CN110133658A - A kind of fault detection method and system applied to trailer-mounted radar - Google Patents
A kind of fault detection method and system applied to trailer-mounted radar Download PDFInfo
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- CN110133658A CN110133658A CN201910348334.0A CN201910348334A CN110133658A CN 110133658 A CN110133658 A CN 110133658A CN 201910348334 A CN201910348334 A CN 201910348334A CN 110133658 A CN110133658 A CN 110133658A
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- Prior art keywords
- trailer
- radar
- mounted radar
- module
- fault detection
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
Abstract
This application involves a kind of fault detection systems applied to trailer-mounted radar, including trailer-mounted radar and car body controller, trailer-mounted radar includes radar module, fault detection module and control module, radar module sends radar data to car body controller for obtaining obstacle position information and generating radar data, and by automobile bus；Fault detection module is used to detect the operating status of radar module and generates diagnostic data；Control module is used to be judged trailer-mounted radar with the presence or absence of failure according to diagnostic data, if there are failures, and radar module then to be forbidden to send radar data, the information of corresponding trailer-mounted radar mistake is sent to car body controller by automobile bus simultaneously, until trailer-mounted radar restores normal.The application can effectively detect the malfunction of trailer-mounted radar while the car is driving, and after trailer-mounted radar failure, make it into the safe mode for not sending radar data, guarantee the normal use of automobile, effectively improve the driving safety of automobile.
Description
Technical field
This application involves the fault detection methods and system that are applied to trailer-mounted radar.
Background technique
The automobile vehicles one of important as people, security performance is particularly important, and car radar is as promotion
The component of automotive safety coefficient has become one of essential configuration of automobile instantly.
Car radar is to detect the information such as position, the distance of barrier and to driver for while the car is driving
The device reminded.Currently, car radar generally only has, on/off is reminded and obstacle position information is reminded, wherein
It is general that bright light prompting is carried out by power supply indicator after car radar is powered, and obstacle position information generally passes through alarm
Device is reminded, and when automobile is close to barrier, alarm issues the alarm of drop drop.
And after car radar breaks down, especially its power supply indicator still bright light when, driver can not know automobile
Radar has broken down, and car radar can also issue the instruction of mistake, or influence other onboard systems, gives driver's mistake
Instruction information, be easy to cause automobile to collide with barrier, or even cause serious accident, the life of crisis driver peace
Entirely.
Summary of the invention
In order to solve the technical issues of still working after above-mentioned car radar breaks down, the application provides a kind of safety
High, design is simply applied to the fault detection method and system of trailer-mounted radar.
According to a first aspect of the present application, the application provides a kind of fault detection system applied to trailer-mounted radar, comprising:
Trailer-mounted radar and car body controller, trailer-mounted radar are connect with car body controller by automobile bus, and trailer-mounted radar includes: radar
Module, fault detection module and control module, radar module are used to obtain obstacle position information and generate radar data, and
Radar data is sent to car body controller by automobile bus；Fault detection module is used to detect the operating status of radar module simultaneously
Generate diagnostic data；Control module be used for according to diagnostic data judge trailer-mounted radar whether there is failure, if there are failures then
Radar module is forbidden to send radar data to automobile bus, until Current Diagnostic is statistics indicate that trailer-mounted radar restores normal；Control
Module is also used to pass through the information of corresponding trailer-mounted radar mistake when forbidding radar module to issue radar data to automobile bus
Automobile bus is sent to car body controller.
According to the embodiment of the application, fault detection system further include: CAN message conversion module is used for basis
Diagnostic data generates CAN message information.
According to the embodiment of the application, fault detection system further include: fault diagnosis module and display terminal, therefore
Barrier diagnostic module controls display terminal according to CAN message information and shows failure detection result for obtaining CAN message information.
According to the embodiment of the application, fault detection system further include: for simulating EEPROM store function
FLASH module, for saving CAN message information, FLASH module is connect with CAN message conversion module signal.
