CN110017994A - Method for detecting abnormality, device, system, equipment and the medium of automatic driving vehicle - Google Patents
Method for detecting abnormality, device, system, equipment and the medium of automatic driving vehicle Download PDFInfo
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- CN110017994A CN110017994A CN201910406449.0A CN201910406449A CN110017994A CN 110017994 A CN110017994 A CN 110017994A CN 201910406449 A CN201910406449 A CN 201910406449A CN 110017994 A CN110017994 A CN 110017994A
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- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
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Abstract
The embodiment of the invention discloses a kind of method for detecting abnormality of automatic driving vehicle, device, system, equipment and media, wherein this method comprises: obtaining the health and fitness information of the safety detection module of vehicle；Obtain the comparative information of the safety detection module；Compare the health and fitness information and the comparative information；Judge the safety detection module with the presence or absence of abnormal according to comparison result.Health and fitness information and module abnormal detection mechanism that the embodiment of the present invention is counted by safety detection module oneself are directed to the comparative information of safety detection module statistics, to judge safety detection module with the presence or absence of abnormal, realize the abnormality detection of safety detection module, it can note abnormalities in time, so that the robustness of Unmanned Systems is higher, safety is more secure.
Description
Technical field
The present embodiments relate to automatic Pilot technology more particularly to a kind of method for detecting abnormality of automatic driving vehicle,
Device, system, equipment and medium.
Background technique
Currently, being generally equipped with Safety Redundancy hot-backup system (referred to as security system), the system in automatic driving vehicle
By a series of strategy, the dangerous situation that the abnormal conditions and vehicle for detecting each system of vehicle are met at any time, these use
In the detection function item of abnormal conditions, it is defined as safety detection item checker, referred to as checker.Checker will be checked and be tied
Fruit is reported to tactful mechanism, and used next step strategy when these abnormal conditions is met to formulate.Thus Unmanned Systems
When the problems such as meeting some system downs, security system can adapter tube vehicle in time, guarantee driving safety.
But if exception occurs in each checker of security system, the information for causing it to provide is out-of-date or fails, meeting
There are traffic safety hidden danger.
Summary of the invention
The embodiment of the present invention provides method for detecting abnormality, device, system, equipment and the medium of a kind of automatic driving vehicle,
To realize the abnormality detection of Vehicle security system, further guarantee driving safety.
In a first aspect, the embodiment of the invention provides a kind of method for detecting abnormality of automatic driving vehicle, comprising:
Obtain the health and fitness information of the safety detection module of vehicle；
Obtain the comparative information of the safety detection module；
Compare the health and fitness information and the comparative information；
Judge the safety detection module with the presence or absence of abnormal according to comparison result.
Second aspect, the embodiment of the invention also provides a kind of abnormal detectors of automatic driving vehicle, comprising:
Health and fitness information obtains module, the health and fitness information of the safety detection module for obtaining vehicle；
Comparative information obtains module, for obtaining the comparative information of the safety detection module；
Information comparison module, for the health and fitness information and the comparative information；
Abnormal judgment module, for judging the safety detection module with the presence or absence of abnormal according to comparison result.
The third aspect, the embodiment of the invention also provides a kind of abnormality detection systems of automatic driving vehicle, comprising: strategy
Mechanism and at least one safety detection module；
The safety detection module records itself for carrying out safety detection to vehicle to obtain safety detection result
Health and fitness information, and the safety detection result and the health and fitness information are uploaded to the tactful mechanism；
The strategy mechanism, the abnormal detector including automatic driving vehicle described in any embodiment of that present invention.
Fourth aspect, the embodiment of the invention also provides a kind of computer equipment, the computer equipment includes:
One or more processors；
Memory, for storing one or more programs；
When one or more of programs are executed by one or more of processors, so that one or more of processing
Device realizes the method for detecting abnormality of the automatic driving vehicle as described in any embodiment of that present invention.
5th aspect, the embodiment of the invention also provides a kind of computer readable storage mediums, are stored thereon with computer
Program realizes the abnormality detection side of the automatic driving vehicle as described in any embodiment of that present invention when the program is executed by processor
Method.
The technical solution of the present embodiment, the health and fitness information and module anomaly detection machine counted by safety detection module oneself
Structure is directed to the comparative information of safety detection module statistics, to judge that safety detection module with the presence or absence of exception, realizes safety
The abnormality detection of detection module can note abnormalities in time, so that the robustness of Unmanned Systems is higher, safety is more added with guarantor
Barrier.
