CN109189043A - Pilotless automobile condition detection method, device, equipment and storage medium - Google Patents
Pilotless automobile condition detection method, device, equipment and storage medium Download PDFInfo
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- CN109189043A CN109189043A CN201811001576.4A CN201811001576A CN109189043A CN 109189043 A CN109189043 A CN 109189043A CN 201811001576 A CN201811001576 A CN 201811001576A CN 109189043 A CN109189043 A CN 109189043A
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- personal computer
- industrial personal
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
- G05B23/0256—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults injecting test signals and analyzing monitored process response, e.g. injecting the test signal while interrupting the normal operation of the monitored system; superimposing the test signal onto a control signal during normal operation of the monitored system
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24065—Real time diagnostics
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
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Abstract
The present invention provides a kind of pilotless automobile condition detection method, device, equipment and storage medium, send the real-time status of any automated driving system detection to safe industrial personal computer in real time by main industrial personal computer, and be updated by the automated driving system detection state that it is locally stored in safe industrial personal computer, to carry out Real-time Decision according to the updated automated driving system detection state；Simultaneously, main industrial personal computer sends automated driving system full dose state to safe industrial personal computer at interval of the first preset period of time by mutual exclusion thread, so that safe industrial personal computer is updated each automated driving system detection state that the safe industrial personal computer is locally stored according to the automated driving system full dose state, to guarantee the accuracy of the automated driving system detection state stored in safe industrial personal computer, so as to carry out accurate decision according to automated driving system detection state, also the decision made according to the automated driving system detection state of mistake can be corrected in time.
Description
Technical field
The present invention relates to field of communication technology more particularly to a kind of pilotless automobile condition detection methods, device, equipment
And storage medium.
Background technique
Pilotless automobile is a kind of unpiloted to realize by the interior smart machine based on computer system
Automobile integrates numerous technologies such as automatic control, architecture, artificial intelligence, vision calculating, is computer science, mode
The product of identification and intelligent control technology high development, and measure a national research strength and one of industrial level is important
Mark, has broad application prospects in national defence and national economy field.Development side of the automatic driving vehicle as future automobile
To being extensively studied by countries in the world.
The existing settable main industrial personal computer of pilotless automobile and safe industrial personal computer, the communication connection of two industrial personal computers, main industry control
The state of machine testing automated driving system, and the real-time status that will test item is synchronized on safe industrial personal computer in real time and is deposited
Storage；Link state between the main industrial personal computer state of safe industry control machine testing and safe industrial personal computer and main industrial personal computer, is similarly examined
The real-time status for surveying item is synchronized on main industrial personal computer in real time and is stored, and respectively basis prestores rule and determines two industrial personal computers
Plan simultaneously controls pilotless automobile.But in the prior art, since safe industrial personal computer and main industrial personal computer will do it sometimes
Self-test, and each detection state initialization that will be locally stored, therefore will lead to some detection states and be not inconsistent with virtual condition,
Decision is had an impact.
Summary of the invention
The present invention provides a kind of pilotless automobile condition detection method, device, equipment and storage medium, to guarantee safety
The accuracy of each detection state stored in industrial personal computer, thus allows for accurate decision.
The first aspect of the present invention is to provide a kind of pilotless automobile condition detection method, and pilotless automobile is provided with
Main industrial personal computer interconnected and safe industrial personal computer；The described method includes:
The safe industrial personal computer receives the real-time status for any automated driving system detection that the main industrial personal computer is sent,
And the automated driving system detection state that the safe industrial personal computer is locally stored is updated, to be somebody's turn to do according to updated
Automated driving system detection state carries out decision；
The safe industrial personal computer receives the main industrial personal computer and is sent out by mutual exclusion thread at interval of the first preset period of time
The automated driving system full dose state sent；
The safe industrial personal computer is locally stored the safe industrial personal computer according to the automated driving system full dose state
Each automated driving system detection state is updated.
The second aspect of the present invention is to provide a kind of pilotless automobile condition detection method, and pilotless automobile is provided with
Main industrial personal computer interconnected and safe industrial personal computer；The described method includes:
The main industrial personal computer detects automated driving system；
The real-time status of any automated driving system detection is sent to the safe industrial personal computer by the main industrial personal computer, with
It is updated the safe industrial personal computer to the automated driving system detection state being locally stored, and is somebody's turn to do according to updated
Automated driving system detection state carries out decision；
The main industrial personal computer is sent at interval of the first preset period of time to the safe industrial personal computer by mutual exclusion thread
Automated driving system full dose state, so that the safe industrial personal computer deposits its local according to the automated driving system full dose state
Each automated driving system detection state of storage is updated.
The third aspect of the present invention is to provide a kind of pilotless automobile condition checkout gear, and pilotless automobile is provided with
Main industrial personal computer interconnected and safe industrial personal computer；Described device includes:
Communication module, for receiving the real-time status for any automated driving system detection that the main industrial personal computer is sent；
Processing module, the automated driving system detection state for the safe industrial personal computer to be locally stored carry out more
Newly, to carry out decision according to the updated automated driving system detection state；
The communication module is also used to, and receives the main industrial personal computer by mutual exclusion thread at interval of the first preset period of time
Property send automated driving system full dose state；
The processing module is also used to, and is locally deposited according to the automated driving system full dose state to the safe industrial personal computer
Each automated driving system detection state of storage is updated.