According to a second aspect of the present application, the application provides a kind of fault detection method applied to trailer-mounted radar, application
In trailer-mounted radar, trailer-mounted radar can be communicated by automobile bus with car body controller, and fault detection method includes the following steps:
S1: detecting the operating status of trailer-mounted radar, generates diagnostic data；And
S2: judging trailer-mounted radar with the presence or absence of failure according to diagnostic data, then forbid if there is failure trailer-mounted radar to
Automobile bus issues radar data, until Current Diagnostic is statistics indicate that trailer-mounted radar restores normal.
According to the embodiment of the application, step S2 further include: when trailer-mounted radar operating status is there are when failure, send
The information of trailer-mounted radar mistake is to car body controller.
According to the embodiment of the application, fault detection method further includes step S3: diagnostic data is converted to correspondence
CAN message information.
According to the embodiment of the application, step S3 includes: S3.1: configuring CDD file according to diagnostic data；S3.2:
According to CDD file generated CAN interaction layer identification code；And S3.3: being CAN message information by CAN alternation of bed code conversion.
According to the embodiment of the application, step S3 further include: step S3.4: CAN message information is stored in FLASH
Memory space.
According to the embodiment of the application, fault detection method further includes step S4: showing event according to CAN message information
Hinder testing result.
The fault detection method and system of the application can effectively detect the failure of trailer-mounted radar while the car is driving
State, and after trailer-mounted radar failure, it makes it into the safe mode for not sending radar data, avoids in failure
The trailer-mounted radar of state has an impact the other systems or component of automobile, guarantees the normal use of automobile, effectively improves automobile
Driving safety.
Detailed description of the invention
Fig. 1 is the system block diagram for the fault detection system that the application is applied to trailer-mounted radar.
Fig. 2 is the flow chart that the application is applied in one embodiment of fault detection method of trailer-mounted radar.
Fig. 3 is the flow chart that the application is applied in another embodiment of fault detection method of trailer-mounted radar.
Fig. 4 is the flow chart that the application is applied in the another embodiment of fault detection method of trailer-mounted radar.
Fig. 5 is the flow chart that the application is applied to step S3 in one embodiment of fault detection method of trailer-mounted radar.
Specific embodiment
The application is described in further detail below in conjunction with specific embodiments and drawings.
As depicted in figs. 1 and 2, the application is applied to the system block diagram of the fault detection system of trailer-mounted radar and is applied to
Flow chart in one embodiment of fault detection method of trailer-mounted radar.
The fault detection system applied to trailer-mounted radar of the application, be mainly used for the operating status of trailer-mounted radar into
Row, which detects, is simultaneously handled failure comprising trailer-mounted radar 100 and car body controller 200, wherein trailer-mounted radar 100 and vehicle
Body controller 200 is connected by the automobile bus in automobile, of course, in this application, the connection between each module or component
Automobile bus can be used or wireless mode realizes connection.Wherein automobile bus can be CAN bus, LIN bus, FlexRay
And the combination of one or more of Ethernet.Car body controller 200 is as the master control component in automobile, for controlling
Work of other systems or component, such as onboard navigation system, lighting system, Unmanned Systems etc. in automobile.It is wherein vehicle-mounted
Radar 100 mainly includes radar module 1, fault detection module 2 and control module 3.
Radar module 1 is handled for obtaining obstacle position information according to obstacle position information, and radar is generated
Data, wherein radar data includes distance etc. between orientation, barrier and the automobile of barrier, specifically, in this application, thunder
Ultrasonic radar sensor, infrared radar sensor, millimetre-wave radar sensor and laser radar sensor can be used up to module 1
One of or two or more combinations.Radar data is sent to car body controller by automobile bus by radar module 1
200, then radar data is carried out using to realize the control to other systems or component by car body controller 200.
Fault detection module 2 is for detecting the operating status of radar module 1, including the soft of radar module 1
Part operating status and hardware operating status.Software operation state include radar module 1 chip operation, calculating state whether just
Often, for example, fault detection module 2 can judge radar module 1 to realize by the chip register of reading radar module 1
The state of the chips such as Ethernet chip, radio frequency chip.Hardware operating status include radar module 1 power supply state and itself and its
Whether the connection between his component is normal.For example, can fault detection module 2 obtain Body Control by detecting radar module 1
The CAN message situation of device 200 judges whether radar module 1 is connect with car body controller 200 normal.For example, fault detection module 2
Whether just the power supply state of radar module 1 is obtained by ADC (Analog-to-Digital Converter, analog-digital converter)
Often.Of course, existing technical staff can also by the prior art, using fault detection module 2 detect radar module 1 other are soft
Part operating status and hardware operating status, for example, being examined to the output power of the Master Clock (master clock) of radar module 1
Survey, output frequency detection and PLL (Phase Locked Loop, phaselocked loop) out-of-lock detection, in another example, to radar module 1
The temperature detection of TX BLOCK (transmission block), late autumn ball split detection and output power detection, to realize to radar module 1 more
Comprehensive fault detection.