Detailed description of the invention
Fig. 1 is the flow chart of the method for detecting abnormality for the automatic driving vehicle that the embodiment of the present invention one provides；
Fig. 2 is the structural schematic diagram of the abnormal detector for the automatic driving vehicle that the embodiment of the present invention three provides；
Fig. 3 is the structural schematic diagram of the abnormality detection system for the automatic driving vehicle that the embodiment of the present invention four provides；
Fig. 4 is the structural schematic diagram for the computer equipment that the embodiment of the present invention five provides.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
Embodiment one
Fig. 1 is the flow chart of the method for detecting abnormality for the automatic driving vehicle that the embodiment of the present invention one provides, the present embodiment
The security system of detection automatic driving vehicle is applicable to the presence or absence of abnormal situation, this method can be by automatic driving vehicle
Abnormal detector execute, which can be realized by software and/or hardware, can generally be integrated in computer equipment
In.As shown in Figure 1, this method specifically includes:
S110 obtains the health and fitness information of the safety detection module of vehicle.
Wherein, automatic driving vehicle generally is equipped with security system, for check the abnormal conditions of each system of vehicle with
And the dangerous situation that vehicle is met at any time.For different inspection purposes, include in security system multiple safety detection modules (or
Referred to as safety detection item, checker), for example, checking the safety detection module 1 of brake and drive system for vehicle with tow, checking that car door latches automatically
The safety detection module 2 of system, the safety detection module 3 for checking obstacles around the vehicle etc..
Safety detection module can actively be detected according to prefixed time interval, wherein different safety detection modules
Time interval can be identical or different.Safety detection module can also be with passive detection, for example, receiving relevant information Shi Caijin
Row detection.Safety detection result is reported to the tactful mechanism of security system, so that plan after detection by safety detection module
Slightly mechanism can formulate control strategy according to the safety detection result and can then make for example, safety detection result is brake failure
Determining control strategy is to stop immediately, and for another example, safety detection result is that brake is normal, then can formulate control strategy is after continuing
It sails, for another example, safety detection result is that oil mass is lower than threshold value, then can formulate control strategy as output oil mass alarm.Tactful mechanism
Control strategy is uploaded to vehicle control center, to control vehicle according to the control strategy.
Health and fitness information be safety detection module oneself statistics for judge the safety detection module whether Yi Chang foundation.
Health and fitness information is the detection number for characterizing safety detection module and the information of detection time etc..With the work of safety detection module
Make, health and fitness information is dynamic change.Specifically, the every progress once safety detection of safety detection module, can generate corresponding peace
Full testing result (such as brake failure, brake normal etc.), health and fitness information may also change accordingly.In the embodiment of the present invention, module
Abnormal detection mechanism can be the newly-increased mechanism dedicated for module abnormality detection, existing mechanism, such as plan also can be used
Slightly mechanism.It is preferable to use tactful mechanisms to carry out module abnormality detection, avoids increasing new mechanism, and can comprehensively consider safety detection
As a result control strategy is formulated with module abnormal conditions.Health and fitness information can be by safety detection module timing active upload to module
Abnormal detection mechanism is also possible to be uploaded according to the request of module abnormal detection mechanism.Safety detection module can will pacify
Full testing result and health and fitness information are packaged into a message transmission, can also be using safety detection result and health and fitness information as two
Message simultaneous transmission, and identical mark is set to indicate the corresponding relationship of this two message.
Optionally, the health and fitness information for obtaining the safety detection module of vehicle may include: to receive the safety detection module
The message of transmission；The message is parsed, safety detection result and the health and fitness information are obtained.
Wherein, safety detection result and health and fitness information are packaged into a message and sent by safety detection module, module
Abnormal detection mechanism parses the message received according to packing rule, it is possible thereby to the health and fitness information obtained according to parsing
Carry out the judgement of module exception.A message is packaged into be sent, can be convenient obtain this detection result with it is corresponding
Health and fitness information.
S120 obtains the comparative information of the safety detection module.
Wherein, comparative information is similar with health and fitness information, and for judge safety detection module whether Yi Chang foundation.Often
A safety detection module has corresponding comparative information.Health and fitness information by safety detection module oneself count, comparative information by
For module abnormal detection mechanism according to preset rules (rule for generating health and fitness information with safety detection module is consistent) record, module is different
Normal testing agency compares the record of information for each safety detection module in vehicle.With the work of safety detection module
Make, comparative information is also dynamic change.Health and fitness information is identical with the parameter type that comparative information is included, for example,
Include time data.
Optionally, the health and fitness information includes: that safety detection time and safety detection count；The safety detection time is
At the time of the safety detection module detects the vehicle；The safety detection counting is the safety detection module pair
The number that the vehicle is detected.
