CN110308732B - Failure detection method of automatic driving controller and automatic driving controller - Google Patents
Failure detection method of automatic driving controller and automatic driving controller Download PDFInfo
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- G05D1/02—Control of position or course in two dimensions
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Abstract
The invention provides a fault detection method of an automatic driving controller, which comprises the following steps: when the first peripheral set of the MCU module and the second peripheral set of the processor module work normally, judging whether the heartbeats of the MCU module and the processor module are synchronous or not; when the fault processor module is asynchronous, determining a fault processor module and reporting a first fault code corresponding to the fault processor module; judging whether the fault processor module can be repaired by software; when the software repair fails, the fault processor module is powered on again and initialized; and when the fault cannot be repaired, reporting a first fault code to the cloud monitoring platform. From this, can monitor the trouble of autopilot controller itself to automatic repair, when the trouble surpassed autopilot controller self's repair ability, with the high in the clouds monitor platform of trouble feedback, carry out problem analysis and trouble repair work by the high in the clouds monitor platform, guarantee the normal operating of vehicle.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a fault detection method of a basic automatic driving controller and the automatic driving controller.
Background
The automatic driving technology is a hot topic in recent years, and in the fields of relieving traffic jam, improving road safety, improving travel modes and the like, the automatic driving can bring about overturned change, wherein an automatic driving controller is a brain of an automatic driving system and plays a key role.
At least one currently recognized grading regime for the global automotive industry is proposed by the U.S. highway safety administration (National Highway Traffic Safety Administration, NHTSA) and the society of international automaton engineers (Society of Automotive Engineers, SAE), respectively. Both the L4 and L5 level autopilot technologies may be referred to as full autopilot technologies, to which level the vehicle may perform all driving operations without any intervention by the driver, and the driver may be able to focus on other aspects such as work or rest. This places stringent demands on the processing power of the autopilot controller. All large semiconductor companies in the world are actively pushing out their own automatic driving schemes, such as intelligent auxiliary driving company mobilee of intel and computer vision entrepreneur company Movidius adopt special application specific integrated circuit (Application Specific Integrated Circuit, abbreviated as ASIC) chips, which solidify special algorithms, but are inflexible in application and poor in openness; the CPU (Central Processing Unit/Processor, CPU) +graphics Processor (Graphics Processing Unit, GPU) scheme of the Inlet's corporation has a good computing capability, but has high power consumption and low price; the industrial personal computer has low price but poor stability, and the interface cannot be directly applied to vehicles.
The existing automatic driving controller adopts some simple safety monitoring methods, generally comprises the steps of power-on initialization of a processor module, power-on self-detection, peripheral state monitoring and software running state monitoring, and when the state is detected to be inconsistent with the expected state, the controller reports a first fault code and enters a fault mode.
However, in the actual application of the vehicle, not only the controller is required to monitor the fault state in real time, but also the fault of the controller itself is required to be removed for self-diagnosis and repair; when the problem exceeds the self-repairing capability of the controller, the fault state also needs to be fed back to the cloud background, and the cloud performs problem analysis and fault repairing work to ensure the normal operation of the vehicle. Otherwise, the operation cost of the automatic driving vehicle is high, the social benefit is poor, and the automatic driving vehicle cannot be popularized and used.
Therefore, how to eliminate the faults of the controller is an urgent problem to be solved.
Disclosure of Invention
The embodiment of the invention aims to provide a fault detection method of an automatic driving controller and the automatic driving controller, which are used for solving the problem that the fault of the automatic driving controller cannot be removed in the prior art.
To solve the above problems, in a first aspect, the present invention provides a fault detection method of an automatic driving controller, the automatic driving controller including an MCU module and at least one processor module, the method comprising:
when the first peripheral set of the MCU module and the second peripheral set of the processor module work normally, judging whether the heartbeats of the MCU module and the processor module are synchronous or not;
when the fault processor module is asynchronous, determining a fault processor module and reporting a first fault code corresponding to the fault processor module;
judging whether the fault processor module can be repaired by software;
when the software repair fails, the fault processor module is powered on again and initialized;
and when the fault cannot be repaired, reporting the first fault code to a cloud monitoring platform.
In one possible implementation, the method further includes before:
after power-on, initializing and self-checking an MCU;
when passing, the MCU controls the first peripheral set connected with the MCU to start and initialize;
judging whether the processor module has a starting condition or not;
when the starting condition is met, the MCU controls the processor module to initialize and self-check;
when the information is passed, the MCU controls a second peripheral set connected with the processor module to be started and initialized;
and judging whether the first peripheral set of the MCU module and the second peripheral set of the processor module work normally or not.
