CN109887125A

CN109887125A - Fault detection method and device

Info

Publication number: CN109887125A
Application number: CN201910107474.9A
Authority: CN
Inventors: 武海生; 张天雷; 何贝; 刘鹤云; 郑思仪
Original assignee: Beijing Zhuxian Technology Co Ltd
Current assignee: Guangxi Intelligent Driving Research Center Co ltd
Priority date: 2019-02-02
Filing date: 2019-02-02
Publication date: 2019-06-14
Anticipated expiration: 2039-02-02
Also published as: CN109887125B

Abstract

The invention discloses a fault detection method and a fault detection device, relates to the technical field of automatic driving, and aims to detect whether target hardware to be detected and target software to be detected corresponding to the target hardware to be detected have faults or not in real time. The method of the invention comprises the following steps: the functional unit acquires a state code corresponding to the target hardware to be detected and generates a heartbeat state code corresponding to the target hardware to be detected according to the state code; the functional unit adds the heartbeat state code to the heartbeat information and sends the heartbeat information to the central processing unit; the central processing unit judges whether the target hardware to be detected and the target software to be detected corresponding to the target hardware to be detected have faults according to the heartbeat state code; if yes, the central processing unit gives an alarm. The method is suitable for the process of detecting whether the target hardware to be detected and the target software to be detected corresponding to the target hardware to be detected of the automatic driving system have faults in real time in the automatic driving process of the automobile.

Description

Fault detection method and device

Technical field

The present invention relates to automatic Pilot technical fields, more particularly to a kind of fault detection method and device.

Background technique

With the continuous development of society, people's lives level is continuously improved, and demand of the people to automobile is growing day by day.Companion With the rapid growth of car ownership, the problem of automobile is brought to people's daily life is also increasingly apparent, wherein traffic safety Particularly problematic, the reasons such as bad weather, road defect, vehicle failure and driver's misoperation will lead to friendship Interpreter thus occur.In order to effectively solve traffic safety problem, automatic Pilot technology is come into being, and automated driving system can be very The generation to avoid traffic accident in big degree.

Existing automated driving system mostly by hardware such as laser radar, vehicle-mounted vidicon, wheel speed sensors, and and this The softwares composition such as the associated driver of a little hardware, signal procedure, automated driving system are safely and steadily run, and depend on this The normal operation of a little hardware and these softwares, thus the traffic safety in order to ensure driver, in the mistake of automatic driving Cheng Zhong, needs whether the hardware of real-time detection composition automated driving system and software break down, and is detecting some hardware Or some software is alarmed when breaking down, to remind driver's automobile to break down in time, keeps driver manual Driving.Therefore, how real-time detection composition automated driving system each hardware and the corresponding software of each hardware whether It breaks down the problem of being current urgent need to resolve.

Summary of the invention

In view of this, the present invention provides a kind of fault detection method and device, main purpose are that real-time detection target waits for Whether detection hardware and the corresponding target of target hardware to be detected software to be detected break down.

In order to achieve the above object, present invention generally provides following technical solutions:

In a first aspect, the present invention provides a kind of fault detection methods, this method comprises:

Functional unit obtains the corresponding state code of target hardware to be detected, and generates the mesh according to the state code Mark the corresponding heart beat status code of hardware to be detected；

The heart beat status code is added in heartbeat message by the functional unit, and the heartbeat message is sent to Heart processing unit；

The center processing unit judges that target hardware to be detected and the target wait for according to the heart beat status code Whether the corresponding target software to be detected of detection hardware breaks down；

If so, the center processing unit is alarmed.

Optionally, the corresponding state code of target hardware to be detected is normal code or the code that reports an error；The function Unit generates the corresponding heart beat status code of the target hardware to be detected according to the state code, comprising:

When the corresponding state code of target hardware to be detected is the normal code, the functional unit is according to institute It states normal code and generates the corresponding first heart beat status code of the target hardware to be detected, wherein the first heart beat status code For zero；

When the corresponding state code of target hardware to be detected reports an error code for described in, the functional unit is according to institute State the corresponding second heart beat status code of the hardware to be detected of target described in code building that reports an error, wherein the second heart beat status code For nonzero value.

Optionally, the center processing unit judges target hardware to be detected and described according to the heart beat status code Whether the corresponding target of target hardware to be detected software to be detected breaks down, comprising:

When the heart beat status code is the first heart beat status code, the center processing unit determines that the target waits for Detection hardware and target software to be detected do not break down；

When the heart beat status code is the second heart beat status code, the center processing unit determines that the target waits for Detection hardware and target software to be detected break down.

Optionally, after the heart beat status code is added in heartbeat message by the functional unit, the method is also Include:

The functional unit adds the first logical clock value and the corresponding unique identifier of target hardware to be detected It adds in the heartbeat message, wherein first logical clock value is the current of the local logical timer of the functional unit Value.

Optionally, target hardware to be detected and institute are judged according to the heart beat status code in the center processing unit It states after whether the corresponding target software to be detected of target hardware to be detected break down, the method also includes:

When the center processing unit determines that event does not occur for the target hardware to be detected and target software to be detected When barrier, the center processing unit determines the current working status of target hardware to be detected and target software to be detected For normal condition, and according to the unique identifier, first logical clock value and the normal condition to local device State table is updated, wherein in the local device state table record have the corresponding unique identifier of each hardware to be detected, The corresponding historical logic clock value of each hardware to be detected, the history working condition of each hardware to be detected and every The history working condition of the corresponding software to be detected of a hardware to be detected；

When the center processing unit determines that the target hardware to be detected and target software to be detected break down When, the center processing unit determines that the current working status of target hardware to be detected and target software to be detected is First abnormality, and according to the unique identifier, first logical clock value and first abnormality to institute Local device state table is stated to be updated.

Optionally, target hardware to be detected and institute are judged according to the heart beat status code in the center processing unit It states before whether the corresponding target software to be detected of target hardware to be detected break down, the method also includes:

The center processing unit searches the target in the local device state table according to the unique identifier The corresponding historical logic clock value of hardware to be detected, and when judging whether first logical clock value is greater than the historical logic Clock value；

If so, judging the hardware to be detected and described according to the heart beat status code into the center processing unit The step of whether corresponding software to be detected of hardware to be detected breaks down；

If it is not, then the center processing unit abandons the heartbeat message.