Wherein, the safety detection time is used to judge the timeliness of safety detection result transmitted by safety detection module.Peace
Full inspection, which is surveyed, to be counted for judging whether safety detection result transmitted by safety detection module packet loss occurs.Never Tongfang as a result,
Abnormal conditions in face of safety detection module are judged, so that abnormal judging result is more fully reliable.
It optionally, can also include: to remember according to preset rules before the comparative information for obtaining the safety detection module
Record the detection count value of the safety detection module.
Wherein, preset rules are to count identical rule with safety detection module statistics safety detection.For each safety
Detection module, the rule (for example, detection is spaced) counted according to safety detection module statistics safety detection, records safety inspection
The detection count value of module is surveyed, detection count value is dynamic change.For example, counter can be used, when reaching detection interval,
Counter adds one.The detection count value of each safety detection module can be distinguished according to the mark of safety detection module.
In an optional embodiment, the comparative information of the safety detection module is obtained, comprising: according to the peace
The mark of full detection module, obtains the current detection count value of the safety detection module from prestored message；By current time
With the current detection count value, comparative information as the safety detection module.
Wherein, prestored message includes multiple detection count values, i.e., the corresponding inspection of each safety detection module in current vehicle
Survey count value.In statistic mixed-state count value, the identification information of corresponding safety detection module is stored, simultaneously also in order to distinguish
Which safety detection module each detection record value corresponds to.The mark of safety detection module can be at least one of: number
Word, letter and character.Current time can be the time for getting health and fitness information, this time can be roughly equivalent to receive peace
The time for the message that full detection module is reported.
This optional embodiment simple and quick can obtain peace according to the mark of safety detection module from prestored message
The detection count value of full detection module, and further combined with current time, obtain the comparative information of safety detection module.
S130, the health and fitness information and the comparative information.
Health and fitness information is the ratio of the specific value of wherein identical parameters type compared with comparative information in the present embodiment
Compared with.For example, security detector of the safety detection time compared with the time in comparative information, in health and fitness information in health and fitness information
Number is compared with the detection count value in comparative information.
It should be noted that the safety detection of each safety detection module oneself statistics counts, and, abnormal detection mechanism
It for the detection count value of each safety detection module statistics, can be set eligible, reset, to save memory space, be convenient for
Management.Clearing condition may is that module restarts, counts and reach preset threshold or vehicle launch.In addition, involved by abnormality detecting process
And other data, for example, safety detection module statistics the safety detection time and module abnormal detection mechanism receive simultaneously
The health and fitness information of caching is removed together also with counting.
S140 judges the safety detection module with the presence or absence of abnormal according to comparison result.
In the embodiment of the present invention, each safety detection module in automatic driving vehicle according to respective rule-statistical respectively
Health and fitness information, module abnormal detection mechanism is also according to the comparative information of each safety detection module of each rule-statistical, if safety
Detection module does not have failure, then the health and fitness information of same safety detection module should be phase with the parameter value in comparative information
With or within the scope of allowable error.Therefore, by comparing health and fitness information and comparative information, it can be determined that go out safety detection mould
Block is with the presence or absence of going wrong, for example, module failure or network delay etc..
The technical solution of the present embodiment, the health and fitness information and module anomaly detection machine counted by safety detection module oneself
Structure is directed to the comparative information of safety detection module statistics, to judge that safety detection module with the presence or absence of exception, realizes safety
The abnormality detection of detection module can note abnormalities in time, so that the robustness of Unmanned Systems is higher, safety is more added with guarantor
Barrier.
Optionally, the health and fitness information and the comparative information, comprising: the safety inspection in the health and fitness information
The current time in time and the comparative information is surveyed, the first result is obtained；Compare the security detector in the health and fitness information
Several current detection count values with the comparative information, obtain the second result.
Correspondingly, judging the safety detection module with the presence or absence of abnormal according to comparison result, comprising: if first knot
Fruit is to be less than pre-set delay threshold value the time difference, and second result is that counting is equal, is determined at the safety detection module
In health status；If it is more than pre-set delay threshold value the time difference that first result, which is, and/or, second result is to count not
It is equal, it is abnormal to determine that the safety detection module occurs.Wherein, pre-set delay threshold value can be set according to available accuracy demand
It sets.
By the comparison of time parameter, it can determine that the safety detection result of safety detection module sending whether there is and prolong
When, for example, safety detection time in health and fitness information is 9 points, pre-set delay threshold value is 1 minute, current time be 9 points 20 minutes
(i.e. 9 points of module abnormal detection mechanism receive safety detection result in 20 minutes), time difference are 20 minutes, are much larger than threshold value, can be true
Safety detection result corresponding to the fixed safety detection time, delay reach, and network blocks.