The fourth aspect of the present invention is to provide a kind of pilotless automobile condition checkout gear, and pilotless automobile is provided with
Main industrial personal computer interconnected and safe industrial personal computer；Described device includes:
Detection module, for being detected to automated driving system；
Communication module, for the real-time status of any automated driving system detection to be sent to the safe industrial personal computer,
So that the safe industrial personal computer is updated the automated driving system detection state being locally stored, and according to updated
The automated driving system detection state carries out decision；
The communication module is also used to, by mutual exclusion thread at interval of the first preset period of time to the safe industry control
Machine sends automated driving system full dose state, so that the safe industrial personal computer is according to the automated driving system full dose state to it
Each automated driving system detection state being locally stored is updated.
The fifth aspect of the present invention is to provide a kind of safe industrial personal computer, comprising:
Memory；
Processor；And
Computer program；
Wherein, the computer program stores in the memory, and is configured as being executed by the processor with reality
Now method as described in relation to the first aspect.
The sixth aspect of the present invention is to provide one kind, comprising:
Memory；
Processor；And
Computer program；
Wherein, the computer program stores in the memory, and is configured as being executed by the processor with reality
The now method as described in second aspect.
The seventh aspect of the present invention is to provide a kind of computer readable storage medium, is stored thereon with computer program；
Method as described in relation to the first aspect is realized when the computer program is executed by processor.
The eighth aspect of the present invention is to provide a kind of computer readable storage medium, is stored thereon with computer program；
The method as described in second aspect is realized when the computer program is executed by processor.
Pilotless automobile condition detection method, device, equipment and storage medium provided by the invention, pass through main industrial personal computer
The real-time status of any automated driving system detection is sent to safe industrial personal computer in real time, and its local is deposited by safe industrial personal computer
Storage the automated driving system detection state be updated, with according to the updated automated driving system detection state into
Row Real-time Decision；Meanwhile main industrial personal computer is sent at interval of the first preset period of time to safe industrial personal computer by mutual exclusion thread
Automated driving system full dose state, so that safe industrial personal computer is according to the automated driving system full dose state to the safe industry control
Each automated driving system detection state that machine is locally stored is updated, so that guarantee to store in safe industrial personal computer drives automatically
The accuracy of system detection item state is sailed, so as to carry out accurate decision according to automated driving system detection state,
The decision made according to the automated driving system detection state of mistake can be corrected in time.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other drawings based on these drawings.
Fig. 1 is pilotless automobile condition detection method flow chart provided in an embodiment of the present invention；
Fig. 2 be another embodiment of the present invention provides pilotless automobile condition detection method flow chart；
Fig. 3 be another embodiment of the present invention provides pilotless automobile condition detection method flow chart；
Fig. 4 is the structure chart of pilotless automobile condition checkout gear provided in an embodiment of the present invention；
Fig. 5 be another embodiment of the present invention provides pilotless automobile condition checkout gear structure chart；
Fig. 6 is the structure chart of safe industrial personal computer provided in an embodiment of the present invention；
Fig. 7 is the structure chart of main industrial personal computer provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Pilotless automobile condition detection method provided by the invention, can be adapted for pilotless automobile system, wherein
Pilotless automobile is provided with main industrial personal computer interconnected and safe industrial personal computer, wherein main industrial personal computer and safe industrial personal computer are all provided with
It is equipped with detection module (checker), decision-making module (strategy) and processing module (control), wherein the inspection of main industrial personal computer
Survey the state of module detection automated driving system, the safe main industrial personal computer state of industry control machine testing and safe industrial personal computer and main work
Respective testing result is mutually in step by link state between control machine, main industrial personal computer and safe industrial personal computer, is prestored with respective basis
Rule carries out decision and controls pilotless automobile.Pilotless automobile state is examined below with reference to specific embodiment
Survey process is described in detail.
Fig. 1 is pilotless automobile condition detection method flow chart provided in an embodiment of the present invention.It present embodiments provides
A kind of pilotless automobile condition detection method, executing subject are safe industrial personal computer, and specific step is as follows for this method:
S101, the safe industrial personal computer receive the real-time of any automated driving system detection that the main industrial personal computer is sent
State, and the automated driving system detection state that the safe industrial personal computer is locally stored is updated, according to update
The automated driving system detection state afterwards carries out decision.
In the present embodiment, main industrial personal computer detects the automated driving system of pilotless automobile, wherein can wrap
Include multiple detections, for example, whether the modules of automated driving system are worked normally and working status parameter etc. into
Row detection.Wherein main industrial personal computer can detect multiple detections simultaneously, can also be detected with predetermined policy, when main industrial personal computer
Every real-time status for having detected an automated driving system detection, can be by the real-time status of the automated driving system detection
It is sent to safe industrial personal computer, safe industrial personal computer updates local deposit according to the real-time status of the automated driving system detection received
The automated driving system detection state of storage, and rule is prestored according to safe industrial personal computer and carries out decision and to pilotless automobile
Carry out real-time control.It should be noted that the every real-time status for having detected an automated driving system detection of main industrial personal computer
Need to be stored in its local.