Optionally, the method also includes:

When the center processing unit is more than that preset time does not receive the heartbeat message that the functional unit is sent, institute It states center processing unit and determines that the target hardware to be detected and target software to be detected break down, and determine the mesh The current working status for marking hardware to be detected and target software to be detected is the second abnormality；

The center processing unit is updated the local device state table according to second abnormality, goes forward side by side Row alarm.

Optionally, after the heartbeat message is sent to center processing unit by the functional unit, the method is also Include:

The center processing unit sends the heartbeat response message for carrying the second logical clock value to the functional unit, So that the functional unit is updated local logical timer according to second logical clock value, wherein described second patrols Collect the current value for the local logical timer that clock value is the center processing unit.

Second aspect, the present invention also provides a kind of fault detection means, which includes:

Acquiring unit obtains the corresponding state code of target hardware to be detected for functional unit；

Generation unit, it is corresponding according to the state code generation target hardware to be detected for the functional unit Heart beat status code；

The heart beat status code is added in heartbeat message by the first adding unit for the functional unit；

The heartbeat message is sent to center processing unit for the functional unit by the first transmission unit；

First judging unit judges that the target is to be detected according to the heart beat status code for the center processing unit Whether hardware and the corresponding target of target hardware to be detected software to be detected break down；

Alarm unit, for judging that the target is to be detected hard according to the heart beat status code when the center processing unit When part and the corresponding target of target hardware to be detected software to be detected break down, the center processing unit is reported It is alert.

Optionally, the corresponding state code of target hardware to be detected is normal code or the code that reports an error；The generation Unit includes:

First generation module is used for when the corresponding state code of target hardware to be detected is the normal code, The functional unit generates the corresponding first heart beat status code of the target hardware to be detected according to the normal code, wherein The first heart beat status code is zero；

Second generation module, for when the corresponding state code of target hardware to be detected be it is described report an error code when, The functional unit reports an error the corresponding second heart beat status code of the hardware to be detected of target described in code building according to, wherein The second heart beat status code is nonzero value.

Optionally, first judging unit includes:

First determination module is used for when the heart beat status code is the first heart beat status code, the center processing Unit determines that the target hardware to be detected and target software to be detected do not break down；

Second determination module is used for when the heart beat status code is the second heart beat status code, the center processing Unit determines that the target hardware to be detected and target software to be detected break down.

Optionally, described device further include:

Second adding unit, for after the heart beat status code is added in heartbeat message by the functional unit, First logical clock value and the corresponding unique identifier of target hardware to be detected are added to described by the functional unit In heartbeat message, wherein first logical clock value is the current value of the local logical timer of the functional unit.

Optionally, described device further include:

First updating unit, for judging that the target is to be checked according to the heart beat status code in the center processing unit After whether survey hardware and the corresponding target of target hardware to be detected software to be detected break down, when the center processing When unit determines that the target hardware to be detected and target software to be detected do not break down, the center processing unit is true The current working status of the fixed target hardware to be detected and target software to be detected is normal condition, and according to it is described only One identifier, first logical clock value and the normal condition are updated local device state table, wherein described Record has the corresponding unique identifier of each hardware to be detected, each hardware to be detected corresponding in local device state table Historical logic clock value, the history working condition of each hardware to be detected and each hardware to be detected it is corresponding to The history working condition of inspection software；

Second updating unit, for determining that the target hardware to be detected and the target wait for when the center processing unit When inspection software breaks down, the center processing unit determines target hardware to be detected and target software to be detected Current working status be the first abnormality, and according to the unique identifier, first logical clock value and described First abnormality is updated the local device state table.

Optionally, described device further include:

Second judgment unit, for judging that the target is to be checked according to the heart beat status code in the center processing unit Before whether survey hardware and the corresponding target of target hardware to be detected software to be detected break down, the center processing list Member is searched the corresponding history of target hardware to be detected according to the unique identifier in the local device state table and is patrolled Clock value is collected, and judges whether first logical clock value is greater than the historical logic clock value；

First judging unit, if being specifically used for first logical clock value is greater than the historical logic clock value, Then the center processing unit judges that target hardware to be detected and the target are to be detected hard according to the heart beat status code Whether the corresponding target of part software to be detected breaks down；

Discarding unit, it is described if being less than or equal to the historical logic clock value for first logical clock value Center processing unit abandons the heartbeat message.

Optionally, described device further include:

Determination unit, for being more than that preset time does not receive what the functional unit was sent when the center processing unit When heartbeat message, the center processing unit determines that event occurs for the target hardware to be detected and target software to be detected Barrier, and determine that the current working status of the target hardware to be detected and target software to be detected is the second abnormality；

Third updating unit, for the center processing unit according to second abnormality to the local device shape State table is updated, and is alarmed.

Optionally, described device further include:

Second transmission unit, for after the heartbeat message is sent to center processing unit by the functional unit, The center processing unit sends the heartbeat response message for carrying the second logical clock value to the functional unit, so as to described Functional unit is updated local logical timer according to second logical clock value, wherein second logical clock value For the current value of the local logical timer of the center processing unit.

To achieve the goals above, according to the third aspect of the invention we, a kind of storage medium, the storage medium are provided Program including storage, wherein equipment where controlling the storage medium in described program operation executes event described above Hinder detection method.

To achieve the goals above, according to the fourth aspect of the invention, a kind of processor is provided, the processor is used for Run program, wherein described program executes fault detection method described above when running.

By above-mentioned technical proposal, technical solution provided by the invention is at least had the advantage that

A kind of fault detection method and device provided by the invention, by virtually and being configured in advance for target hardware to be detected Functional unit obtain the corresponding state code of target hardware to be detected, and target hardware to be detected is generated according to the state code Corresponding heart beat status code, and after the heartbeat code is added to heartbeat message, which is sent to preparatory void In quasi- center processing unit, so that center processing unit is after receiving the heartbeat message, carried according in the heartbeat message Heart beat status code judge target hardware to be detected and the corresponding target of target hardware to be detected software to be detected whether occur therefore Barrier, and when determining that target hardware to be detected and target software to be detected break down, it alarms.The present invention can be in automobile During automatic Pilot, by virtual in advance functional unit and center processing unit, real-time detection forms automatic Pilot system Whether the target of system hardware to be detected and the corresponding target of target hardware to be detected software to be detected break down, and are detecting It when target hardware to be detected and target software to be detected break down, alarms, so as to remind driver's vapour in time Vehicle breaks down, and makes driver's manual drive automobile, and then can ensure the traffic safety of driver.

