CN110017994B - Method, apparatus, system, device and medium for detecting abnormality of autonomous vehicle - Google Patents
Method, apparatus, system, device and medium for detecting abnormality of autonomous vehicle Download PDFInfo
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- CN110017994B CN110017994B CN201910406449.0A CN201910406449A CN110017994B CN 110017994 B CN110017994 B CN 110017994B CN 201910406449 A CN201910406449 A CN 201910406449A CN 110017994 B CN110017994 B CN 110017994B
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Abstract
The embodiment of the invention discloses an abnormity detection method, a device, a system, equipment and a medium for an automatic driving vehicle, wherein the method comprises the following steps: acquiring health information of a safety detection module of a vehicle; acquiring comparison information of the safety detection module; comparing the health information with the comparison information; and judging whether the safety detection module is abnormal or not according to the comparison result. According to the embodiment of the invention, whether the safety detection module is abnormal or not is judged through the health information counted by the safety detection module and the comparison information counted by the module abnormality detection mechanism aiming at the safety detection module, so that the abnormality detection of the safety detection module is realized, the abnormality can be found in time, the robustness of the unmanned system is higher, and the safety is more guaranteed.
Description
Technical Field
The embodiment of the invention relates to an automatic driving technology, in particular to an abnormality detection method, device, system, equipment and medium for an automatic driving vehicle.
Background
At present, in an autonomous vehicle, a safety redundant hot standby system (simply referred to as a safety system) is generally configured, and the system detects abnormal situations of each system of the vehicle and dangerous situations that the vehicle encounters at any time through a series of strategies, and these detection function items for the abnormal situations are defined as safety detection items, which are simply referred to as "checker". The checker reports the checking result to the policy mechanism to make the next policy adopted when the abnormal conditions are met. Therefore, when the unmanned system meets some problems such as system failure, the safety system can take over the vehicle in time to ensure the driving safety.
However, if each checker of the security system is abnormal, the information provided by the checker is outdated or invalid, and driving safety hazards exist.
Disclosure of Invention
The embodiment of the invention provides an abnormality detection method, device, system, equipment and medium for an automatic driving vehicle, so as to realize abnormality detection of a vehicle safety system and further guarantee driving safety.
In a first aspect, an embodiment of the present invention provides an abnormality detection method for an autonomous vehicle, including:
acquiring health information of a safety detection module of a vehicle;
acquiring comparison information of the safety detection module;
comparing the health information with the comparison information;
and judging whether the safety detection module is abnormal or not according to the comparison result.
In a second aspect, an embodiment of the present invention further provides an abnormality detection apparatus for an autonomous vehicle, including:
the health information acquisition module is used for acquiring the health information of the safety detection module of the vehicle;
the comparison information acquisition module is used for acquiring the comparison information of the safety detection module;
the information comparison module is used for comparing the health information with the comparison information;
and the abnormity judgment module is used for judging whether the safety detection module is abnormal or not according to the comparison result.
In a third aspect, an embodiment of the present invention further provides an abnormality detection system for an autonomous vehicle, including: a policy mechanism and at least one security detection module;
the safety detection module is used for carrying out safety detection on the vehicle to obtain a safety detection result, recording self health information and uploading the safety detection result and the health information to the strategy mechanism;
the policy mechanism includes an abnormality detection device for an autonomous vehicle according to any embodiment of the present invention.
In a fourth aspect, an embodiment of the present invention further provides a computer device, where the computer device includes:
one or more processors;
a memory for storing one or more programs;
when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the abnormality detection method for an autonomous vehicle according to any embodiment of the present invention.
In a fifth aspect, embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements an abnormality detection method for an autonomous vehicle according to any of the embodiments of the present invention.
According to the technical scheme, whether the safety detection module is abnormal or not is judged through the health information counted by the safety detection module and the comparison information counted by the module abnormality detection mechanism aiming at the safety detection module, the abnormality detection of the safety detection module is realized, the abnormality can be found in time, the robustness of the unmanned system is higher, and the safety is more guaranteed.