In one possible implementation, the method further comprises thereafter:
when at least one peripheral in the first peripheral set or the second peripheral set can not work normally, a second fault code corresponding to the fault peripheral is reported;
re-powering up and initializing the fault peripheral equipment;
and when the fault cannot be repaired, reporting the second fault code to a cloud monitoring platform.
In one possible implementation, the method further comprises thereafter:
receiving a repair instruction sent by the cloud monitoring platform; or,
and the cloud monitoring platform sends the first fault code or the second fault code to a user terminal so that the user terminal informs a worker of fault repair.
In one possible implementation manner, the determining whether the heartbeats of the MCU module and the processor module are synchronous specifically includes:
the MCU module is connected with the UART serial port of the processor module, and judges whether heartbeat is synchronous or not according to the synchronous mode of the UART serial port.
In one possible implementation manner, the failure of at least one peripheral in the first peripheral set or the second peripheral set specifically includes:
the MCU collects power supply voltage of each peripheral, and when the acquired power supply voltage of any peripheral is not in a preset range, peripheral power supply abnormality is determined; or,
the MCU acquires data of each peripheral, and when the data of any peripheral is not in a preset range, the data of the peripheral is determined to be abnormal;
and when the power supply of the peripheral is abnormal or the data is abnormal, judging that the peripheral cannot work normally.
In a second aspect, the present invention provides an autopilot controller comprising an MCU and a processor module as claimed in any one of claims 1 to 6.
By applying the fault detection method of the automatic driving controller and the automatic driving controller provided by the embodiment of the invention, the fault of the automatic driving controller can be monitored and automatically repaired, when the fault exceeds the repair capability of the automatic driving controller, the fault is fed back to the cloud monitoring platform, and the cloud monitoring platform performs problem analysis and fault repair work to ensure the normal operation of the vehicle.
Drawings
Fig. 1 is a flowchart of a fault detection method of an autopilot controller according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of an autopilot controller according to a second embodiment of the present invention;
fig. 3 is a schematic diagram of a power input processing module according to a second embodiment of the invention.
Detailed Description
The present application is described in further detail below with reference to the 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 noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.
It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Fig. 1 is a flowchart of a fault detection method of an autopilot controller according to an embodiment of the present invention. As shown in fig. 1, the method comprises the steps of:
before performing step 101, it includes:
after power-on, initializing and self-checking an MCU;
when passing, the MCU controls the first peripheral set connected with the MCU to start and initialize;
judging whether the processor module has a starting condition or not;
when the starting condition is met, the MCU controls the processor module to initialize and self-check;
when the information is passed, the MCU controls a second peripheral set connected with the processor module to be started and initialized;
and judging whether the first peripheral set of the MCU module and the second peripheral set of the processor module work normally or not.
When at least one peripheral in the first peripheral set or the second peripheral set can not work normally, a second fault code corresponding to the fault peripheral is reported;
re-powering up and initializing the fault peripheral equipment;
and when the fault cannot be repaired, reporting the second fault code to a cloud monitoring platform.
The first peripheral set is a set of peripheral devices of the MCU, and the second peripheral set is a set of peripheral devices of the processor module. Therefore, whether the peripheral has a fault or not can be judged, and when the peripheral has the fault, the fault code of the peripheral is reported.
And step 101, judging whether the heartbeats of the MCU module and the processor module are synchronous or not when the first peripheral set of the MCU module and the second peripheral set of the processor module work normally.
Specifically, the MCU collects power supply voltage of each peripheral, and when the acquired power supply voltage of any peripheral is not in a preset range, peripheral power supply abnormality is determined; or,
the MCU acquires data of each peripheral, and when the data of any peripheral is not in a preset range, the data of the peripheral is determined to be abnormal;
and when the power supply of the peripheral is abnormal or the data is abnormal, judging that the peripheral cannot work normally.
When the peripheral devices can work normally, whether the heartbeats are synchronous or not is judged.
In one example, the MCU module is connected to the UART serial port of the processor module, and determines whether the heartbeats are synchronized according to a synchronization mode of the UART serial port.
The synchronous mode refers to a communication mode that after a sender sends out data, a receiver sends back a response and then sends out a next data packet.