The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention, And it can be implemented in accordance with the contents of the specification, and in order to allow above and other objects of the present invention, feature and advantage can It is clearer and more comprehensible, the followings are specific embodiments of the present invention.

Detailed description of the invention

By reading the following detailed description of the preferred embodiment, various other advantages and benefits are common for this field Technical staff will become clear.The drawings are only for the purpose of illustrating a preferred embodiment, and is not considered as to the present invention Limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings:

Fig. 1 shows a kind of fault detection method flow chart provided in an embodiment of the present invention；

Fig. 2 shows another fault detection method flow charts provided in an embodiment of the present invention；

Fig. 3 shows a kind of composition block diagram of fault detection means provided in an embodiment of the present invention；

Fig. 4 shows the composition block diagram of another fault detection means provided in an embodiment of the present invention.

Specific embodiment

Exemplary embodiments of the present disclosure are described in more detail below with reference to accompanying drawings.Although showing the disclosure in attached drawing Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here It is limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure It is fully disclosed to those skilled in the art.

The embodiment of the present invention provides a kind of fault detection method, as shown in Figure 1, this method comprises:

101, functional unit obtains the corresponding state code of target hardware to be detected, and generates target according to state code and wait for Detect the corresponding heart beat status code of hardware.

Wherein, target hardware to be detected is in the multiple hardware to be detected for need to carry out in automated driving system fault detection Any one, multiple hardware to be detected can be, but not limited to are as follows: laser radar, vehicle-mounted vidicon, wheel speed sensors etc.；Its In, during hardware to be detected and its corresponding software to be detected are run, hardware to be detected can generate to be checked for characterizing Survey the state code of the operating status of hardware and its corresponding software to be detected, for example, when hardware to be detected and its it is corresponding to When inspection software is in normal operating condition, which generates state code A, when hardware to be detected is in abnormal fortune Row state, and when the corresponding software to be detected of the hardware to be detected is in normal operating condition, which generates state Code B etc.；Wherein, the corresponding software to be detected of hardware to be detected can be, but not limited to are as follows: associated with the hardware to be detected Driver, signal procedure etc.；Wherein, multiple functional units and a center processing unit are fictionalized in advance, and are divided Not Wei each one functional unit of hardware configuration to be detected, functional unit is used to obtain state generation of its corresponding hardware to be detected Code, and the corresponding heart beat status code of the hardware to be detected is generated according to the state code got, and by the heart beat status After code is added to heartbeat message, which is sent to center processing unit, center processing unit is for receiving multiple function Can unit send heartbeat message, and according to the heart beat status code carried in each heartbeat message determine each hardware to be detected and Whether the corresponding software to be detected of each hardware to be detected breaks down, and is determining some hardware to be detected or some is to be checked When survey software breaks down, alarm.

In embodiments of the present invention, the corresponding functional unit of target hardware to be detected is acquiring target hardware to be detected (i.e. during target hardware to be detected and its corresponding target software to be detected are run, target waits for corresponding state code Detect fortune that hardware generates, for characterizing target hardware to be detected and the corresponding target of target hardware to be detected software to be detected The state code of row state) after, the corresponding heart beat status code of target hardware to be detected is generated according to the state code.

Specifically, in this step, the corresponding state code of target hardware to be detected can be normal code or report an error generation Code, when the state code that the corresponding functional unit of target hardware to be detected acquires is normal code, the functional unit root The heart beat status code that a value is zero can be generated according to the normal code；When the corresponding functional unit of target hardware to be detected The state code acquired is when reporting an error code, and it is non-zero which, which can generate a value according to the code that reports an error, The heart beat status code of value, but not limited to this.

102, heart beat status code is added in heartbeat message by functional unit, and heartbeat message is sent to center processing list Member.

In embodiments of the present invention, the corresponding functional unit of target hardware to be detected is corresponding according to target hardware to be detected State code the heart beat status code is added to heartbeat message after generating the corresponding heart beat status code of target hardware to be detected In, and the heartbeat message is sent to center processing unit, so that subsequent central processing unit is after receiving the heartbeat message, Target hardware to be detected and the corresponding target of target hardware to be detected are judged according to the heart beat status code carried in the heartbeat message Whether software to be detected breaks down.

103, center processing unit judges that target hardware to be detected and target hardware to be detected are corresponding according to heart beat status code Target software to be detected whether break down.

In embodiments of the present invention, center processing unit is receiving the corresponding functional unit transmission of target hardware to be detected Heartbeat message after, judge that target hardware to be detected and target are to be detected hard according to the heart beat status code carried in the heartbeat message Whether the corresponding target of part software to be detected breaks down.

Specifically, in this step, due to when the state generation that the corresponding functional unit of target hardware to be detected acquires When code is normal code, which can generate a value according to the normal code and be the heart beat status code of zero, and work as The state code that the corresponding functional unit of target hardware to be detected acquires is when reporting an error code, and functional unit meeting basis should One value of code building that reports an error is the heart beat status code of nonzero value, and therefore, center processing unit is to receive target to be detected After the heartbeat message that the corresponding functional unit of hardware is sent, when the heart beat status code value carried in the heartbeat message is zero When, center processing unit can determine that target hardware to be detected and the corresponding target of target hardware to be detected software to be detected are not sent out Raw failure；When the heart beat status code value carried in the heartbeat message is nonzero value, center processing unit can determine target Hardware to be detected and the corresponding target of target hardware to be detected software to be detected break down, but not limited to this.

104, if so, center processing unit is alarmed.

In embodiments of the present invention, when center processing unit determines that target hardware to be detected and target hardware to be detected are corresponding Target software to be detected when breaking down, center processing unit will alarm, so that driver's automobile be reminded to occur Failure.

A kind of fault detection method provided in an embodiment of the present invention, by virtually and being configured in advance for target hardware to be detected Functional unit obtain the corresponding state code of target hardware to be detected, and target hardware to be detected is generated according to the state code Corresponding heart beat status code, and after the heartbeat code is added to heartbeat message, which is sent to preparatory void In quasi- center processing unit, so that center processing unit is after receiving the heartbeat message, carried according in the heartbeat message Heart beat status code judge target hardware to be detected and the corresponding target of target hardware to be detected software to be detected whether occur therefore Barrier, and when determining that target hardware to be detected and target software to be detected break down, it alarms.The embodiment of the present invention can During automatic driving, by virtual in advance functional unit and center processing unit, real-time detection composition is automatic Whether the target of control loop hardware to be detected and the corresponding target of target hardware to be detected software to be detected break down, and It when detecting that target hardware to be detected and target software to be detected break down, alarms, so as to remind driving in time Personnel's automobile breaks down, and makes driver's manual drive automobile, and then can ensure the traffic safety of driver.