By the comparison of count parameter, it can determine that the safety detection result of safety detection module sending whether there is and lose
Packet.Counting differs, and indicates that packet loss occurs, tactful mechanism does not receive newest safety detection result, it may be possible to safety detection mould
Block failure leads to not carry out safety detection, it is also possible to which network delay causes newest safety detection result not timely
It receives.Further, it can come whether auxiliary judgment postpones according to the counting in the health and fitness information received next time.In addition,
Also network detection module can be set to detect network load, judge whether to postpone.For example, the safety detection module currently obtained
It is 4 that the safety detection of A, which counts, and the current detection count value of safety detection module A is 5 in comparative information, that is to say, that tactful machine
Structure be not received by safety detection module A carry out the 5th detection health and fitness information and corresponding safety detection result, it may be possible to
Safety detection module A goes wrong, and cannot normally detect leads to packet loss, it is also possible to which network problem leads to the health and fitness information and safety
Testing result transmission delay, concrete reason can according to the subsequent health and fitness information for whether receiving the 5th detection come auxiliary judgment,
It is exemplary, if tactful mechanism it is subsequently received be the health and fitness information for being counted as 6, may determine that be counted as 5 health
Information occur packet loss, if it is subsequently received be counted as 5 health and fitness information, it can be determined that be network delay.
This alternative embodiment can determine safety detection module with the presence or absence of abnormal, example through the time compared with counting
Such as, module failure can not detect or message delay, so as to take corresponding vehicle control strategy according to abnormality detection result,
And further progress fault diagnosis and investigation, it is provided safeguard for the safe driving of automatic Pilot.
In an optional embodiment, judging the safety detection module with the presence or absence of abnormal according to comparison result
Later, further includes: according to the abnormal judging result of the safety detection module and the safety detection of the safety detection module
As a result, determining control strategy；Export the control strategy, wherein the control strategy be used to indicate vehicle control center according to
The control strategy carries out vehicle control.
Wherein, control strategy can be alarm or parking etc., when exist in safety detection result and abnormal judging result than
More serious situation, such as brake failure then can control parking, compare when safety detection result belongs to abnormal judging result
Slight situation, for example, oil mass shows mistake, message delay of safety detection module etc., it can be with outputting alarm.
In this optional embodiment, tactful mechanism carries out module abnormality detection, obtains abnormal judging result, and combine safety
Testing result provides vehicle control strategy, guarantee driving safety.
Embodiment two
The present embodiment provides the embodiment of the abnormality detection of tactful mechanism on the basis of the various embodiments described above.Plan
It is slightly inter-agency every setting time to vehicle control center sending strategy mechanism detection information, wherein the strategy mechanism detection letter
Breath includes: tactful time and policy counter, and strategy mechanism detection information is used to indicate the vehicle control center according to institute
Tactful mechanism detection information and tactful comparative information determination strategy mechanism, mechanism are stated with the presence or absence of abnormal.
Wherein, setting time refers to that tactful mechanism provides the time interval of strategy, in fact, tactful mechanism provides strategy
Time interval is determined by the detection time interval of safety detection module, because safety detection module is detected every time can all report
To tactful mechanism, tactful mechanism provides corresponding strategy accordingly.
The tactful mechanism abnormality detection of the present embodiment, principle is identical as the principle of the abnormality detection of safety detection module,
It is to be judged by time and counting.The not technical detail of detailed description in the present embodiment, can refer to safety detection
The related content of the abnormality detection of module.
Specifically, tactful mechanism, when providing control strategy, recording strategy time and policy counter obtain tactful mechanism inspection
Measurement information, and to vehicle control center sending strategy mechanism detection information；Wherein, the tactful time refers to that tactful mechanism provides control
At the time of tactful, policy counter refers to that tactful mechanism provides the number of control strategy.At the same time, vehicle control center is according to phase
With rule (such as tactful mechanism provides the time interval of strategy, that is, above-mentioned setting time) statistical counting value.When vehicle control
When center processed receives the tactful mechanism detection information that tactful mechanism is sent, obtain current count value, by the current count value with
Current time together, as tactful mechanism comparative information, wherein current time refer to receive tactful mechanism detection information when
Between.In addition, control strategy can be uploaded to vehicle control center, vehicle control by tactful mechanism together with tactful mechanism detection information
Center processed can carry out vehicle control according to control strategy.
Vehicle control center comparison strategy mechanism detection information and tactful mechanism comparative information, to carry out the different of tactful mechanism
Often judgement, wherein if the time difference is less than preset threshold, and counting is equal, determines that strategy mechanism is in health status；If the time
Difference is more than preset threshold, and/or, counting is unequal, and it is abnormal to determine that strategy mechanism occurs.For example, counting is unequal, indicate to occur
Packet loss, vehicle control center do not receive newest control strategy, it may be possible to which tactful mechanism failure leads to not formulate plan
Slightly, it is also possible to which network delay leads to that message cannot be received in time.Further, can according to the counting received next time,
Come whether auxiliary judgment postpones.In addition it is also possible to which network detection module is arranged to detect network load, judge whether to postpone.If
The reason of non-network delay, vehicle control center can directly alert even control parking.