Control module 3 be used for according to the diagnostic data of fault detection module 2 judge trailer-mounted radar 100 whether there is failure,
If there are failures, and radar module 1 then to be forbidden to send radar data to automobile bus, until Current Diagnostic is statistics indicate that vehicle-mounted thunder
Restore normal up to 100.Wherein control module 3 is also used to when forbidding radar module 1 to issue radar data to automobile bus, will be right
The information of trailer-mounted radar mistake is answered to be sent to car body controller 200 by automobile bus.Wherein diagnostic data and the vehicle-mounted thunder
Information up to mistake is consistent or inconsistent, and in other words, the information of the trailer-mounted radar mistake can be identical as diagnostic data, but
It also can be data or information existing for another form, notify other component by car body controller 200 as long as can reach
Or system, current trailer-mounted radar 100 are in malfunction.Wherein in order to improve the operational efficiency of system, when judging thunder
Up to module 1 there are when failure, control module 3 just excites the movement for sending the information of trailer-mounted radar mistake to car body controller 200.
A kind of fault detection method applied to trailer-mounted radar is realized by the fault detection system of the application, wherein detecting
Process includes the following steps:
S1: the operating status of detection trailer-mounted radar 100 generates diagnostic data, especially detects the operation shape of radar module 1
State.Wherein, diagnostic data includes the software and hardware operating status of radar module 1.
S2: judge that trailer-mounted radar 100 with the presence or absence of failure, then forbids trailer-mounted radar if there is failure according to diagnostic data
100 issue radar data to automobile bus, until Current Diagnostic is statistics indicate that trailer-mounted radar 100 restores normally, then allows vehicle-mounted
Radar 100 sends radar data.
By the above method, realizes when trailer-mounted radar 100 breaks down, make trailer-mounted radar 100 by normal Working mould
Formula cuts safe mode, and when trailer-mounted radar 100 is in safe mode, trailer-mounted radar 100 will be sent without data, that is,
It says, trailer-mounted radar 100 does not carry out transmission radar data to car body controller 200, thus when guaranteeing 100 failure of trailer-mounted radar, no
The other component or system of automobile can be had an impact, guarantee automobile energy normally travel when trailer-mounted radar 100 breaks down,
Improve the security performance in driving procedure.
In one embodiment, please also refer to shown in Fig. 3, the fault detection method of trailer-mounted radar is applied to for the application
Flow chart in another embodiment further includes sending vehicle-mounted thunder when 100 operating status of trailer-mounted radar is there are when failure in step S2
Up to the information of mistake to car body controller to car body controller 200, that is to say, that when fault detection module 2 detects radar mould
The operating status of block 1 is there are when failure, and control module 3 is also by the trailer-mounted radar mistake consistent or inconsistent with diagnostic data
Information is sent to car body controller 200 by automobile bus, in this way, by car body controller 200 output to automobile its
Perhaps component guarantees that the ECU of other systems or component can obtain the current state of radar module 1 in time to his system, changes sentence
Talk about, the ECU current radar module 1 of notice other systems perhaps component be in malfunction so that other systems or
The ECU of component can make corresponding processing movement, avoid because trailer-mounted radar 100 failure due to cause the operation of mistake, to improve
Security performance in vehicle traveling process.
In one embodiment, please also refer to shown in Fig. 4 to 5, the failure that respectively the application is applied to trailer-mounted radar is examined
The flow chart of step S3 in flow chart and an embodiment in the another embodiment of survey method.The fault detection system of the application is also
Including CAN message conversion module 4.CAN message conversion module 4 is used to generate CAN message information according to diagnostic data.Wherein CAN
Message information is the general information of onboard system, and it includes fault detection modules 2 to the every fault detection project of radar module 1
Information and result.It can access CAN conversion module 4 by CAN diagnostic equipment in the prior art and read CAN message information, be convenient for
The failure of trailer-mounted radar 100 is read out, subsequent trailer-mounted radar 100 is repaired to facilitate.It is wherein mentioned-above
Corresponding CAN message information can be used in the information of trailer-mounted radar mistake.