Drawings
FIG. 1 is a flow chart of a method for detecting an abnormality of an autonomous vehicle according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an abnormality detection device of an autonomous vehicle according to a third embodiment of the present invention;
fig. 3 is a schematic structural diagram of an abnormality detection system of an autonomous vehicle according to a fourth embodiment of the present invention;
fig. 4 is a schematic structural diagram of a computer device according to a fifth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of an abnormality detection method for an autonomous vehicle according to an embodiment of the present invention, where the present embodiment is applicable to detecting whether an abnormality exists in a safety system of the autonomous vehicle, and the method may be performed by an abnormality detection apparatus for the autonomous vehicle, where the apparatus may be implemented by software and/or hardware, and may be generally integrated in a computer device. As shown in fig. 1, the method specifically includes:
and S110, acquiring health information of a safety detection module of the vehicle.
In which autonomous vehicles are generally equipped with safety systems for checking the vehicle for abnormal situations of the various systems and dangerous situations that the vehicle encounters at any time. For different inspection purposes, the security system includes a plurality of security detection modules (or called as security detection items, checkers), for example, a security detection module 1 for inspecting a vehicle braking system, a security detection module 2 for inspecting an automatic door lock system, a security detection module 3 for inspecting obstacles around a vehicle, and the like.
The safety detection module can actively detect according to a preset time interval, wherein the time intervals of different safety detection modules can be the same or different. The security detection module may also detect passively, for example, when relevant information is received. After the safety detection module finishes detection, the safety detection result is reported to a strategy mechanism of a safety system, so that the strategy mechanism can make a control strategy according to the safety detection result, for example, if the safety detection result is that a brake is out of order, the control strategy can be made to stop immediately, if the safety detection result is that the brake is normal, the control strategy can be made to continue driving, and if the safety detection result is that the oil quantity is lower than a threshold value, the control strategy can be made to output an oil quantity alarm. The strategy mechanism uploads the control strategy to the vehicle control center to control the vehicle according to the control strategy.
The health information is the basis for judging whether the safety detection module is abnormal or not counted by the safety detection module. The health information is information representing the number of detections, the detection time, and the like of the security detection module. The health information is dynamically changed as the security detection module operates. Specifically, each time the safety detection module performs safety detection, a corresponding safety detection result (for example, brake failure, normal brake, etc.) is generated, and the health information is changed accordingly. In the embodiment of the present invention, the module abnormality detection mechanism may be a newly added mechanism dedicated to module abnormality detection, or may use an existing mechanism, such as a policy mechanism. Preferably, a strategy mechanism is used for module abnormity detection, a new mechanism is avoided being added, and a control strategy can be formulated by comprehensively considering a safety detection result and module abnormity conditions. The health information can be periodically and actively uploaded to the module abnormity detection mechanism by the safety detection module, or can be uploaded according to the request of the module abnormity detection mechanism. The security detection module can encapsulate the security detection result and the health information into a message for transmission, or can transmit the security detection result and the health information as two messages simultaneously, and sets the same identifier to represent the corresponding relationship of the two messages.
Optionally, the obtaining health information of the safety detection module of the vehicle may include: receiving a message sent by the security detection module; and analyzing the message to obtain a safety detection result and the health information.
The module abnormity detection mechanism analyzes the received message according to the encapsulation rule, so that the module abnormity can be judged according to the health information obtained by analysis. And the detection result and the corresponding health information can be conveniently obtained by packaging the detection result into a message for sending.
And S120, acquiring the comparison information of the safety detection module.
The comparison information is similar to the health information and is also a basis for judging whether the safety detection module is abnormal. Each security detection module has corresponding comparison information. The health information is counted by the safety detection module, the comparison information is recorded by the module abnormity detection mechanism according to a preset rule (consistent with the rule of the health information generated by the safety detection module), and the module abnormity detection mechanism records the comparison information for each safety detection module in the vehicle. The comparison information is also dynamically changed along with the operation of the security detection module. The health information and the comparison information contain the same parameter types, for example, both contain time data.
Optionally, the health information includes: a safety detection time and a safety detection count; the safety detection time is the moment when the safety detection module detects the vehicle; the safety detection count is a number of times the safety detection module detects the vehicle.
And the safety detection time is used for judging the timeliness of the safety detection result sent by the safety detection module. The safety detection count is used for judging whether the safety detection result sent by the safety detection module has packet loss or not. Therefore, the abnormal condition of the safety detection module is judged from different aspects, and the abnormal judgment result is more comprehensive and reliable.