Below in order to be explained in more detail, the embodiment of the invention provides another fault detection methods, especially function Energy unit generates the tool of the corresponding heart beat status code of target hardware to be detected according to the corresponding state code of target hardware to be detected Body method and center processing unit according to the corresponding heart beat status code of target hardware to be detected judge target hardware to be detected and The specific method whether corresponding target of target hardware to be detected software to be detected breaks down, specifically as shown in Fig. 2, this method Include:

201, functional unit obtains the corresponding state code of target hardware to be detected.

Wherein, the corresponding state code of target hardware to be detected is obtained about step 201, functional unit, Fig. 1 can be referred to The description of corresponding part, the embodiment of the present invention will not be described in great detail herein.

202, functional unit is corresponding according to the corresponding state code generation target hardware to be detected of target hardware to be detected Heart beat status code.

Wherein, functional unit acquire, the corresponding state code of target hardware to be detected be normal code or to report an error Code.

In embodiments of the present invention, the corresponding functional unit of target hardware to be detected is acquiring target hardware to be detected After corresponding state code, the corresponding heart beat status code of target hardware to be detected is generated according to the state code.It below will be to function How energy unit is according to the corresponding heart beat status code of the corresponding state code generation target hardware to be detected of target hardware to be detected It is described in detail.

1, when the corresponding state code of target hardware to be detected is normal code, functional unit is generated according to normal code The corresponding first heart beat status code of target hardware to be detected.

Wherein, the first heart beat status code is zero.

In embodiments of the present invention, when the state code that the corresponding functional unit of target hardware to be detected acquires is positive When normal code, which can generate the heart beat status code that a value is zero, i.e. first heart according to the normal code Jump status code.

2, when the corresponding state code of target hardware to be detected is to report an error code, functional unit is according to the code building that reports an error The corresponding second heart beat status code of target hardware to be detected.

Wherein, the second heart beat status code is nonzero value.

In embodiments of the present invention, when the state code that the corresponding functional unit of target hardware to be detected acquires is report When wrong code, the functional unit according to the code that reports an error can generate a value be nonzero value heart beat status code, i.e., second Heart beat status code.

It needs to be illustrated, in actual application, target hardware to be detected is in abnormal operating condition and mesh When marking the corresponding target of hardware to be detected software to be detected and being in abnormal operating condition, target hardware to be detected can generate different Report an error code, also, when different target software to be detected is in abnormal operating condition, target hardware to be detected can generate difference The code that reports an error, therefore, the second different heart beat status codes can be generated according to the different codes that reports an error for functional unit, for example, When target hardware to be detected is in abnormal operating condition, and the corresponding target of target hardware to be detected software to be detected is in normal When operating status, target hardware to be detected can generate the code A that reports an error, and the corresponding functional unit of target hardware to be detected is obtaining To after the code A that reports an error, the second heart beat status code that a value is 1 can be generated according to the code A that reports an error；When target is to be detected hard The corresponding driver of part is in abnormal operating condition, and target hardware to be detected and other corresponding mesh of target hardware to be detected When marking software to be detected and being in normal operating condition, target hardware to be detected can generate the code B that reports an error, target hardware pair to be detected The functional unit answered can generate the second heartbeat that a value is 2 after acquiring and reporting an error code B, according to the code B that reports an error Status code；When the corresponding signal procedure of target hardware to be detected is in abnormal operating condition, and target hardware to be detected and target When corresponding other targets software to be detected of hardware to be detected is in normal operating condition, target hardware to be detected, which can generate, to report an error Code C, the corresponding functional unit of target hardware to be detected is after acquiring and reporting an error code C, and according to reporting an error, code C can be generated The second heart beat status code etc. that one value is 3, so that in the next steps, when center processing unit is according to value Second heart beat status code of nonzero value determines target hardware to be detected and the corresponding target of target hardware to be detected software to be detected When breaking down, can also determine to be specifically that event occurs for target hardware to be detected according to the specific value of the second heart beat status code Barrier or corresponding some target software to be detected of target hardware to be detected break down.

203, functional unit is by heart beat status code, the first logical clock value and the corresponding unique mark of target hardware to be detected Know symbol to be added in heartbeat message, and heartbeat message is sent to center processing unit.

Wherein, the first logical clock value is the current of the local logical timer of the corresponding functional unit of target hardware to be detected Value；The corresponding unique identifier of target hardware to be detected adds for unique identification target hardware to be detected.

In embodiments of the present invention, the corresponding functional unit of target hardware to be detected is corresponding according to target hardware to be detected State code, after generating the corresponding heart beat status code of target hardware to be detected, by the heart beat status code, the first logical clock value (i.e. the current value of the local logical timer of the functional unit) and the corresponding unique identifier of target hardware to be detected are added to the heart In hop-information, and the heartbeat message is sent to center processing unit, so that subsequent central processing unit is receiving the heartbeat After information, judge whether the heartbeat message is historical information according to first logical clock value, and is determining the heartbeat message simultaneously It is non-to judge that target hardware to be detected and the corresponding target of target hardware to be detected wait for according to the heart beat status code after historical information Whether inspection software breaks down, and is determining that target hardware to be detected and the corresponding target of target hardware to be detected are to be detected After whether software breaks down, according to judgement result, the unique identifier and first logical clock value to local device shape State table is updated, wherein there is record in local device state table needs to carry out each of fault detection in automated driving system The corresponding unique identifier of hardware to be detected, the corresponding historical logic clock value of each hardware to be detected, each hardware to be detected History working condition and the corresponding software to be detected of each hardware to be detected history working condition.

204, center processing unit is according to the corresponding unique identifier of target hardware to be detected in local device state table When searching the corresponding historical logic clock value of target hardware to be detected, and judging whether the first logical clock value is greater than historical logic Clock value.

Wherein, the corresponding historical logic clock value of target hardware to be detected are as follows: the corresponding function list of target hardware to be detected The logical clock value carried in first last heartbeat message sent to center processing unit.