By CAN message conversion module 4, so that the fault detection method of the application further includes step S3: by diagnostic data
Be converted to corresponding CAN message information.
Specifically, step S3 includes:
S3.1: CDD file is configured according to diagnostic data, that is to say, that configure the common CCD of onboard system for diagnostic data
File (CAN diagnostic data library file).
S3.2: according to CDD file generated CAN interaction layer identification code.
S3.3: being CAN message information by CAN alternation of bed code conversion.
Realize that diagnostic data, which is converted to corresponding CAN message, in the fault detection method of the application believes through the above steps
Breath, and process is simple, is applicable in existing onboard system.Wherein no matter trailer-mounted radar 100 is the fault detection method of the application
No there are failures, and diagnostic data is converted to CAN message information, in this way, can be known in real time by CAN diagnostic equipment vehicle-mounted
The carrying out practically state of radar 100.It is otherwise noted that CAN message conversion module 4 is also periodically reported CAN with 10ms
Literary information is sent to automobile bus, then CAN message information is transmitted to corresponding other component or system by automobile bus, makes
The other component or system that obtain automobile can obtain the operating status of trailer-mounted radar 100 in real time.
In one embodiment, please continue to refer to shown in Fig. 1, Fig. 3 and Fig. 4, the fault detection system of the application further includes using
In the FLASH module 5 of simulation EEPROM store function.Wherein FLASH module 5 is connect with 4 signal of CAN message conversion module.It is logical
Crossing FLASH module 5 provides a data temporary memory space, for saving newest CAN message information.Wherein examined in failure
During survey, step S3 further includes that CAN message information is stored in the FLASH memory space of FLASH module 5 by step S3.4,
And CAN message information can continue to cover, and guarantee that the CAN message information in FLASH module 5 is newest.By the above-mentioned means, making
Even if in the fault detection system of the application trailer-mounted radar 100 occur power down or because failure hang it is dead, after system reboot, CAN
Message conversion module 4 can reacquire the CAN message information of last stored, consequently facilitating understand before system fault condition,
Effectively improve the reliability of the fault detection system of the application.
In one embodiment, please continue to refer to shown in Fig. 1 and Fig. 3, the fault detection system of the application further includes that failure is examined
Disconnected module 6 and display terminal 7.Wherein display terminal 7 can be vehicle mounted multimedia or the display screen component of vehicle mounted guidance, to save
Save design cost.Wherein fault diagnosis module 6 controls display terminal for obtaining CAN message information, and according to CAN message information
7 display failure detection results.Further include step S4 in the fault detection method of the application: being shown according to CAN message information
Show failure detection result.In another embodiment, the failure detection result in step S4 shows detection by way of list
Mesh, and shown in the form of TRUE or FALSE corresponding project whether failure, in this way, intuitively know vehicle convenient for driver
The project for carrying the malfunction of radar 100 and breaking down, effectively improves the efficiency of subsequent maintenance.
In another embodiment, please continue to refer to shown in Fig. 1, the fault detection system of the application further include: alarm 8.
Alarm 8 is connect with 2 signal of control module.Wherein one or two kinds of combinations in buzzer and LED light can be used in alarm 8.Control
Molding block 2 controls alarm 8 according to diagnostic data and carries out sound-light alarm, to further remind driver's trailer-mounted radar 100
Malfunction effectively improves driving safety so that driver makes counter-measure in time.
In conclusion the application fault detection method and system can effectively detect trailer-mounted radar while the car is driving
Malfunction, and trailer-mounted radar failure after, make it into the safe mode for not sending radar data, while and
Other ECU of Shi Tongzhi avoid the trailer-mounted radar in malfunction from having an impact the other systems or component of automobile, guarantee vapour
The normal use of vehicle effectively improves the driving safety of automobile.