S102, the safe industrial personal computer receive the main industrial personal computer by mutual exclusion thread at interval of the first preset period of time
Property send automated driving system full dose state.
In the present embodiment, since safe industrial personal computer will do it self-test again sometimes, and it will test the state initialization of item,
And main industrial personal computer may only have sent the real-time status of part automated driving system detection in real time, it is thus possible to lead to safe work
The automated driving system detection state that control machine is locally stored may not be current newest state, generate shadow to abnormal decision
It rings, therefore main industrial personal computer sends automatic Pilot system to safe industrial personal computer at interval of the first preset period of time by mutual exclusion thread
System full dose state, so that safe industrial personal computer detects the automated driving system being locally stored according to automated driving system full dose state
Item state is updated, and is corrected, is further able in time so as to the automated driving system detection state to mistake
The decision that amendment is made according to the automated driving system detection state of mistake in time.
S103, the safe industrial personal computer locally deposit the safe industrial personal computer according to the automated driving system full dose state
Each automated driving system detection state of storage is updated.
In the present embodiment, safe industrial personal computer can be driven automatically by comparing each in automated driving system full dose state
The real-time status for sailing system detection item carries out comparison of coherence to the corresponding automated driving system detection state being locally stored,
It is then modified when inconsistent.Certain safe industrial personal computer can also be directly according to automated driving system full dose state to being locally stored
Automated driving system detection state is replaced.
Pilotless automobile condition detection method provided in this embodiment is sent out to safe industrial personal computer in real time by main industrial personal computer
Send the real-time status of any automated driving system detection, and the automated driving system that it is locally stored by safe industrial personal computer
Detection state is updated, to carry out Real-time Decision according to the updated automated driving system detection state；Meanwhile it is main
Industrial personal computer sends automated driving system full dose shape to safe industrial personal computer at interval of the first preset period of time by mutual exclusion thread
State so that safe industrial personal computer the safe industrial personal computer is locally stored according to the automated driving system full dose state it is each automatic
Control loop detection state is updated, to guarantee the automated driving system detection state stored in safe industrial personal computer
Accuracy can also be corrected in time according to mistake so as to carry out accurate decision according to automated driving system detection state
The decision that automated driving system detection state accidentally is made.
On the basis of the above embodiments, as shown in Fig. 2, the method may also include that
S201, the safe industrial personal computer are between the main industrial personal computer and the safe industrial personal computer and the main industrial personal computer
Link detected；
The real-time status of any main industrial personal computer detection or link detecting item is sent to institute by S202, the safe industrial personal computer
State main industrial personal computer so that it is locally stored in the main industrial personal computer main industrial personal computer detection state or link detecting item state into
Row updates.
In the present embodiment, safe industrial personal computer can detect main industrial personal computer, wherein equally may also comprise multiple inspections
Item is surveyed, such as whether the modules of main industrial personal computer are worked normally and working status parameter etc. detects；In addition, peace
Full industrial personal computer can also detect the link between main industrial personal computer and safe industrial personal computer, equally may also comprise multiple detections, example
Such as to link, whether normal, transmission delay is detected.When the every real-time status for having detected a detection of safe industrial personal computer,
The real-time status of the detection can be sent to main industrial personal computer, main industrial personal computer is according to the real-time status of the detection received to it
The detection state being locally stored is updated, so as to further carry out decision.It should be noted that safe industrial personal computer is every
The real-time status for having detected a detection is also required to be stored in its local.
Further, the method may also include that
S203, the safe industrial personal computer by mutual exclusion thread every the second preset period of time to the main industrial personal computer to
The main industrial personal computer sends main industrial personal computer full dose state and link full dose state, so that the main industrial personal computer is according to the main work
Each main industrial personal computer detection state and link detecting item that control machine full dose state and the link full dose state store it
State is updated.
In the present embodiment, main industrial personal computer equally will do it self-test again, and will test the state initialization of item, and safety
Industrial personal computer may only have sent the real-time status of the main industrial personal computer detection in part or link detecting item in real time, it is thus possible to cause to lead
Each main industrial personal computer detection and link detecting item that industrial personal computer is locally stored not are current newest state, to main industrial personal computer
Abnormal decision has an impact, therefore safe industrial personal computer is sent out at interval of the second preset period of time to industrial personal computer by mutual exclusion thread
Main industrial personal computer full dose state and link full dose state are sent, so that main industrial personal computer is complete according to main industrial personal computer full dose state and link
Each main industrial personal computer detection state and link detecting item state that amount state stores it are updated, so as to mistake
Main industrial personal computer detection state or link detecting item state accidentally is corrected in time, is further able to correct according to mistake in time
The decision that detection state accidentally is made.Wherein the second preset time can be identical as the first preset time, can also be different, specifically
It can be set as 1min or 0.5min.In an alternative embodiment, S201 and S202 can be only executed, without executing S203.