Optionally, before obtaining the comparison information of the security detection module, the method may further include: and recording the detection count value of the safety detection module according to a preset rule.
The preset rule is the same as the counting of the safety detection counted by the safety detection module. For each safety detection module, according to a rule (for example, a detection interval) for counting the safety detection count by the safety detection module, recording a detection count value of the safety detection module, wherein the detection count value is dynamically changed. For example, a counter may be used that increments by one when the detection interval is reached. The detection count value of each safety detection module can be distinguished according to the identification of the safety detection module.
In an optional embodiment, obtaining the comparison information of the security detection module includes: acquiring a current detection count value of the safety detection module from stored information according to the identifier of the safety detection module; and taking the current time and the current detection count value as comparison information of the safety detection module.
The stored information comprises a plurality of detection count values, namely the detection count values corresponding to the safety detection modules in the current vehicle. When counting the detection count value, the identification information of the corresponding safety detection module is also stored at the same time, so that the safety detection module corresponding to each detection record value can be distinguished. The identity of the security detection module may be at least one of: numbers, letters, and characters. The current time may be the time when the health information is acquired, and this time may be roughly equal to the time when the message reported by the security detection module is received.
According to the optional implementation mode, the detection count value of the safety detection module can be simply and quickly obtained from the stored information according to the identification of the safety detection module, and the comparison information of the safety detection module is further obtained by combining the current time.
S130, comparing the health information with the comparison information.
The comparison between the health information and the comparison information in this embodiment is a comparison between specific values of the same parameter type. For example, the security detection time in the health information is compared with the time in the comparison information, and the security detection count in the health information is compared with the detection count value in the comparison information.
It should be noted that the security detection counts counted by each security detection module and the detection count counted by the anomaly detection mechanism for each security detection module may be set to meet the conditions and then reset, so as to save the storage space and facilitate management. The zero clearing condition may be: and restarting the module, and counting to reach a preset threshold value or starting the vehicle. In addition, other data involved in the anomaly detection process, such as the security detection time counted by the security detection module, and the health information received and cached by the module anomaly detection mechanism, may also be cleared along with the count.
And S140, judging whether the safety detection module is abnormal or not according to the comparison result.
In the embodiment of the invention, each safety detection module in the automatic driving vehicle counts the health information according to each rule, the module abnormity detection mechanism also counts the comparison information of each safety detection module according to each rule, and if the safety detection module has no fault, the health information and the parameter value in the comparison information of the same safety detection module are the same or in an allowable error range. Therefore, by comparing the health information with the comparison information, it can be determined whether a problem, such as a module failure or a network delay, occurs in the security detection module.
According to the technical scheme, whether the safety detection module is abnormal or not is judged through the health information counted by the safety detection module and the comparison information counted by the module abnormality detection mechanism aiming at the safety detection module, the abnormality detection of the safety detection module is realized, the abnormality can be found in time, the robustness of the unmanned system is higher, and the safety is more guaranteed.
Optionally, comparing the health information with the comparison information includes: comparing the safety detection time in the health information with the current time in the comparison information to obtain a first result; and comparing the safety detection count in the health information with the current detection count value in the comparison information to obtain a second result.
Correspondingly, judging whether the safety detection module is abnormal according to the comparison result comprises the following steps: if the first result is that the time difference does not exceed a preset delay threshold value and the second result is that the count is equal, determining that the safety detection module is in a healthy state; and if the first result is that the time difference exceeds a preset delay threshold value and/or the second result is that the counts are not equal, determining that the safety detection module is abnormal. The preset delay threshold value can be set according to actual precision requirements.
By comparing the time parameters, it can be determined whether the safety detection result sent by the safety detection module has a delay, for example, the safety detection time in the health information is 9 points, the preset delay threshold is 1 minute, the current time is 9 points and 20 minutes (i.e., the safety detection result is received by the module abnormality detection mechanism 9 points and 20 minutes), the time difference is 20 minutes and is much greater than the threshold, and it can be determined that the safety detection result corresponding to the safety detection time is delayed and the network is blocked.