Although being carried out to the description of the present application combination embodiments above, those skilled in the art
Member can carry out many replacements based on the above contents, modifications and variations, be obvious.Therefore, all such substitutions,
Improvements and changes are included in the spirit and scope of appended claims.
Claims (10)
1. a kind of fault detection system applied to trailer-mounted radar, including trailer-mounted radar and car body controller, the vehicle-mounted thunder
It is connect up to car body controller by automobile bus, which is characterized in that the trailer-mounted radar includes:
Radar module is used to obtain obstacle position information and generates radar data, and sends radar number by automobile bus
According to car body controller；
Fault detection module is used to detect the operating status of radar module and generates diagnostic data；And
Control module is used to judge according to the diagnostic data trailer-mounted radar with the presence or absence of failure, if there are failures
The radar module is then forbidden to send radar data to automobile bus, until Current Diagnostic is statistics indicate that the trailer-mounted radar restores
Normally；The control module is also used to when forbidding radar module to issue radar data to automobile bus, by corresponding trailer-mounted radar
The information of mistake is sent to car body controller by automobile bus.
2. the fault detection system according to claim 1 applied to trailer-mounted radar, which is characterized in that fault detection system
Further include: CAN message conversion module is used to generate CAN message information according to diagnostic data.
3. the fault detection system according to claim 2 applied to trailer-mounted radar, which is characterized in that the trailer-mounted radar
Further include: fault diagnosis module and display terminal, the fault diagnosis module are used to obtain CAN message information, and according to CAN
Message information controls the display terminal and shows failure detection result.
4. the fault detection system according to claim 2 applied to trailer-mounted radar, which is characterized in that the trailer-mounted radar
Further include: for simulating the FLASH module of EEPROM store function, it is used to save CAN message information, the FLASH module
It is connect with CAN message conversion module signal.
5. a kind of fault detection method applied to trailer-mounted radar, is applied to trailer-mounted radar, the trailer-mounted radar can pass through automobile
Bus is communicated with car body controller, and the fault detection method includes the following steps:
S1: detecting the operating status of trailer-mounted radar, generates diagnostic data；And
S2: judging trailer-mounted radar with the presence or absence of failure according to the diagnostic data, then forbid if there is failure trailer-mounted radar to
Automobile bus issues radar data, until Current Diagnostic is statistics indicate that the trailer-mounted radar restores normal.
6. the fault detection method according to claim 5 applied to trailer-mounted radar, which is characterized in that the step S2 is also
It include: that the information of trailer-mounted radar mistake is sent when trailer-mounted radar is there are when failure to car body controller.
7. the fault detection method according to claim 5 applied to trailer-mounted radar, which is characterized in that it further includes step
S3: diagnostic data is converted into corresponding CAN message information.
8. the fault detection method according to claim 7 applied to trailer-mounted radar, which is characterized in that the step S3 packet
It includes:
S3.1: CDD file is configured according to diagnostic data；
S3.2: according to CDD file generated CAN interaction layer identification code；And
S3.3: being CAN message information by CAN alternation of bed code conversion.
9. the fault detection method according to claim 8 applied to trailer-mounted radar, which is characterized in that the step S3 is also
Include: step S3.4: CAN message information is stored in FLASH memory space.
10. the fault detection method according to claim 5 applied to trailer-mounted radar, which is characterized in that fault detection side
Method further includes step S4: showing failure detection result according to CAN message information.
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| CN113866791A (en) * | 2020-06-30 | 2021-12-31 | 商汤集团有限公司 | Processing method and processing device for data collected by radar device |
| WO2022001326A1 (en) * | 2020-06-30 | 2022-01-06 | 商汤集团有限公司 | Data processing method and apparatus, device, storage medium and program |
| WO2023000308A1 (en) * | 2021-07-23 | 2023-01-26 | 华为技术有限公司 | Fault information transmission method and apparatus, and storage medium |
| CN114124299A (en) * | 2021-11-08 | 2022-03-01 | 国汽智控(北京)科技有限公司 | Radar data transmission method, device, equipment and medium |
| CN114124299B (en) * | 2021-11-08 | 2024-04-23 | 国汽智控(北京)科技有限公司 | Radar data transmission method, device, equipment and medium |
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Application publication date: 20190816 |