On the basis of the above embodiments, the method may also include that
The safe industrial personal computer is after detecting that the link disconnects, pre- regular inspection that the safe industrial personal computer is locally stored
It surveys item state and carries out self-test, if the predetermined detection item abnormal state, control the pilotless automobile parking；
If the predicted detection item state is normal, judge whether the link restores in preset duration normally, if institute
Link is stated not restore normally, then to control the pilotless automobile parking；
If the link-recovery is normal, receives main the automatic of industrial personal computer transmission when the link-recovery is normal and drive
System full dose state is sailed, while main industrial personal computer full dose state and link full dose state are sent to the main industrial personal computer.
It in the present embodiment, can be first to local after discovery link disconnects when safe industrial personal computer detects link
The predetermined detection item state of storage carries out self-test, and wherein predetermined detection item can be weight during pilotless automobile automatic Pilot
The detection wanted illustrates that link temporarily disconnects and has no effect on current traveling if these important detection states are normal,
As long as can restore normal in scheduled duration.If those predetermined detection item abnormal states, may influence unmanned
The automatic Pilot of automobile, therefore control pilotless automobile stops in time.Further, if link disconnect after pre- regular inspection
It is normal to survey item state, but link does not restore normally in preset duration, then may cause each industrial personal computer can not carry out decision in time,
Therefore it needs to control pilotless automobile to stop.If predetermined detection item state is normal after link disconnects, but when default
Link-recovery is normal in long, then main industrial personal computer and safe industrial personal computer are mutually in step full dose state namely main industrial personal computer to safe work
Control machine sends automated driving system full dose state, and safe industrial personal computer sends main industrial personal computer full dose state and link to main industrial personal computer
Full dose state, so that the detection state of two industrial personal computers storage is updated to last state.
Fig. 3 is pilotless automobile condition detection method flow chart provided in an embodiment of the present invention.It present embodiments provides
A kind of pilotless automobile condition detection method, executing subject are main industrial personal computer, and specific step is as follows for this method:
S301, the main industrial personal computer detect automated driving system.
In the present embodiment, main industrial personal computer detects the automated driving system of pilotless automobile, wherein can wrap
Include multiple detections, for example, whether the modules of automated driving system are worked normally and working status parameter etc. into
Row detection.Wherein main industrial personal computer can detect multiple detections simultaneously, can also be detected with predetermined policy.
The real-time status of any automated driving system detection is sent to the safe industry control by S302, the main industrial personal computer
Machine, so that the safe industrial personal computer is updated the automated driving system detection state being locally stored, and according to update
The automated driving system detection state afterwards carries out decision.
In the present embodiment, when the every real-time status for having detected an automated driving system detection of main industrial personal computer
The real-time status of the automated driving system detection is sent to safe industrial personal computer, safe industrial personal computer is driven automatically according to what is received
The real-time status for sailing system detection item updates the automated driving system detection state being locally stored, and according to safe industrial personal computer
Rule is prestored to carry out decision and carry out real-time control to pilotless automobile.It should be noted that main industrial personal computer is every to have detected one
The real-time status of a automated driving system detection is also required to be stored in its local.
S303, the main industrial personal computer are by mutual exclusion thread at interval of the first preset period of time to the safe industrial personal computer
Automated driving system full dose state is sent, so that the safe industrial personal computer is according to the automated driving system full dose state to it
Each automated driving system detection state of ground storage is updated.
In the present embodiment, main industrial personal computer by mutual exclusion thread at interval of the first preset period of time to safe industrial personal computer
Send automated driving system full dose state so that safe industrial personal computer according to automated driving system full dose state to be locally stored from
Dynamic control loop detection state is updated, and is carried out in time more so as to the automated driving system detection state to mistake
Just, it is further able to correct the decision made according to the automated driving system detection state of mistake in time.
Pilotless automobile condition detection method provided in this embodiment is sent out to safe industrial personal computer in real time by main industrial personal computer
Send the real-time status of any automated driving system detection, and the automated driving system that it is locally stored by safe industrial personal computer
Detection state is updated, to carry out Real-time Decision according to the updated automated driving system detection state；Meanwhile it is main
Industrial personal computer sends automated driving system full dose shape to safe industrial personal computer at interval of the first preset period of time by mutual exclusion thread
State so that safe industrial personal computer the safe industrial personal computer is locally stored according to the automated driving system full dose state it is each automatic
Control loop detection state is updated, to guarantee the automated driving system detection state stored in safe industrial personal computer
Accuracy can also be corrected in time according to mistake so as to carry out accurate decision according to automated driving system detection state
The decision that automated driving system detection state accidentally is made.
On the basis of the above embodiments, the method may also include that
The main industrial personal computer receives any main industrial personal computer detection that the safe industrial personal computer is sent or link detecting item
Real-time status；
The main industrial personal computer detection state or link detecting item shape that the main industrial personal computer is locally stored in the main industrial personal computer
State is updated, and carries out decision according to updated main industrial personal computer detection state or link detecting item state.