By comparing the counting parameters, whether the safety detection result sent by the safety detection module has packet loss can be determined. When the count is not equal, it indicates that packet loss occurs, the policy mechanism does not receive the latest security detection result, and it may be that the security detection module fails to perform security detection or that the latest security detection result is not received in time due to network delay. Further, whether to delay or not may be assisted by a count in the health information received next time. In addition, a network detection module may be provided to detect network load and determine whether to delay. For example, the currently obtained security detection count of the security detection module a is 4, and the current detection count value of the security detection module a in the comparison information is 5, that is, the policy mechanism does not receive the health information detected by the security detection module a for the 5 th time and the corresponding security detection result, which may be that the security detection module a has a problem and cannot normally detect and cause packet loss, or that the health information and the security detection result are delayed to transmit due to a network problem, and the specific reason may be to assist the determination according to whether the health information detected for the 5 th time is subsequently received, for example, if the policy mechanism subsequently receives the health information counted as 6, it may be determined that the health information counted as 5 has packet loss, and if the health information counted as 5 is subsequently received, it may be determined as network delay.
According to the optional embodiment, whether the safety detection module is abnormal or not can be determined through comparison of time and count, for example, module faults cannot be detected or messages are delayed, so that a corresponding vehicle control strategy can be adopted according to an abnormal detection result, fault diagnosis and troubleshooting can be further carried out, and guarantee is provided for safe driving of automatic driving.
In an optional implementation manner, after determining whether the safety detection module has an abnormality according to the comparison result, the method further includes: determining a control strategy according to the abnormal judgment result of the safety detection module and the safety detection result of the safety detection module; and outputting the control strategy, wherein the control strategy is used for instructing a vehicle control center to control the vehicle according to the control strategy.
The control strategy can be alarm or parking, when the safety detection result and the abnormal judgment result have serious conditions, such as brake failure, the parking can be controlled, and when the safety detection result and the abnormal judgment result have slight conditions, such as oil quantity display error, message delay of the safety detection module and the like, the alarm can be output.
In this optional embodiment, the policy mechanism performs module anomaly detection to obtain an anomaly determination result, and provides a vehicle control policy in combination with a safety detection result to guarantee driving safety.
Example two
The present embodiment provides an implementation of anomaly detection of a policy mechanism on the basis of the above embodiments. Strategy mechanism interval set time sends strategy mechanism detection information to a vehicle control center, wherein the strategy mechanism detection information comprises: and the strategy mechanism detection information is used for indicating the vehicle control center to judge whether the strategy mechanism is abnormal or not according to the strategy mechanism detection information and the strategy mechanism comparison information.
The set time refers to a time interval of the policy mechanism giving the policy, and actually, the time interval of the policy mechanism giving the policy is determined by a detection time interval of the security detection module, because the security detection module reports the policy mechanism every time of detection, the policy mechanism gives a corresponding policy accordingly.
The principle of the policy mechanism abnormality detection of the present embodiment is the same as that of the abnormality detection of the security detection module, and the determination is performed by time and count. The technical details that are not described in detail in the present embodiment may refer to the related contents of the anomaly detection of the security detection module.
Specifically, when a strategy mechanism gives a control strategy, strategy time and strategy counting are recorded to obtain strategy mechanism detection information, and the strategy mechanism detection information is sent to a vehicle control center; the strategy time refers to the moment when the strategy mechanism gives the control strategy, and the strategy count refers to the number of times when the strategy mechanism gives the control strategy. Meanwhile, the vehicle control center counts the count values according to the same rule (e.g., the time interval at which the policy agency gives the policy, that is, the above-described set time). When the vehicle control center receives the strategy mechanism detection information sent by the strategy mechanism, the current count value is obtained, and the current count value and the current time are taken together as strategy mechanism comparison information, wherein the current time refers to the time when the strategy mechanism detection information is received. In addition, the strategy mechanism can upload the control strategy and the strategy mechanism detection information to the vehicle control center, and the vehicle control center can control the vehicle according to the control strategy.