In embodiments of the present invention, center processing unit is receiving the corresponding functional unit transmission of target hardware to be detected Heartbeat message after, it is to be detected that target is searched in local device state table according to the unique identifier carried in the heartbeat message The corresponding historical logic clock value of hardware, and judge whether the first logical clock value carried in the heartbeat message is greater than the history Logical clock value to judge whether the heartbeat message is historical information, and then can believe history to avoid center processing unit The case where breath is accidentally handled.

Further, in embodiments of the present invention, center processing unit is receiving the corresponding function of target hardware to be detected After the heartbeat message that energy unit is sent, center processing unit can send to the functional unit and carry the second logical clock value Heartbeat response message, so that the functional unit is updated local logical timer according to second logical clock value, wherein the Two logical clock values are the current value of the local logical timer of center processing unit.

205a, if so, center processing unit judges that target hardware to be detected and target are to be detected according to heart beat status code Whether the corresponding target of hardware software to be detected breaks down.

In embodiments of the present invention, center processing unit is determining the corresponding function of target hardware to be detected by step 204 Target can be judged according to the heart beat status code carried in the heartbeat message after the heartbeat message that sends of unit is not historical information Whether hardware to be detected and the corresponding target of target hardware to be detected software to be detected break down.It below will be to center processing list Member how to judge target hardware to be detected according to heart beat status code and the corresponding target of target hardware to be detected software to be detected is No break down is described in detail.

1, when heartbeat status code is the first heart beat status code, center processing unit determines target hardware to be detected and target Software to be detected does not break down.

In embodiments of the present invention, due to when the state generation that the corresponding functional unit of target hardware to be detected acquires When code is normal code, which can generate heart beat status code that value is zero (i.e. the according to the normal code One heartbeat status code), therefore, center processing unit is after the heartbeat message for receiving functional unit transmission, when the heartbeat is believed When the heart beat status code carried in breath is the first heart beat status code, center processing unit can determine target hardware to be detected and mesh The corresponding target of hardware to be detected software to be detected is marked not break down.

2, when heartbeat status code is the second heart beat status code, center processing unit determines target hardware to be detected and target Software to be detected breaks down.

In embodiments of the present invention, due to when the state generation that the corresponding functional unit of target hardware to be detected acquires Code for report an error code when, the functional unit can be reported an error according to this one value of code building be nonzero value heart beat status code (i.e. Second heart beat status code), therefore, center processing unit is after the heartbeat message for receiving functional unit transmission, when the heartbeat The heart beat status code carried in information be the second heart beat status code when, center processing unit can determine target hardware to be detected and The corresponding target of target hardware to be detected software to be detected breaks down.

It needs to be illustrated, in actual application, since target hardware to be detected is in abnormal operating condition When target software to be detected corresponding with target hardware to be detected is in abnormal operating condition, target hardware to be detected can be generated not With the code that reports an error, also, when different target software to be detected is in abnormal operating condition, target hardware to be detected can be generated The different codes that reports an error, and the second different heart beat status codes can be generated according to the different codes that reports an error for functional unit, therefore, When center processing unit determines that target hardware to be detected and target are to be detected according to the second heart beat status code that value is nonzero value When the corresponding target of hardware software to be detected breaks down, it can also be determined according to the specific value of the second heart beat status code specific It is that target hardware failure to be detected or corresponding some target software to be detected of target hardware to be detected break down.

Further, in embodiments of the present invention, center processing unit is judging that target is to be detected according to heart beat status code It, can also be according to judgement result, mesh after whether hardware and the corresponding target of target hardware to be detected software to be detected break down Mark the corresponding unique identifier of hardware to be detected, the first logical clock value is updated local device state table, detailed process Are as follows: (1) when center processing unit determines target hardware to be detected and the corresponding target of target hardware to be detected software to be detected not When breaking down, center processing unit determines that the current working status of target hardware to be detected and target software to be detected is normal State, and set according to the corresponding unique identifier of target hardware to be detected, the first logical clock value and normal condition to local Standby state table is updated, i.e., searches that target hardware to be detected is corresponding to be gone through in local device state table according to the unique identifier The corresponding history working condition of history logical clock value, target hardware to be detected and the corresponding history work of target software to be detected State, and using the corresponding historical logic clock value of the first logical clock value more fresh target hardware to be detected and use normal shape The corresponding history working condition of state more fresh target hardware to be detected and the corresponding history working condition of target software to be detected, In, the corresponding history working condition of target hardware to be detected and the corresponding history working condition of target software to be detected are as follows: center The processing unit last time receives the heartbeat message that the corresponding functional unit of target hardware to be detected is sent, and is believed according to the heartbeat After the heart beat status code carried in breath judges whether target hardware to be detected and target software to be detected break down, according to judgement As a result the determining corresponding working condition of target hardware to be detected and the corresponding working condition of target software to be detected；At center When reason unit determines that target hardware to be detected and the corresponding target of target hardware to be detected software to be detected break down, at center Reason unit determines that the current working status of target hardware to be detected and target software to be detected is the first abnormality, and according to mesh Mark the corresponding unique identifier of hardware to be detected, the first logical clock value and the first abnormality to local device state table into Row updates, i.e., searches the corresponding historical logic clock of target hardware to be detected in local device state table according to the unique identifier Value, the corresponding history working condition of target hardware to be detected and the corresponding history working condition of target software to be detected, and make More with the corresponding historical logic clock value of the first logical clock value more fresh target hardware to be detected and using the first abnormality The corresponding history working condition of fresh target hardware to be detected and the corresponding history working condition of target software to be detected.It needs to carry out Illustrate, in actual application, when center processing unit determines specifically according to the specific value of the second heart beat status code It is that target hardware failure to be detected or corresponding some target software to be detected of target hardware to be detected break down Afterwards, it is the first abnormal shape that center processing unit, which can be the current working status of target hardware to be detected according to judgement result determination, The current working status of state or corresponding some target software to be detected of target hardware to be detected is the first abnormality, from And in the current work according to the corresponding unique identifier of target hardware to be detected, the first logical clock value, target hardware to be detected Make state and each target software to be detected current working status local device state table is updated after, this can be made The information recorded in ground device status table is more accurate, so that maintenance personal repairs to the automobile to break down When, it can directly know that specifically which hardware or which hardware are corresponding soft according to the information recorded in local device state table Part breaks down.