In the present embodiment, safe industrial personal computer can detect main industrial personal computer, wherein equally may also comprise multiple inspections
Item is surveyed, such as whether the modules of main industrial personal computer are worked normally and working status parameter etc. detects；In addition, peace
Full industrial personal computer can also detect the link between main industrial personal computer and safe industrial personal computer, equally may also comprise multiple detections, example
Such as to link, whether normal, transmission delay is detected.When the every real-time status for having detected a detection of safe industrial personal computer,
The real-time status of the detection can be sent to main industrial personal computer, main industrial personal computer is according to the real-time status of the detection received to it
The detection state being locally stored is updated, so as to further carry out decision.It should be noted that safe industrial personal computer is every
The real-time status for having detected a detection is also required to be stored in its local.
Further, the method may also include that
The main industrial personal computer receives the safe industrial personal computer and is sent out by mutual exclusion thread at interval of the second preset period of time
The main industrial personal computer full dose state and link full dose state sent；
The main industrial personal computer is according to the main industrial personal computer full dose state and the link full dose state to the main industry control
Each main industrial personal computer detection state and link detecting item state that machine is locally stored are updated.
In the present embodiment, safe industrial personal computer is sent out at interval of the second preset period of time to industrial personal computer by mutual exclusion thread
Main industrial personal computer full dose state and link full dose state are sent, so that main industrial personal computer is complete according to main industrial personal computer full dose state and link
Each main industrial personal computer detection state and link detecting item state that amount state stores it are updated, so as to mistake
Main industrial personal computer detection state or link detecting item state accidentally is corrected in time, is further able to correct according to mistake in time
The decision that detection state accidentally is made.Wherein the second preset time can be identical as the first preset time, can also be different, specifically
It can be set as 1min or 0.5min.
On the basis of the above embodiments, the method may also include that
When the main industrial personal computer restores normal after link disconnection, automatic Pilot system is sent to the safe industrial personal computer
System full dose state, and receive main industrial personal computer full dose state and link full dose state that the safe industrial personal computer is sent.
In the present embodiment, since each detection can not be received and dispatched after link disconnects between main industrial personal computer and safe industrial personal computer
Real-time status, it is therefore desirable to which when how link is back to normal, main industrial personal computer and safe industrial personal computer are mutually in step full dose state, Ye Jizhu
Industrial personal computer sends automated driving system full dose state to safe industrial personal computer, and safe industrial personal computer is complete to the main industrial personal computer of main industrial personal computer transmission
Amount state and link full dose state, so that the detection state of two industrial personal computers storage is updated to last state.
Fig. 4 is the structure chart of pilotless automobile condition checkout gear provided in an embodiment of the present invention.The unmanned vapour
Car state detection device 40 specifically can be the safe industrial personal computer in above-described embodiment.Pilotless automobile provided in this embodiment
Condition checkout gear 40 can execute the processing that the pilotless automobile condition detection method embodiment of safe industry control pusher side provides
Process, as shown in figure 4, the pilotless automobile condition checkout gear 40 includes communication module 41 and processing module 42.
Wherein, communication module 41, for receiving the reality for any automated driving system detection that the main industrial personal computer is sent
When state；
Processing module 42, the automated driving system detection state for the safe industrial personal computer to be locally stored carry out
It updates, to carry out decision according to the updated automated driving system detection state；
The communication module 41 is also used to, and receives the main industrial personal computer by mutual exclusion thread at interval of the first preset time week
The automated driving system full dose state that phase property is sent；
The processing module 42 is also used to, local to the safe industrial personal computer according to the automated driving system full dose state
Each automated driving system detection state of storage is updated.
Further, as shown in figure 4, described device further include:
Detection module 43, for the chain between the main industrial personal computer and the safe industrial personal computer and the main industrial personal computer
It is detected on road；
The communication module 41 is also used to, and the real-time status of any main industrial personal computer detection or link detecting item is sent to
The main industrial personal computer, so that it is locally stored in the main industrial personal computer main industrial personal computer detection state or link detecting item state
It is updated.
Further, described device further include:
The communication module 41 is also used to, by mutual exclusion thread every the second preset period of time to the main industrial personal computer
Main industrial personal computer full dose state and link full dose state are sent, so that the main industrial personal computer is according to the main industrial personal computer full dose state
And each main industrial personal computer detection state for storing to it of the link full dose state and link detecting item state carry out more
Newly.
Further, the processing module 42 is also used to:
After detecting that the link disconnects, the predetermined detection item state that the safe industrial personal computer is locally stored is carried out certainly
Inspection controls the pilotless automobile parking if the predetermined detection item abnormal state；
If the predicted detection item state is normal, judge whether the link restores in preset duration normally, if institute
Link is stated not restore normally, then to control the pilotless automobile parking；
If the link-recovery is normal, the master when the link-recovery is normal is received by the communication module 41
The automated driving system full dose state that industrial personal computer is sent, while main industrial personal computer full dose state and link full dose state being sent to
The main industrial personal computer.
Pilotless automobile condition checkout gear provided in an embodiment of the present invention can be specifically used for executing above-mentioned Fig. 1 and figure
Embodiment of the method provided by 2, details are not described herein again for concrete function.