The technical solution of the present embodiment, by tactful mechanism oneself count tactful mechanism detection information and vehicle control in
The heart is directed to the tactful mechanism comparative information of tactful mechanism statistics, comes determination strategy mechanism with the presence or absence of exception, realizes tactful machine
The abnormality detection of structure can note abnormalities in time, so that the robustness of Unmanned Systems is higher, safety is more secure.
Embodiment three
Fig. 2 is the structural schematic diagram of the abnormal detector for the automatic driving vehicle that the embodiment of the present invention three provides, such as Fig. 2
Shown, which includes:
Health and fitness information obtains module 210, the health and fitness information of the safety detection module for obtaining vehicle；
Comparative information obtains module 220, for obtaining the comparative information of the safety detection module；
Information comparison module 230, for the health and fitness information and the comparative information；
Abnormal judgment module 240, for judging the safety detection module with the presence or absence of abnormal according to comparison result.
Optionally, described device further include: information logging modle, for recording the safety detection mould according to preset rules
The detection count value of block.
Optionally, the comparative information acquisition module 220 includes:
Count value acquiring unit obtains the peace for the mark according to the safety detection module from prestored message
The current detection count value of full detection module；
Comparative information acquiring unit is used for by current time and the current detection count value, as the safety detection
The comparative information of module.
Optionally, the health and fitness information includes: that safety detection time and safety detection count；The safety detection time is
At the time of the safety detection module detects the vehicle；The safety detection counting is the safety detection module pair
The number that the vehicle is detected；
The information comparison module 230 is specifically used for: safety detection time in the health and fitness information with it is described right
Than the current time in information, the first result is obtained；Compare the safety detection in the health and fitness information to count and comparison letter
Current detection count value in breath, obtains the second result；
Correspondingly, the exception judgment module 240 is specifically used for: if first result is to be less than default prolong the time difference
Slow threshold value, and second result is that counting is equal, determines that the safety detection module is in health status；If first knot
Fruit is the time difference more than pre-set delay threshold value, and/or, second result is that counting is unequal, determines the safety detection mould
Block occurs abnormal.
Optionally, the health and fitness information acquisition module 210 includes:
Message reception units, the message sent for receiving the safety detection module；
Message parsing unit obtains safety detection result and the health and fitness information for parsing to the message.
Optionally, described device further include:
Tactful determining module, for determined according to comparison result the safety detection module with the presence or absence of after exception,
According to the abnormal judging result of the safety detection module and the safety detection result of the safety detection module, control is determined
Strategy；
Tactful output module, for exporting the control strategy, wherein the control strategy is used to indicate in vehicle control
The heart carries out vehicle control according to the control strategy.
Optionally, described device further include: information sending module is sent for being spaced setting time to vehicle control center
Tactful mechanism detection information, wherein strategy mechanism detection information includes: tactful time and policy counter, the strategy machine
Structure detection information is used to indicate the vehicle control center according to the tactful mechanism detection information and tactful mechanism comparative information
Determination strategy mechanism is with the presence or absence of abnormal.
Any embodiment of that present invention can be performed in the abnormal detector of automatic driving vehicle provided by the embodiment of the present invention
The method for detecting abnormality of provided automatic driving vehicle has the corresponding functional module of execution method and beneficial effect.Do not exist
The technical detail of detailed description in the present embodiment, reference can be made to the abnormal inspection for the automatic driving vehicle that any embodiment of that present invention provides
Survey method.
Example IV
Fig. 3 is the structural schematic diagram of the abnormality detection system for the automatic driving vehicle that the embodiment of the present invention four provides, such as Fig. 3
Shown, which includes: tactful mechanism 100 and at least one safety detection module 200.
The safety detection module 200 records itself for carrying out safety detection to vehicle to obtain safety detection result
Health and fitness information, and the safety detection result and the health and fitness information are uploaded to the tactful mechanism 100.Wherein, respectively
The different piece of the responsible detection vehicle of a safety detection module 200, for example, detecting chassis, detection motor vehicle braking system, detecting and determine
Position system etc..
The strategy mechanism 100, the abnormal detector including automatic driving vehicle described in embodiment three.Tactful mechanism
100 health and fitness informations for being uploaded according to safety detection module 200 and local comparative information, judge safety detection module 200
With the presence or absence of exception, and the safety detection result and abnormal judging result that are uploaded according to safety detection module 200, generate control
Strategy.