Further, in embodiments of the present invention, center processing unit is determining that target hardware to be detected and target are to be checked After the corresponding target software to be detected of survey hardware breaks down, or determining target hardware to be detected and target hardware pair to be detected The target answered software to be detected breaks down, and determines that other hardware to be detected and other hardware to be detected are corresponding to be detected After software breaks down, center processing unit can according to the quantity of the hardware to be detected and software to be detected to break down and Type defines the level to the failure that automobile currently occurs, and while being alarmed, and deciding grade and level result is carried out output and is shown, So as to the seriousness for reminding driver's automobile currently to break down.

206a, if so, center processing unit is alarmed.

It wherein, can retouching with reference to Fig. 1 corresponding part about step 206a, if so, center processing unit is alarmed It states, the embodiment of the present invention will not be described in great detail herein.

For the embodiment of the present invention, the step 205b arranged side by side with step 205a, if it is not, then center processing unit abandons heartbeat Information.

In embodiments of the present invention, center processing unit is determining the corresponding function of target hardware to be detected by step 204 Can unit send heartbeat message be historical information after, the heartbeat message can be abandoned, so as to avoid center processing unit The case where historical information is accidentally handled.

Further, in embodiments of the present invention, when center processing unit is more than that not receive target to be checked for preset time When surveying the heartbeat message that the corresponding functional unit of hardware is sent, center processing unit determines that target hardware to be detected and target are to be checked It surveys the corresponding target software to be detected of hardware to break down, and determines the current of target hardware to be detected and target software to be detected Working condition is the second abnormality, at this point, center processing unit can be according to the second abnormality to local device state table It is updated (i.e. to be detected hard in local device state table lookup target according to the corresponding unique identifier of target hardware to be detected The corresponding history working condition of part and the corresponding history working condition of target software to be detected, and more using the second abnormality The corresponding history working condition of fresh target hardware to be detected and the corresponding history working condition of target software to be detected), and carry out Alarm.

To achieve the goals above, according to another aspect of the present invention, the embodiment of the invention also provides a kind of storage Jie Matter, the storage medium include the program of storage, wherein equipment where controlling the storage medium in described program operation is held Row fault detection method described above.

To achieve the goals above, according to another aspect of the present invention, the embodiment of the invention also provides a kind of processor, The processor is for running program, wherein described program executes fault detection method described above when running.

Further, as the realization to method shown in above-mentioned Fig. 1 and Fig. 2, another embodiment of the present invention additionally provides one Kind fault detection means.The Installation practice is corresponding with preceding method embodiment, and to be easy to read, present apparatus embodiment is no longer right Detail content in preceding method embodiment is repeated one by one, it should be understood that the device in the present embodiment can correspond to reality Full content in existing preceding method embodiment.The device is applied to real-time detection target hardware to be detected and target is to be detected hard Whether the corresponding target of part software to be detected breaks down, specifically as shown in figure 3, the device includes:

Acquiring unit 301 obtains the corresponding state code of target hardware to be detected for functional unit；

Generation unit 302 generates the target hardware pair to be detected according to the state code for the functional unit The heart beat status code answered；

The heart beat status code is added in heartbeat message by the first adding unit 303 for the functional unit；

The heartbeat message is sent to center processing unit for the functional unit by the first transmission unit 304；

First judging unit 305 judges that the target waits for according to the heart beat status code for the center processing unit Whether detection hardware and the corresponding target of target hardware to be detected software to be detected break down；

Alarm unit 306, for judging that the target is to be checked according to the heart beat status code when the center processing unit When survey hardware and the corresponding target of target hardware to be detected software to be detected break down, the center processing unit is carried out Alarm.

Further, as shown in figure 4, the corresponding state code of target hardware to be detected is normal code or reports an error generation Code；Generation unit 302 includes:

First generation module 3021, for being the normal code when the corresponding state code of target hardware to be detected When, the functional unit generates the corresponding first heart beat status code of the target hardware to be detected according to the normal code, In, the first heart beat status code is zero；

Second generation module 3022, for being the code that reports an error when the corresponding state code of target hardware to be detected When, the functional unit reports an error the corresponding second heart beat status code of the hardware to be detected of target described in code building according to, In, the second heart beat status code is nonzero value.

Further, as shown in figure 4, the first judging unit 305 includes:

First determination module 3051 is used for when the heart beat status code is the first heart beat status code, the center Processing unit determines that the target hardware to be detected and target software to be detected do not break down；

Second determination module 3052 is used for when the heart beat status code is the second heart beat status code, the center Processing unit determines that the target hardware to be detected and target software to be detected break down.

Further, as shown in figure 4, the device further include:

Second adding unit 307, for the heart beat status code to be added to it in heartbeat message in the functional unit Afterwards, the first logical clock value and the corresponding unique identifier of target hardware to be detected are added to institute by the functional unit It states in heartbeat message, wherein first logical clock value is the current value of the local logical timer of the functional unit.

Further, as shown in figure 4, the device further include:

First updating unit 308, for judging the target according to the heart beat status code in the center processing unit After whether hardware to be detected and the corresponding target of target hardware to be detected software to be detected break down, when the center When processing unit determines that the target hardware to be detected and target software to be detected do not break down, the center processing list Member determines that the current working status of the target hardware to be detected and target software to be detected is normal condition, and according to institute Unique identifier, first logical clock value and the normal condition is stated to be updated local device state table, wherein Record has the corresponding unique identifier of each hardware to be detected, each hardware pair to be detected in the local device state table The history working condition of the historical logic clock value, each hardware to be detected answered and each hardware to be detected are corresponding Software to be detected history working condition；

Second updating unit 309, for determining the target hardware to be detected and the mesh when the center processing unit When marking software to be detected and breaking down, the center processing unit determines that target hardware to be detected and the target are to be detected The current working status of software be the first abnormality, and according to the unique identifier, first logical clock value and First abnormality is updated the local device state table.

Further, as shown in figure 4, the device further include:

Second judgment unit 310, for judging the target according to the heart beat status code in the center processing unit Before whether hardware to be detected and the corresponding target of target hardware to be detected software to be detected break down, at the center Reason unit searches that target hardware to be detected is corresponding to be gone through according to the unique identifier in the local device state table History logical clock value, and judge whether first logical clock value is greater than the historical logic clock value；

First judging unit 305, if being specifically used for first logical clock value is greater than the historical logic clock value, The center processing unit judges target hardware to be detected and target hardware to be detected according to the heart beat status code Whether corresponding target software to be detected breaks down；

Discarding unit 311, if being less than or equal to the historical logic clock value, institute for first logical clock value It states center processing unit and abandons the heartbeat message.

