vehicle occurs in the vehicle running process in real time, and transmits the vehicle sensor data, the vehicle running state data and an abnormal event warning message to the vehicle monitoring center;
one or more servers are installed in the vehicle monitoring center and used for storing data and providing vehicle-end access service and operation and maintenance access service; receiving the vehicle sensor data and the abnormal event warning message uploaded by the vehicle terminal through the vehicle terminal access service; providing a data service interface for the operation and maintenance terminal through the operation and maintenance access service;
and the operation and maintenance terminal is connected to the vehicle monitoring center through a network and is used for checking the abnormal event warning message, periodically analyzing the vehicle sensor data to carry out vehicle fault diagnosis and generating a fault diagnosis report.
2. The autonomous-capable vehicle safety management system of claim 1, wherein the vehicle sensor data includes vehicle vibration data and vehicle sound data; the vehicle driving state data comprises position, speed, steering, throttle opening, brake and automobile ECU fault codes of the vehicle.
3. The autonomous-capable vehicle safety management system of claim 2, wherein the on-board terminal comprises a data acquisition processing unit, a vibration sensor, a sound sensor, and an on-board communication module;
the vibration sensor is used for acquiring the vehicle vibration data in the vehicle running process;
the sound sensor is used for collecting the vehicle sound data in the vehicle running process;
the data acquisition and processing unit reads data of the sensor and reads vehicle running state information from an automobile ECU (electronic control Unit) through a CAN (controller area network) bus;
the data acquisition and processing unit detects abnormal events according to the acquired data and detects the abnormal events of the vehicle in the driving process in real time, wherein the abnormal events comprise vehicle faults and vehicle collision;
and the data acquisition and processing unit is in communication connection with the vehicle monitoring center through a vehicle-mounted communication module.
4. The autonomous vehicle safety management system of claim 3,
the vibration sensor is arranged on a vehicle chassis and a gearbox shell and is used for acquiring vibration data of a vehicle body and a power system in the running process of the vehicle;
the sound sensor is arranged outside the chassis of the vehicle and used for collecting sound in the running process of the vehicle and detecting whether the vehicle has an abnormal event of collision or tire burst.
5. The system of claim 1, wherein the vehicle-mounted terminal determines the level of the abnormal event according to a predefined classification rule of the abnormal event after detecting the abnormal event occurring during the driving of the vehicle, sends an abnormal event warning message to the automatic driving control host, executes an abnormal event handling program, and sends the abnormal event warning message to the vehicle monitoring center to notify a human intervention handling.
6. The automated driving vehicle safety management system according to claim 1, wherein a database is deployed in the server, the vehicle sensor data and vehicle running state data of each automated driving vehicle during running are stored in the database, and a vehicle basic information table, an abnormal event warning message table, a vehicle sensor data table, a vehicle running state data table, a vehicle failure diagnosis report table, and a vehicle maintenance schedule report table are created in the database.
7. The system of claim 1, wherein the vehicle-side access service provides the vehicle-mounted terminal to establish a communication connection, and is capable of receiving the vehicle driving state data, the vehicle sensor data, and the abnormal event warning message reported by the vehicle-mounted terminal.
8. The automated driving vehicle safety management system according to claim 1, wherein the operation and maintenance access service provides the operation and maintenance terminal to establish communication connection for completing vehicle registration management, checking the vehicle driving state information, pushing an abnormal event warning message to the operation and maintenance terminal, providing vehicle driving state data and vehicle sensor data from a database in response to the request of the operation and maintenance terminal, saving vehicle fault diagnosis reports, and managing data interaction of vehicle maintenance planning operation.
9. The automated driving vehicle safety management system according to claim 1, wherein a client software is deployed on the operation and maintenance terminal, and the client software is configured to obtain the vehicle sensor data from the server, evaluate the driving condition of the vehicle by calculating the time domain characteristic parameter and the frequency domain characteristic parameter of the vehicle sensor data, determine whether the vehicle has a fault or a symptom of the fault, generate a fault diagnosis report, and schedule vehicle maintenance as needed.
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