Pilotless automobile condition checkout gear provided in an embodiment of the present invention, by main industrial personal computer in real time to safe industry control
Machine sends the real-time status of any automated driving system detection, and the automatic Pilot that it is locally stored by safe industrial personal computer
System detection item state is updated, to carry out Real-time Decision according to the updated automated driving system detection state；Together
When, main industrial personal computer is complete to safe industrial personal computer transmission automated driving system at interval of the first preset period of time by mutual exclusion thread
Amount state so that safe industrial personal computer the safe industrial personal computer is locally stored according to the automated driving system full dose state it is each
Automated driving system detection state is updated, to guarantee the automated driving system detection shape stored in safe industrial personal computer
The accuracy of state can also correct root so as to carry out accurate decision according to automated driving system detection state in time
The decision made according to the automated driving system detection state of mistake.
Fig. 5 is the structure chart of pilotless automobile condition checkout gear provided in an embodiment of the present invention.The unmanned vapour
Car state detection device 50 specifically can be the main industrial personal computer in above-described embodiment.Pilotless automobile shape provided in this embodiment
State detection device 50 can execute the process flow that the pilotless automobile condition detection method embodiment of main industry control pusher side provides,
As shown in figure 5, the pilotless automobile condition checkout gear 50 includes detection module 51 and communication module 53.
Wherein, detection module 51, for being detected to automated driving system；
Communication module 53, for the real-time status of any automated driving system detection to be sent to the safe industry control
Machine, so that the safe industrial personal computer is updated the automated driving system detection state being locally stored, and according to update
The automated driving system detection state afterwards carries out decision；
The communication module 53 is also used to, by mutual exclusion thread at interval of the first preset period of time to the safe work
Control machine sends automated driving system full dose state, so that the safe industrial personal computer is according to the automated driving system full dose state pair
Its each automated driving system detection state being locally stored is updated.
Further, the communication module 53 is also used to, and receives any main industry control machine examination that the safe industrial personal computer is sent
Survey the real-time status of item or link detecting item；
Described device further include:
Processing module 52, main industrial personal computer detection state or link detecting item for the main industrial personal computer to be locally stored
State is updated, and carries out decision according to updated main industrial personal computer detection state or link detecting item state.
Further, the communication module 53 is also used to, and receives the safe industrial personal computer by mutual exclusion thread at interval of the
The main industrial personal computer full dose state and link full dose state that two preset period of time are sent；
The processing module 52 is also used to, according to the main industrial personal computer full dose state and the link full dose state to institute
It states each main industrial personal computer detection state that main industrial personal computer is locally stored and link detecting item state is updated.
Further, the processing module 52 is also used to:
When restoring normal after link disconnection, automated driving system full dose state is sent to the safe industrial personal computer,
And receive main industrial personal computer full dose state and link full dose state that the safe industrial personal computer is sent.
Pilotless automobile condition checkout gear provided in an embodiment of the present invention can be specifically used for the above-mentioned Fig. 1 of execution and be mentioned
The embodiment of the method for confession, details are not described herein again for concrete function.
Pilotless automobile condition checkout gear provided in an embodiment of the present invention, by main industrial personal computer in real time to safe industry control
Machine sends the real-time status of any automated driving system detection, and the automatic Pilot that it is locally stored by safe industrial personal computer
System detection item state is updated, to carry out Real-time Decision according to the updated automated driving system detection state；Together
When, main industrial personal computer is complete to safe industrial personal computer transmission automated driving system at interval of the first preset period of time by mutual exclusion thread
Amount state so that safe industrial personal computer the safe industrial personal computer is locally stored according to the automated driving system full dose state it is each
Automated driving system detection state is updated, to guarantee the automated driving system detection shape stored in safe industrial personal computer
The accuracy of state can also correct root so as to carry out accurate decision according to automated driving system detection state in time
The decision made according to the automated driving system detection state of mistake.
Fig. 6 be another embodiment of the present invention provides safe industrial personal computer structure chart.As shown in fig. 6, the present embodiment provides
A kind of safe industrial personal computer, the safe industrial personal computer include: processor 61；Memory 62；And computer program.
Wherein, the computer program is stored in the memory 62, and is configured as being executed by the processor 61
To realize the place of the pilotless automobile condition detection method embodiment offer of the safe industry control pusher side as provided by Fig. 1 and Fig. 2
Process is managed, details are not described herein again for concrete function.
More specifically, the safe industrial personal computer further includes receiver 63 and transmitter 64, and receiver 63 and transmitter 64 are located
Reason device 61 is connected with memory 62 by bus.
Fig. 7 be another embodiment of the present invention provides main industrial personal computer structure chart.As shown in fig. 7, the present embodiment provides one
The main industrial personal computer of kind, the main industrial personal computer includes: processor 71；Memory 72；And computer program.
Wherein, the computer program is stored in the memory 72, and is configured as being executed by the processor 71
To realize the process flow of the pilotless automobile condition detection method embodiment offer of the main industry control pusher side as provided by Fig. 3,
Details are not described herein again for concrete function.
More specifically, the main industrial personal computer further includes receiver 73 and transmitter 74, and receiver 73 and transmitter 74 are handled
Device 71 is connected with memory 72 by bus.
Another embodiment of the present invention provides a kind of computer readable storage mediums, are stored thereon with computer program；
Realize safe industry control pusher side as depicted in figs. 1 and 2 when the computer program is executed by processor nobody drive
Vehicle condition detection method is sailed, details are not described herein again for concrete function.