In addition, whether the system of the present embodiment can abnormal with inspection policies mechanism, correspondingly, above system can also wrap
It includes: vehicle control center 300.Tactful mechanism 100 is also used to recording strategy mechanism detection information, by control strategy and tactful mechanism
Detection information is uploaded to vehicle control center 300.
Vehicle control center 300, for receiving the control strategy and tactful mechanism detection letter that the tactful mechanism 100 uploads
Breath carries out vehicle control according to the control strategy, and according to the tactful mechanism detection information and local tactful mechanism
Comparative information judges the tactful mechanism 100 with the presence or absence of abnormal.Wherein, tactful mechanism comparative information is vehicle control center
300 are recorded in local information.
Any embodiment of that present invention can be performed in the abnormality detection system of automatic driving vehicle provided by the embodiment of the present invention
The method for detecting abnormality of provided automatic driving vehicle has the corresponding functional module of execution method and beneficial effect.Do not exist
The technical detail of detailed description in the present embodiment, reference can be made to the abnormality detection side of automatic driving vehicle provided in an embodiment of the present invention
Method and device.
Illustratively, by taking positioning drift checker, brake failure checker and chassis mistake checker as an example, three
Checker carries out safety detection according to respective rule respectively, and counts respective health and fitness information；Tactful mechanism is according to each
The detected rule of checker counts the detection count value of each checker, and counts the tactful mechanism detection information of oneself；Vehicle
The policing rule of strategically mechanism, control centre counts the policy counter value of tactful mechanism.
Positioning drift checker, brake failure checker and chassis mistake checker, by respective health and fitness information, with
Respective safety detection result is uploaded to tactful mechanism together, and the health and fitness information that tactful mechanism relatively receives and local are corresponding right
Than information, judge that checker determines control according to abnormal judging result and corresponding safety detection result with the presence or absence of exception
Control strategy and tactful mechanism detection information are uploaded to vehicle control center by strategy together.Vehicle control center relatively receives
Tactful mechanism detection information and local tactful mechanism comparative information, determination strategy mechanism is with the presence or absence of abnormal.
Embodiment five
Present embodiments provide a kind of computer equipment, comprising:
One or more processors；
Memory, for storing one or more programs；
When one or more of programs are executed by one or more of processors, so that one or more of processing
Device realizes the method for detecting abnormality of the automatic driving vehicle as described in any embodiment of that present invention.
Fig. 4 is the structural schematic diagram for the computer equipment that the embodiment of the present invention five provides.Fig. 4, which is shown, to be suitable for being used to realizing
The block diagram of the exemplary computer device 12 of embodiment of the present invention.The computer equipment 12 that Fig. 4 is shown is only an example,
Should not function to the embodiment of the present invention and use scope bring any restrictions.
As shown in figure 4, computer equipment 12 is showed in the form of universal computing device.The component of computer equipment 12 can be with
Including but not limited to: one or more processor or processing unit 16, system storage 28 connect different system components
The bus 18 of (including system storage 28 and processing unit 16).
Bus 18 indicates one of a few class bus structures or a variety of, including memory bus or Memory Controller,
Peripheral bus, graphics acceleration port, processor or the local bus using any bus structures in a variety of bus structures.It lifts
For example, these architectures include but is not limited to industry standard architecture (ISA) bus, microchannel architecture (MAC)
Bus, enhanced isa bus, Video Electronics Standards Association (VESA) local bus and peripheral component interconnection (PCI) bus.
Computer equipment 12 typically comprises a variety of computer system readable media.These media can be it is any can be by
The usable medium that computer equipment 12 accesses, including volatile and non-volatile media, moveable and immovable medium.
System storage 28 may include the computer system readable media of form of volatile memory, such as arbitrary access
Memory (RAM) 30 and/or cache memory 32.Computer equipment 12 may further include it is other it is removable/can not
Mobile, volatile/non-volatile computer system storage medium.Only as an example, storage system 34 can be used for reading and writing not
Movably, non-volatile magnetic media (Fig. 4 do not show, commonly referred to as " hard disk drive ").It although not shown in fig 4, can be with
The disc driver for reading and writing to removable non-volatile magnetic disk (such as " floppy disk ") is provided, and non-volatile to moving
The CD drive of CD (such as CD-ROM, DVD-ROM or other optical mediums) read-write.In these cases, each driving
Device can be connected by one or more data media interfaces with bus 18.System storage 28 may include at least one journey
Sequence product, the program product have one group of (for example, at least one) program module, these program modules are configured to perform this hair
The function of bright each embodiment.