The vehicle control center compares the strategy mechanism detection information with the strategy mechanism comparison information to judge the abnormity of the strategy mechanism, wherein if the time difference does not exceed a preset threshold value and the counts are equal, the strategy mechanism is determined to be in a healthy state; and if the time difference exceeds a preset threshold value and/or the counts are not equal, determining that the strategy mechanism is abnormal. For example, when the counts are not equal, it indicates that packet loss occurs, the vehicle control center does not receive the latest control strategy, and it may be that a strategy mechanism fails to make a strategy or that a network delay causes that a message cannot be received in time. Further, the determination of whether to delay may be aided by a count of the next time it is received. In addition, a network detection module may be provided to detect network load and determine whether to delay. If the reason is not the network delay, the vehicle control center can directly alarm and even control the parking.
According to the technical scheme, whether the strategy mechanism is abnormal or not is judged through the strategy mechanism detection information counted by the strategy mechanism and the strategy mechanism comparison information counted by the vehicle control center aiming at the strategy mechanism, so that the abnormity detection of the strategy mechanism is realized, the abnormity can be found in time, the robustness of the unmanned system is higher, and the safety is more guaranteed.
EXAMPLE III
Fig. 2 is a schematic structural diagram of an abnormality detection device for an autonomous vehicle according to a third embodiment of the present invention, and as shown in fig. 2, the abnormality detection device includes:
a health information acquiring module 210 for acquiring health information of a safety detection module of a vehicle;
a comparison information obtaining module 220, configured to obtain comparison information of the security detection module;
an information comparison module 230, configured to compare the health information with the comparison information;
and an anomaly determination module 240, configured to determine whether the security detection module is abnormal according to the comparison result.
Optionally, the apparatus further comprises: and the information recording module is used for recording the detection count value of the safety detection module according to a preset rule.
Optionally, the comparison information obtaining module 220 includes:
a count value obtaining unit, configured to obtain a current detection count value of the security detection module from stored information according to the identifier of the security detection module;
and the comparison information acquisition unit is used for taking the current time and the current detection counting value as the comparison information of the safety detection module.
Optionally, the health information includes: a safety detection time and a safety detection count; the safety detection time is the moment when the safety detection module detects the vehicle; the safety detection count is the number of times the safety detection module detects the vehicle;
the information comparing module 230 is specifically configured to: comparing the safety detection time in the health information with the current time in the comparison information to obtain a first result; comparing the safety detection count in the health information with the current detection count value in the comparison information to obtain a second result;
correspondingly, the abnormality determining module 240 is specifically configured to: if the first result is that the time difference does not exceed a preset delay threshold value and the second result is that the count is equal, determining that the safety detection module is in a healthy state; and if the first result is that the time difference exceeds a preset delay threshold value and/or the second result is that the counts are not equal, determining that the safety detection module is abnormal.
Optionally, the health information obtaining module 210 includes:
the message receiving unit is used for receiving the message sent by the safety detection module;
and the message analyzing unit is used for analyzing the message to obtain a safety detection result and the health information.
Optionally, the apparatus further comprises:
the strategy determining module is used for determining a control strategy according to an abnormal judgment result of the safety detection module and a safety detection result of the safety detection module after determining whether the safety detection module is abnormal according to a comparison result;
and the strategy output module is used for outputting the control strategy, wherein the control strategy is used for instructing a vehicle control center to control the vehicle according to the control strategy.
Optionally, the apparatus further comprises: the information sending module is used for sending strategy mechanism detection information to a vehicle control center at intervals of set time, wherein the strategy mechanism detection information comprises: and the strategy mechanism detection information is used for indicating the vehicle control center to judge whether the strategy mechanism is abnormal or not according to the strategy mechanism detection information and the strategy mechanism comparison information.
The abnormality detection device for the autonomous vehicle provided by the embodiment of the invention can execute the abnormality detection method for the autonomous vehicle provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method. For details of the technique not described in detail in the present embodiment, reference may be made to the abnormality detection method for an autonomous vehicle provided in any embodiment of the present invention.
Example four
Fig. 3 is a schematic structural diagram of an abnormality detection system for an autonomous vehicle according to a fourth embodiment of the present invention, and as shown in fig. 3, the system includes: policy mechanism 100 and at least one security detection module 200.
The safety detection module 200 is configured to perform safety detection on a vehicle to obtain a safety detection result, record health information of the vehicle, and upload the safety detection result and the health information to the policy mechanism 100. Wherein each safety detection module 200 is responsible for detecting different parts of the vehicle, such as detecting the chassis, detecting the vehicle braking system, detecting the positioning system, etc.