Another embodiment of the present invention provides a kind of computer readable storage mediums, are stored thereon with computer program；
The pilotless automobile shape of main industry control pusher side as shown in Figure 3 is realized when the computer program is executed by processor
State detection method, details are not described herein again for concrete function.
In several embodiments provided by the present invention, it should be understood that disclosed device and method can pass through it
Its mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of the unit, only
Only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components can be tied
Another system is closed or is desirably integrated into, or some features can be ignored or not executed.Another point, it is shown or discussed
Mutual coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or logical of device or unit
Letter connection can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of hardware adds SFU software functional unit.
The above-mentioned integrated unit being realized in the form of SFU software functional unit can store and computer-readable deposit at one
In storage media.Above-mentioned SFU software functional unit is stored in a storage medium, including some instructions are used so that a computer
It is each that equipment (can be personal computer, server or the network equipment etc.) or processor (processor) execute the present invention
The part steps of embodiment the method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (Read-
Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic or disk etc. it is various
It can store the medium of program code.
Those skilled in the art can be understood that, for convenience and simplicity of description, only with above-mentioned each functional module
Division progress for example, in practical application, can according to need and above-mentioned function distribution is complete by different functional modules
At the internal structure of device being divided into different functional modules, to complete all or part of the functions described above.On
The specific work process for stating the device of description, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (20)
1. a kind of pilotless automobile condition detection method, which is characterized in that pilotless automobile is provided with master interconnected
Industrial personal computer and safe industrial personal computer；The described method includes:
The safe industrial personal computer receives the real-time status for any automated driving system detection that the main industrial personal computer is sent, and right
The automated driving system detection state that the safe industrial personal computer is locally stored is updated, with this is automatic according to updated
Control loop detection state carries out decision；
The safe industrial personal computer receives what the main industrial personal computer was sent by mutual exclusion thread at interval of the first preset period of time
Automated driving system full dose state；
The safe industrial personal computer is locally stored the safe industrial personal computer according to the automated driving system full dose state respective
Dynamic control loop detection state is updated.
2. the method according to claim 1, wherein further include:
The safe industrial personal computer carries out the link between the main industrial personal computer and the safe industrial personal computer and the main industrial personal computer
Detection；
The real-time status of any main industrial personal computer detection or link detecting item is sent to the main industry control by the safe industrial personal computer
Machine, so that it is locally stored in the main industrial personal computer main industrial personal computer detection state or link detecting item state are updated.
3. according to the method described in claim 2, it is characterized by further comprising:
The safe industrial personal computer sends main industry control to the main industrial personal computer every the second preset period of time by mutual exclusion thread
Machine full dose state and link full dose state, so that the main industrial personal computer is according to the main industrial personal computer full dose state and the chain
Each main industrial personal computer detection state and link detecting item state that road full dose state stores it are updated.
4. according to the method in claim 2 or 3, which is characterized in that further include:
The safe industrial personal computer is after detecting that the link disconnects, predetermined detection item that the safe industrial personal computer is locally stored
State carries out self-test, if the predetermined detection item abnormal state, controls the pilotless automobile parking；
If the predicted detection item state is normal, judge whether the link restores in preset duration normally, if the chain
Do not restore normally, then to control the pilotless automobile parking in road；
If the link-recovery is normal, the automatic Pilot system that the main industrial personal computer is sent when the link-recovery is normal is received
System full dose state, while main industrial personal computer full dose state and link full dose state are sent to the main industrial personal computer.
5. a kind of pilotless automobile condition detection method, which is characterized in that pilotless automobile is provided with master interconnected
Industrial personal computer and safe industrial personal computer；The described method includes:
The main industrial personal computer detects automated driving system；
The real-time status of any automated driving system detection is sent to the safe industrial personal computer by the main industrial personal computer, so that institute
It states safe industrial personal computer to be updated the automated driving system detection state being locally stored, and this is automatic according to updated
Control loop detection state carries out decision；
The main industrial personal computer is sent at interval of the first preset period of time to the safe industrial personal computer automatic by mutual exclusion thread
Control loop full dose state, so that the safe industrial personal computer was locally stored it according to the automated driving system full dose state
Each automated driving system detection state is updated.
6. according to the method described in claim 5, it is characterized by further comprising:
The main industrial personal computer receives the real-time of any main industrial personal computer detection that the safe industrial personal computer is sent or link detecting item
State；
The main industrial personal computer detection state or link detecting item state that the main industrial personal computer is locally stored in the main industrial personal computer into
Row updates, and carries out decision according to updated main industrial personal computer detection state or link detecting item state.
7. according to the method described in claim 6, it is characterized by further comprising:
The main industrial personal computer receives what the safe industrial personal computer was sent by mutual exclusion thread at interval of the second preset period of time
Main industrial personal computer full dose state and link full dose state；
The main industrial personal computer is according to the main industrial personal computer full dose state and the link full dose state to the main industrial personal computer sheet
Each main industrial personal computer detection state and link detecting item state of ground storage are updated.
8. method according to claim 6 or 7, which is characterized in that further include:
When the main industrial personal computer restores normal after link disconnection, it is complete that automated driving system is sent to the safe industrial personal computer
Amount state, and receive main industrial personal computer full dose state and link full dose state that the safe industrial personal computer is sent.