Program/utility 40 with one group of (at least one) program module 42 can store and store in such as system
In device 28, such program module 42 includes but is not limited to operating system, one or more application program, other program modules
And program data, it may include the realization of network environment in each of these examples or certain combination.Program module 42
Usually execute the function and/or method in embodiment described in the invention.
Computer equipment 12 can also be with one or more external equipments 14 (such as keyboard, sensing equipment, display 24
Deng) communication, can also be enabled a user to one or more equipment interact with the computer equipment 12 communicate, and/or with make
The computer equipment 12 any equipment (such as network interface card, the modulatedemodulate that can be communicated with one or more of the other calculating equipment
Adjust device etc.) communication.This communication can be carried out by input/output (I/O) interface 22.Also, computer equipment 12 may be used also
To pass through network adapter 20 and one or more network (such as local area network (LAN), wide area network (WAN) and/or public network
Network, such as internet) communication.As shown in figure 4, network adapter 20 is logical by other modules of bus 18 and computer equipment 12
Letter.It should be understood that although not shown in the drawings, can in conjunction with computer equipment 12 use other hardware and/or software module, including
But it is not limited to: microcode, device driver, redundant processing unit, external disk drive array, RAID system, tape drive
And data backup storage system etc..
Processing unit 16 by the program that is stored in system storage 28 of operation, thereby executing various function application and
Data processing, such as realize the method for detecting abnormality of automatic driving vehicle provided by the embodiment of the present invention.
In addition, the present embodiment also provides a kind of abnormality detection system of automatic driving vehicle, comprising: at least one client
And above-mentioned computer equipment；At least one described client, the drive test for sending preset format for the input according to feedback people are asked
Inscribe feedback information.The system can efficiently, the carry out drive test problem feedback of multi-format, support more people while feeding back, and can be real
When concerned issue feed back progress.
Embodiment six
The embodiment of the present invention six provides a kind of computer readable storage medium, is stored thereon with computer program, the journey
The method for detecting abnormality of the automatic driving vehicle as described in any embodiment of that present invention is realized when sequence is executed by processor.
The computer storage medium of the embodiment of the present invention, can be using any of one or more computer-readable media
Combination.Computer-readable medium can be computer-readable signal media or computer readable storage medium.It is computer-readable
Storage medium for example may be-but not limited to-the system of electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor, device or
Device, or any above combination.The more specific example (non exhaustive list) of computer readable storage medium includes: tool
There are electrical connection, the portable computer diskette, hard disk, random access memory (RAM), read-only memory of one or more conducting wires
(ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disc read-only memory (CD-
ROM), light storage device, magnetic memory device or above-mentioned any appropriate combination.In this document, computer-readable storage
Medium can be any tangible medium for including or store program, which can be commanded execution system, device or device
Using or it is in connection.
Computer-readable signal media may include in a base band or as carrier wave a part propagate data-signal,
Wherein carry computer-readable program code.The data-signal of this propagation can take various forms, including but unlimited
In electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be that computer can
Any computer-readable medium other than storage medium is read, which can send, propagates or transmit and be used for
By the use of instruction execution system, device or device or program in connection.
The program code for including on computer-readable medium can transmit with any suitable medium, including --- but it is unlimited
In wireless, electric wire, optical cable, RF etc. or above-mentioned any appropriate combination.
The computer for executing operation of the present invention can be write with one or more programming languages or combinations thereof
Program code, described program design language include object oriented program language-such as Java, Smalltalk, C++,
Further include conventional procedural programming language-such as " C " language or similar programming language.Program code can be with
It fully executes, partly execute on the user computer on the user computer, being executed as an independent software package, portion
Divide and partially executes or executed on a remote computer or server completely on the remote computer on the user computer.?
Be related in the situation of remote computer, remote computer can pass through the network of any kind --- including local area network (LAN) or
Wide area network (WAN)-be connected to subscriber computer, or, it may be connected to outer computer (such as mentioned using Internet service
It is connected for quotient by internet).
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (15)
1. a kind of method for detecting abnormality of automatic driving vehicle characterized by comprising
Obtain the health and fitness information of the safety detection module of vehicle；
Obtain the comparative information of the safety detection module；
Compare the health and fitness information and the comparative information；
Judge the safety detection module with the presence or absence of abnormal according to comparison result.
2. the method according to claim 1, wherein the comparative information for obtaining the safety detection module it
Before, further includes:
The detection count value of the safety detection module is recorded according to preset rules.
3. the method according to claim 1, wherein obtaining the comparative information of the safety detection module, comprising:
According to the mark of the safety detection module, the current detection that the safety detection module is obtained from prestored message is counted
Value；
Comparative information by current time and the current detection count value, as the safety detection module.