The tactical mechanism 100 includes the abnormality detection apparatus of the autonomous vehicle according to the third embodiment. The policy mechanism 100 is configured to determine whether the security detection module 200 is abnormal according to the health information uploaded by the security detection module 200 and the local comparison information, and generate a control policy according to the security detection result and the abnormal determination result uploaded by the security detection module 200.
In addition, the system of this embodiment may further detect whether the policy mechanism is abnormal, and accordingly, the system may further include: the vehicle control center 300. The policy mechanism 100 is further configured to record policy mechanism detection information, and upload the control policy and the policy mechanism detection information to the vehicle control center 300.
The vehicle control center 300 is configured to receive the control policy and the policy mechanism detection information uploaded by the policy mechanism 100, perform vehicle control according to the control policy, and determine whether the policy mechanism 100 is abnormal according to the policy mechanism detection information and the local policy mechanism comparison information. The policy authority comparison information is information recorded locally by the vehicle control center 300.
The abnormality detection system for the autonomous vehicle provided by the embodiment of the invention can execute the abnormality detection method for the autonomous vehicle provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method. For details of the technology not described in detail in the present embodiment, reference may be made to the abnormality detection method and apparatus for an autonomous vehicle provided by the embodiment of the present invention.
Illustratively, taking positioning drift checker, brake failure checker and chassis error checker as examples, the three checkers respectively perform safety detection according to respective rules, and count respective health information; the strategy mechanism counts the detection count value of each checker according to the detection rule of each checker, and counts the detection information of the strategy mechanism; and the vehicle control center counts the strategy count value of the strategy mechanism according to the strategy rule of the strategy mechanism.
Positioning a drift checker, a brake failure checker and a chassis error checker, uploading respective health information and respective safety detection results to a strategy mechanism, comparing the received health information with local corresponding comparison information by the strategy mechanism, judging whether the checker is abnormal or not, determining a control strategy according to the abnormal judgment result and the corresponding safety detection result, and uploading the control strategy and the detection information of the strategy mechanism to a vehicle control center. The vehicle control center compares the received strategy mechanism detection information with the local strategy mechanism comparison information to judge whether the strategy mechanism is abnormal or not.
EXAMPLE five
The embodiment provides a computer device, including:
one or more processors;
a memory for storing one or more programs;
when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the abnormality detection method for an autonomous vehicle according to any embodiment of the present invention.
Fig. 4 is a schematic structural diagram of a computer device according to a fifth embodiment of the present invention. FIG. 4 illustrates a block diagram of an exemplary computer device 12 suitable for use in implementing embodiments of the present invention. The computer device 12 shown in FIG. 4 is only one example and should not bring any limitations to the functionality or scope of use of embodiments of the present invention.
As shown in FIG. 4, computer device 12 is in the form of a general purpose computing device. The components of computer device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.
The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)30 and/or cache memory 32. Computer device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 4, and commonly referred to as a "hard drive"). Although not shown in FIG. 4, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. System memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in system memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of the described embodiments of the invention.
The processing unit 16 executes various functional applications and data processing by running a program stored in the system memory 28, for example, implementing the abnormality detection method for an autonomous vehicle provided by the embodiment of the present invention.
Further, the present embodiment also provides an abnormality detection system of an autonomous vehicle, including: at least one client and the computer equipment; and the at least one client is used for sending the drive test problem feedback information in a preset format according to the input of a feedback person. The system can efficiently feed back the drive test problem in multiple formats, supports simultaneous feedback of multiple people, and can pay attention to the problem feedback progress situation in real time.
EXAMPLE six
An embodiment of the present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements an abnormality detection method for an autonomous vehicle according to any embodiment of the present invention.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (13)
1. An abnormality detection method for an autonomous vehicle, characterized by comprising:
acquiring health information of a safety detection module of a vehicle; the health information includes: a safety detection time and a safety detection count; the safety detection time is the moment when the safety detection module detects the vehicle; the safety detection count is the number of times the safety detection module detects the vehicle;
acquiring comparison information of the safety detection module;
comparing the safety detection time in the health information with the current time in the comparison information to obtain a first result;
comparing the safety detection count in the health information with the current detection count value in the comparison information to obtain a second result;
judging whether the safety detection module is abnormal according to the comparison result, comprising the following steps:
if the first result is that the time difference does not exceed a preset delay threshold value and the second result is that the count is equal, determining that the safety detection module is in a healthy state;
and if the first result is that the time difference exceeds a preset delay threshold value and/or the second result is that the counts are not equal, determining that the safety detection module is abnormal.