Further, as shown in figure 4, the device further include:

Determination unit 312, for being more than that preset time does not receive the functional unit hair when the center processing unit When the heartbeat message sent, the center processing unit determines that the target hardware to be detected and target software to be detected occur Failure, and determine that the current working status of the target hardware to be detected and target software to be detected is the second abnormal shape State；

Third updating unit 313 sets the local according to second abnormality for the center processing unit Standby state table is updated, and is alarmed.

Further, as shown in figure 4, the device further include:

Second transmission unit 314, for the functional unit by the heartbeat message be sent to center processing unit it Afterwards, the center processing unit sends the heartbeat response message for carrying the second logical clock value to the functional unit, so as to The functional unit is updated local logical timer according to second logical clock value, wherein when second logic Clock value is the current value of the local logical timer of the center processing unit.

A kind of fault detection method and device provided in an embodiment of the present invention, by for target hardware to be detected it is virtual in advance And the functional unit configured obtains the corresponding state code of target hardware to be detected, and to be checked according to state code generation target The corresponding heart beat status code of hardware is surveyed, and after the heartbeat code is added to heartbeat message, which is sent to In center processing unit virtual in advance, so that center processing unit is after receiving the heartbeat message, according to the heartbeat message The heart beat status code of middle carrying judges whether are target hardware to be detected and the corresponding target of target hardware to be detected software to be detected It breaks down, and when determining that target hardware to be detected and target software to be detected break down, alarms.The present invention is implemented Example can pass through virtual in advance functional unit and center processing unit, real-time detection group during automatic driving Event whether occurs at the target of automated driving system hardware to be detected and the corresponding target of target hardware to be detected software to be detected Barrier, and when detecting that target hardware to be detected and target software to be detected break down, it alarms, so as to mention in time Driver's automobile of waking up breaks down, and makes driver's manual drive automobile, and then can ensure the traffic safety of driver； Meanwhile the embodiment of the present invention can also be more than that not receive target hardware to be detected corresponding for preset time in center processing unit When the heartbeat message that functional unit is sent, determine that target hardware to be detected and the corresponding target of target hardware to be detected are to be detected soft Part breaks down, and alarms, so as to avoid breaking down due to target hardware to be detected or target software to be detected, Make functional unit that can not acquire the corresponding state code of target hardware to be detected, and causes center processing unit that can not determine The case where target hardware to be detected and target software to be detected break down, and then further improve real-time detection target The accuracy rate whether hardware to be detected and the corresponding target of target hardware to be detected software to be detected break down.

The fault detection means includes processor and memory, and above-mentioned acquiring unit, generation unit, the first addition are single Member, the first transmission unit, the first judging unit and alarm unit etc. as program unit storage in memory, by processor Above procedure unit stored in memory is executed to realize corresponding function.

Include kernel in processor, is gone in memory to transfer corresponding program unit by kernel.Kernel can be set one Or more, carry out real-time detection target hardware to be detected by adjusting kernel parameter and the corresponding target of target hardware to be detected is to be checked Survey whether software breaks down.

Memory may include the non-volatile memory in computer-readable medium, random access memory (RAM) and/ Or the forms such as Nonvolatile memory, such as read-only memory (ROM) or flash memory (flashRAM), memory includes at least one storage Chip.

The embodiment of the invention provides a kind of storage mediums, are stored thereon with program, real when which is executed by processor Fault detection method described in any one of existing above embodiments.

The embodiment of the invention provides a kind of processor, the processor is for running program, wherein described program operation Fault detection method described in any one of Shi Zhihang above embodiments.

The embodiment of the invention provides a kind of equipment, equipment include processor, memory and storage on a memory and can The program run on a processor, processor perform the steps of when executing program

If so, the center processing unit is alarmed.

Further, the corresponding state code of target hardware to be detected is normal code or the code that reports an error；The function Energy unit generates the corresponding heart beat status code of the target hardware to be detected according to the state code, comprising:

Further, the center processing unit judges target hardware to be detected and institute according to the heart beat status code State whether the corresponding target software to be detected of target hardware to be detected breaks down, comprising:

Further, after the heart beat status code is added in heartbeat message by the functional unit, the method Further include:

Further, the center processing unit according to the heart beat status code judge target hardware to be detected and After whether the corresponding target software to be detected of the target hardware to be detected breaks down, the method also includes:

Further, the center processing unit according to the heart beat status code judge target hardware to be detected and Before whether the corresponding target software to be detected of the target hardware to be detected breaks down, the method also includes:

If it is not, then the center processing unit abandons the heartbeat message.

Further, the method also includes:

Further, after the heartbeat message is sent to center processing unit by the functional unit, the method Further include:

Present invention also provides a kind of computer program products, when executing on data processing equipment, are adapted for carrying out just The program code of beginningization there are as below methods step: functional unit obtains the corresponding state code of target hardware to be detected, and according to The state code generates the corresponding heart beat status code of the target hardware to be detected；The functional unit is by the heart beat status Code is added in heartbeat message, and the heartbeat message is sent to center processing unit；The center processing unit is according to institute State that heart beat status code judges target hardware to be detected and the corresponding target of target hardware to be detected software to be detected is It is no to break down；If so, the center processing unit is alarmed.

It should be understood by those skilled in the art that, embodiments herein can provide as method, system or computer program Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the application Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the application, which can be used in one or more, The computer program implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) produces The form of product.

The application is referring to method, the process of equipment (system) and computer program product according to the embodiment of the present application Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.

These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates, Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or The function of being specified in multiple boxes.

These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one The step of function of being specified in a box or multiple boxes.

In a typical configuration, calculating equipment includes one or more processors (CPU), input/output interface, net Network interface and memory.

Memory may include the non-volatile memory in computer-readable medium, random access memory (RAM) and/ Or the forms such as Nonvolatile memory, such as read-only memory (ROM) or flash memory (flashRAM).Memory is computer-readable medium Example.

Computer-readable medium includes permanent and non-permanent, removable and non-removable media can be by any method Or technology come realize information store.Information can be computer readable instructions, data structure, the module of program or other data. The example of the storage medium of computer includes, but are not limited to phase change memory (PRAM), static random access memory (SRAM), moves State random access memory (DRAM), other kinds of random access memory (RAM), read-only memory (ROM), electric erasable Programmable read only memory (EEPROM), flash memory or other memory techniques, read-only disc read only memory (CD-ROM) (CD-ROM), Digital versatile disc (DVD) or other optical storage, magnetic cassettes, tape magnetic disk storage or other magnetic storage devices Or any other non-transmission medium, can be used for storage can be accessed by a computing device information.As defined in this article, it calculates Machine readable medium does not include temporary computer readable media (transitory media), such as the data-signal and carrier wave of modulation.