4. the method according to claim 1, wherein the health and fitness information includes: safety detection time and safety
Detection counts；At the time of the safety detection time is that the safety detection module detects the vehicle；The safety
Detection counting is the number that the safety detection module detects the vehicle；
Compare the health and fitness information and the comparative information, comprising:
Compare the safety detection time in the health and fitness information and the current time in the comparative information, obtains the first result；
Compare the safety detection counting in the health and fitness information and the current detection count value in the comparative information, obtains second
As a result；
Correspondingly, judging the safety detection module with the presence or absence of abnormal according to comparison result, comprising:
If first result is to be less than pre-set delay threshold value the time difference, and second result is that counting is equal, determines institute
It states safety detection module and is in health status；
If it is more than pre-set delay threshold value the time difference that first result, which is, and/or, second result is that counting is unequal, really
The fixed safety detection module occurs abnormal.
5. being wrapped the method according to claim 1, wherein obtaining the health and fitness information of the safety detection module of vehicle
It includes:
Receive the message that the safety detection module is sent；
The message is parsed, safety detection result and the health and fitness information are obtained.
6. according to claim 1 to any method in 5, which is characterized in that judging the safety according to comparison result
Detection module whether there is after exception, further includes:
According to the abnormal judging result of the safety detection module and the safety detection result of the safety detection module, determine
Control strategy；
Export the control strategy, wherein the control strategy be used to indicate vehicle control center according to the control strategy into
Row vehicle control.
7. according to claim 1 to any method in 5, which is characterized in that further include:
Setting time is spaced to vehicle control center sending strategy mechanism detection information, wherein strategy mechanism detection information
It include: tactful time and policy counter, strategy mechanism detection information is used to indicate the vehicle control center according to
Tactful mechanism detection information and tactful comparative information determination strategy mechanism, mechanism are with the presence or absence of abnormal.
8. a kind of abnormal detector of automatic driving vehicle characterized by comprising
Health and fitness information obtains module, the health and fitness information of the safety detection module for obtaining vehicle；
Comparative information obtains module, for obtaining the comparative information of the safety detection module；
Information comparison module, for the health and fitness information and the comparative information；
Abnormal judgment module, for judging the safety detection module with the presence or absence of abnormal according to comparison result.
9. device according to claim 8, which is characterized in that described device further include:
Information logging modle, for recording the detection count value of the safety detection module according to preset rules.
10. device according to claim 8, which is characterized in that the comparative information obtains module and includes:
Count value acquiring unit obtains the safety inspection for the mark according to the safety detection module from prestored message
Survey the current detection count value of module；
Comparative information acquiring unit is used for by current time and the current detection count value, as the safety detection module
Comparative information.
11. device according to claim 8, which is characterized in that the health and fitness information includes: safety detection time and safety
Detection counts；At the time of the safety detection time is that the safety detection module detects the vehicle；The safety
Detection counting is the number that the safety detection module detects the vehicle；
The information comparison module is specifically used for:
Compare the safety detection time in the health and fitness information and the current time in the comparative information, obtains the first result；
Compare the safety detection counting in the health and fitness information and the current detection count value in the comparative information, obtains second
As a result；
Correspondingly, the exception judgment module is specifically used for:
If first result is to be less than pre-set delay threshold value the time difference, and second result is that counting is equal, determines institute
It states safety detection module and is in health status；
If it is more than pre-set delay threshold value the time difference that first result, which is, and/or, second result is that counting is unequal, really
The fixed safety detection module occurs abnormal.
12. a kind of abnormality detection system of automatic driving vehicle characterized by comprising tactful mechanism and at least one safety
Detection module；
The safety detection module records the health of itself for carrying out safety detection to vehicle to obtain safety detection result
Information, and the safety detection result and the health and fitness information are uploaded to the tactful mechanism；
The strategy mechanism, the abnormal detector including the automatic driving vehicle any in claim 8 to 11.
13. system according to claim 12, which is characterized in that the system also includes:
Vehicle control center, for receiving the control strategy and tactful mechanism detection information that the tactful mechanism uploads, according to institute
It states control strategy and carries out vehicle control, and according to the tactful mechanism detection information and tactful mechanism comparative information judgement
Tactful mechanism is with the presence or absence of abnormal.
14. a kind of computer equipment, which is characterized in that the computer equipment includes:
One or more processors；
Memory, for storing one or more programs；
When one or more of programs are executed by one or more of processors, so that one or more of processors are real
The now method for detecting abnormality of the automatic driving vehicle as described in any in claim 1 to 7.
15. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is by processor
The method for detecting abnormality of the automatic driving vehicle as described in any in claim 1 to 7 is realized when execution.
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