9. a kind of pilotless automobile condition checkout gear, which is characterized in that pilotless automobile is provided with master interconnected
Industrial personal computer and safe industrial personal computer；Described device includes:
Communication module, for receiving the real-time status for any automated driving system detection that the main industrial personal computer is sent；
Processing module, for being updated to the automated driving system detection state that the safe industrial personal computer is locally stored,
To carry out decision according to the updated automated driving system detection state；
The communication module is also used to, and is received the main industrial personal computer and is sent out by mutual exclusion thread at interval of the first preset period of time
The automated driving system full dose state sent；
The processing module is also used to, and the safe industrial personal computer is locally stored according to the automated driving system full dose state
Each automated driving system detection state is updated.
10. device according to claim 9, which is characterized in that further include:
Detection module, for being carried out to the link between the main industrial personal computer and the safe industrial personal computer and the main industrial personal computer
Detection；
The communication module is also used to, and the real-time status of any main industrial personal computer detection or link detecting item is sent to the master
Industrial personal computer, so that it is locally stored in the main industrial personal computer main industrial personal computer detection state or link detecting item state carry out more
Newly.
11. device according to claim 10, which is characterized in that further include:
The communication module is also used to, and sends master to the main industrial personal computer every the second preset period of time by mutual exclusion thread
Industrial personal computer full dose state and link full dose state, so that the main industrial personal computer is according to the main industrial personal computer full dose state and institute
It states each main industrial personal computer detection state that link full dose state stores it and link detecting item state is updated.
12. device described in 0 or 11 according to claim 1, which is characterized in that the processing module is also used to:
After detecting that the link disconnects, self-test is carried out to the predetermined detection item state that the safe industrial personal computer is locally stored,
If the predetermined detection item abnormal state, the pilotless automobile parking is controlled；
If the predicted detection item state is normal, judge whether the link restores in preset duration normally, if the chain
Do not restore normally, then to control the pilotless automobile parking in road；
If the link-recovery is normal, the main industrial personal computer when the link-recovery is normal is received by the communication module
The automated driving system full dose state of transmission, while main industrial personal computer full dose state and link full dose state are sent to the master
Industrial personal computer.
13. a kind of pilotless automobile condition checkout gear, which is characterized in that pilotless automobile is provided with master interconnected
Industrial personal computer and safe industrial personal computer；Described device includes:
Detection module, for being detected to automated driving system；
Communication module, for the real-time status of any automated driving system detection to be sent to the safe industrial personal computer, so that
The safe industrial personal computer is updated the automated driving system detection state being locally stored, and is somebody's turn to do certainly according to updated
Dynamic control loop detection state carries out decision；
The communication module is also used to, and is sent out at interval of the first preset period of time to the safe industrial personal computer by mutual exclusion thread
Automated driving system full dose state is sent, so that the safe industrial personal computer is according to the automated driving system full dose state to its local
Each automated driving system detection state of storage is updated.
14. device according to claim 13, which is characterized in that
The communication module is also used to, and receives any main industrial personal computer detection or link detecting item that the safe industrial personal computer is sent
Real-time status；
Described device further include:
Processing module, main industrial personal computer detection state or link detecting item state for the main industrial personal computer to be locally stored into
Row updates, and carries out decision according to updated main industrial personal computer detection state or link detecting item state.
15. device according to claim 14, which is characterized in that
The communication module is also used to, and receives the safe industrial personal computer by mutual exclusion thread at interval of the second preset period of time
The main industrial personal computer full dose state and link full dose state sent；
The processing module is also used to, according to the main industrial personal computer full dose state and the link full dose state to the main work
Each main industrial personal computer detection state and link detecting item state that control machine is locally stored are updated.
16. device according to claim 14 or 15, which is characterized in that the processing module is also used to:
When restoring normal after link disconnection, automated driving system full dose state is sent to the safe industrial personal computer, and connect
Receive main industrial personal computer full dose state and link full dose state that the safe industrial personal computer is sent.
17. a kind of safe industrial personal computer characterized by comprising
Memory；
Processor；And
Computer program；
Wherein, the computer program stores in the memory, and is configured as being executed by the processor to realize such as
Method of any of claims 1-4.
18. a kind of main industrial personal computer characterized by comprising
Memory；
Processor；And
Computer program；
Wherein, the computer program stores in the memory, and is configured as being executed by the processor to realize such as
Method described in any one of claim 5-8.
19. a kind of computer readable storage medium, which is characterized in that be stored thereon with computer program；
Such as method of any of claims 1-4 is realized when the computer program is executed by processor.
20. a kind of computer readable storage medium, which is characterized in that be stored thereon with computer program；
The method as described in any one of claim 5-8 is realized when the computer program is executed by processor.
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| CN201811001576.4A CN109189043B (en) | 2018-08-30 | 2018-08-30 | Unmanned vehicle state detection method, device, equipment and storage medium |
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| CN201811001576.4A CN109189043B (en) | 2018-08-30 | 2018-08-30 | Unmanned vehicle state detection method, device, equipment and storage medium |
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