2. The method of claim 1, further comprising, before obtaining the comparison information of the security detection module:
and recording the detection count value of the safety detection module according to a preset rule.
3. The method of claim 1, wherein obtaining comparison information for the security detection module comprises:
acquiring a current detection count value of the safety detection module from stored information according to the identifier of the safety detection module;
and taking the current time and the current detection count value as comparison information of the safety detection module.
4. The method of claim 1, wherein obtaining health information of a safety detection module of a vehicle comprises:
receiving a message sent by the security detection module;
and analyzing the message to obtain a safety detection result and the health information.
5. The method according to any one of claims 1 to 4, after determining whether the security detection module has an abnormality according to the comparison result, further comprising:
determining a control strategy according to the abnormal judgment result of the safety detection module and the safety detection result of the safety detection module;
and outputting the control strategy, wherein the control strategy is used for instructing a vehicle control center to control the vehicle according to the control strategy.
6. The method of any of claims 1 to 4, further comprising:
sending strategy mechanism detection information to a vehicle control center at intervals of set time, wherein the strategy mechanism detection information comprises: and the strategy mechanism detection information is used for indicating the vehicle control center to judge whether the strategy mechanism is abnormal or not according to the strategy mechanism detection information and the strategy mechanism comparison information.
7. An abnormality detection device for an autonomous vehicle, characterized by comprising:
the health information acquisition module is used for acquiring the health information of the safety detection module of the vehicle; the health information includes: a safety detection time and a safety detection count; the safety detection time is the moment when the safety detection module detects the vehicle; the safety detection count is the number of times the safety detection module detects the vehicle;
the comparison information acquisition module is used for acquiring the comparison information of the safety detection module;
an information comparison module to:
comparing the safety detection time in the health information with the current time in the comparison information to obtain a first result;
comparing the safety detection count in the health information with the current detection count value in the comparison information to obtain a second result;
an anomaly judgment module, configured to judge whether the security detection module is abnormal according to the comparison result, specifically configured to:
if the first result is that the time difference does not exceed a preset delay threshold value and the second result is that the count is equal, determining that the safety detection module is in a healthy state;
and if the first result is that the time difference exceeds a preset delay threshold value and/or the second result is that the counts are not equal, determining that the safety detection module is abnormal.
8. The apparatus of claim 7, further comprising:
and the information recording module is used for recording the detection count value of the safety detection module according to a preset rule.
9. The apparatus of claim 7, wherein the comparison information obtaining module comprises:
a count value obtaining unit, configured to obtain a current detection count value of the security detection module from stored information according to the identifier of the security detection module;
and the comparison information acquisition unit is used for taking the current time and the current detection counting value as the comparison information of the safety detection module.
10. An abnormality detection system for an autonomous vehicle, characterized by comprising: a policy mechanism and at least one security detection module;
the safety detection module is used for carrying out safety detection on the vehicle to obtain a safety detection result, recording self health information and uploading the safety detection result and the health information to the strategy mechanism;
the tactical mechanism, comprising the abnormality detection apparatus of the autonomous vehicle recited in any one of claims 7 to 9.
11. The system of claim 10, further comprising:
and the vehicle control center is used for receiving the control strategy and the strategy mechanism detection information uploaded by the strategy mechanism, controlling the vehicle according to the control strategy, and judging whether the strategy mechanism is abnormal or not according to the strategy mechanism detection information and the strategy mechanism comparison information.
12. A computer device, characterized in that the computer device comprises:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the method of abnormality detection for an autonomous vehicle of any of claims 1 to 6.
13. A computer-readable storage medium on which a computer program is stored, characterized in that the program, when executed by a processor, implements the abnormality detection method for an autonomous vehicle according to any one of claims 1 to 6.
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