It should also be noted that, the terms "include", "comprise" or its any other variant are intended to nonexcludability It include so that the process, method, commodity or the equipment that include a series of elements not only include those elements, but also to wrap Include other elements that are not explicitly listed, or further include for this process, method, commodity or equipment intrinsic want Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including element There is also other identical elements in process, method, commodity or equipment.

It will be understood by those skilled in the art that embodiments herein can provide as method, system or computer program product. Therefore, complete hardware embodiment, complete software embodiment or embodiment combining software and hardware aspects can be used in the application Form.It is deposited moreover, the application can be used to can be used in the computer that one or more wherein includes computer usable program code The shape for the computer program product implemented on storage media (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) Formula.

The above is only embodiments herein, are not intended to limit this application.To those skilled in the art, Various changes and changes are possible in this application.It is all within the spirit and principles of the present application made by any modification, equivalent replacement, Improve etc., it should be included within the scope of the claims of this application.

Claims

1. a kind of fault detection method characterized by comprising

Functional unit obtains the corresponding state code of target hardware to be detected, and generates the target according to the state code and wait for Detect the corresponding heart beat status code of hardware；

The heart beat status code is added in heartbeat message by the functional unit, and the heartbeat message is sent at center Manage unit；

The center processing unit judges that target hardware to be detected and the target are to be detected according to the heart beat status code Whether the corresponding target of hardware software to be detected breaks down；

If so, the center processing unit is alarmed.

2. the method according to claim 1, wherein the corresponding state code of target hardware to be detected is positive Normal code or the code that reports an error；The functional unit generates the corresponding heartbeat of the target hardware to be detected according to the state code Status code, comprising:

When the corresponding state code of target hardware to be detected be the normal code when, the functional unit according to it is described just The corresponding first heart beat status code of target hardware to be detected described in normal code building, wherein the first heart beat status code is zero Value；

When the corresponding state code of target hardware to be detected reports an error code for described in, the functional unit is according to the report The corresponding second heart beat status code of the hardware to be detected of target described in wrong code building, wherein the second heart beat status code is non- Zero.

3. according to the method described in claim 2, it is characterized in that, the center processing unit is sentenced according to the heart beat status code Whether the target of breaking hardware to be detected and the corresponding target of target hardware to be detected software to be detected break down, packet It includes:

When the heart beat status code is the first heart beat status code, the center processing unit determines that the target is to be detected Hardware and target software to be detected do not break down；

When the heart beat status code is the second heart beat status code, the center processing unit determines that the target is to be detected Hardware and target software to be detected break down.

4. the method according to claim 1, wherein the heart beat status code is added in the functional unit After in heartbeat message, the method also includes:

First logical clock value and the corresponding unique identifier of target hardware to be detected are added to by the functional unit In the heartbeat message, wherein first logical clock value is the current value of the local logical timer of the functional unit.

5. according to the method described in claim 4, it is characterized in that, in the center processing unit according to the heart beat status code Judge whether target hardware to be detected and the corresponding target of target hardware to be detected software to be detected break down it Afterwards, the method also includes:

When the center processing unit determines that the target hardware to be detected and target software to be detected do not break down, The center processing unit determines that target hardware to be detected and the current working status of target software to be detected are positive Normal state, and according to the unique identifier, first logical clock value and the normal condition to local device state Table is updated, wherein record has the corresponding unique identifier of each hardware to be detected, each in the local device state table The corresponding historical logic clock value of the hardware to be detected, the history working condition of each hardware to be detected and each institute State the history working condition of the corresponding software to be detected of hardware to be detected；

When the center processing unit determines that the target hardware to be detected and target software to be detected break down, institute It states center processing unit and determines that the current working status of target hardware to be detected and target software to be detected is first Abnormality, and according to the unique identifier, first logical clock value and first abnormality to described Ground device status table is updated.

6. according to the method described in claim 5, it is characterized in that, in the center processing unit according to the heart beat status code Judge whether target hardware to be detected and the corresponding target of target hardware to be detected software to be detected break down it Before, the method also includes:

It is to be checked that the center processing unit according to the unique identifier searches the target in the local device state table The corresponding historical logic clock value of hardware is surveyed, and judges whether first logical clock value is greater than the historical logic clock Value；

If so, judging the hardware to be detected and described to be checked according to the heart beat status code into the center processing unit The step of whether corresponding software to be detected of hardware breaks down surveyed；

If it is not, then the center processing unit abandons the heartbeat message.

7. according to the method described in claim 5, it is characterized in that, the method also includes:

When the center processing unit is more than that preset time does not receive the heartbeat message that the functional unit is sent, it is described in Heart processing unit determines that the target hardware to be detected and target software to be detected break down, and determines that the target waits for The current working status for detecting hardware and target software to be detected is the second abnormality；

The center processing unit is updated the local device state table according to second abnormality, and is reported It is alert.

8. the method according to claim 1, wherein in the heartbeat message is sent to by the functional unit After heart processing unit, the method also includes:

The center processing unit sends the heartbeat response message for carrying the second logical clock value to the functional unit, so as to The functional unit is updated local logical timer according to second logical clock value, wherein when second logic Clock value is the current value of the local logical timer of the center processing unit.

9. a kind of fault detection means characterized by comprising

Generation unit generates the corresponding heartbeat of the target hardware to be detected according to the state code for the functional unit Status code；

First judging unit judges target hardware to be detected according to the heart beat status code for the center processing unit And whether the corresponding target software to be detected of the target hardware to be detected breaks down；

Alarm unit, for when the center processing unit according to the heart beat status code judge target hardware to be detected and When the corresponding target software to be detected of the target hardware to be detected breaks down, the center processing unit is alarmed.

10. a kind of storage medium, which is characterized in that the storage medium includes the program of storage, wherein run in described program When control the storage medium where equipment perform claim require 1 to the fault detection method described in any one of claim 8.

11. a kind of processor, which is characterized in that the processor is for running program, wherein right of execution when described program is run Benefit requires 1 to the fault detection method described in any one of claim 8.