Step 102, when the synchronization is not performed, determining a fault processor module, and reporting a first fault code corresponding to the fault processor module.
Specifically, when the processor modules are out of sync, it may be determined that the processor modules fail, each processor module corresponds to a unique failure code, the MCU may report the first failure code, where the report may be a report through the voice module or a display of the first failure code through the display module.
Step 103, judging whether the fault processor module can be repaired by software.
Specifically, the fault processor module that has a fault may be repaired by software, where software repair refers to repair that may be performed by software, and the content, version, and the like of the software are not limited in this application.
And 104, when the software repair fails, powering up the fault processor module again and initializing the fault processor module.
Specifically, the MCU is internally provided with a watchdog circuit, and the basic function of the watchdog circuit is to restart the system after software problems and program run-off occur. The watchdog counter automatically counts when working normally, the program flow resets and clears the watchdog counter periodically, and if the system is jammed or runs off somewhere, the timer overflows and is interrupted. Some reset operations are performed in the timer interrupt.
The system is restored to normal operation, i.e., during periods when the program is not running normally, the watchdog is reset as desired to ensure that the selected timed overflow is zeroed, causing the processor to restart. The timing of the watchdog circuit may be determined by the cycle period of the particular application, and is typically slightly longer than the maximum cycle period during normal operation of the system.
When programming, a dog feeding instruction can be added at a proper place of software, so that the timing time of the watchdog can never reach the preset time, and the system can not be reset and normally work. When the system runs and cannot catch back the program by other methods such as a software trap, the timing time of the watchdog is quickly increased to the preset time, and the system is forced to reset.
And step 105, reporting the first fault code to a cloud monitoring platform when the fault cannot be repaired.
Also included after step 105 is:
receiving a repair instruction sent by the cloud monitoring platform; or,
and the cloud monitoring platform sends the first fault code or the second fault code to a user terminal so that the user terminal informs a worker of fault repair.
Specifically, when the fault processor module is powered on again and initialized and the fault is still unable to be repaired, a first fault code is sent to the cloud monitoring platform, and the cloud monitoring platform automatically issues a repair instruction or performs manual intervention to repair the fault through a preset comprehensive strategy.
By applying the fault detection method of the automatic driving controller provided by the embodiment of the invention, the fault of the automatic driving controller can be monitored and automatically repaired, when the fault exceeds the repair capability of the automatic driving controller, the fault is fed back to the cloud monitoring platform, and the cloud monitoring platform performs problem analysis and fault repair work to ensure the normal operation of the vehicle.
Fig. 2 is a schematic structural diagram of an autopilot controller according to a second embodiment of the present invention. The autopilot controller is applied to the fault detection method of the autopilot controller in the first embodiment, as shown in fig. 2, the autopilot controller can use one processor module or two processor modules, and meanwhile, the processor modules can carry out two schemes of high and low, so that the advancement and practicability of the autopilot controller are greatly enhanced. Wherein the two processor modules constitute a processor module.
The automatic driving controller has two versions, namely a high-configuration A version and a low-configuration B version, wherein A corresponds to the processor module 1 and B corresponds to the processor module 2. Aiming at different scenes of the automatic driving vehicle and different automatic driving grade definition requirements, the automatic driving controller can be flexibly configured into four configurations of AA/AB/BA/BB, and is rapidly applied and deployed.
The controller is arranged on the vehicle, and carries out automatic driving algorithm processing such as sensing, positioning, decision making, control and the like by internally and externally connecting various sensors including single-line and multi-line laser radars, millimeter wave radars, ultrasonic radars, distance sensors, looking-around cameras, forward high-definition cameras, inertial navigation sensors, full-system multi-frequency high-precision orientation boards, data radio stations, 4G communication modules, V2X communication modules, wheel speed sensors and the like; the external communication integrates various wired communication modes and wireless communication modes, wherein the wired communication modes comprise CAN, LIN, flexray, RS, RS422/485, USB2.0, USB3.0, gigabit Ethernet and GMSL, are connected with the sensors, and the wireless communication modes comprise WIFI and Bluetooth and are mainly used for man-machine interaction functions; the control chip in the controller adopts MCU with function safety grade reaching ASIL-D to perform system monitoring, diagnosis, fault management and the like.
The MCU module controls the power supply enabling of the processor modules 1 and 2 respectively, and controls the starting logic of the processor modules 1 and 2 respectively. The MCU module and the processor modules 1 and 2 are designed to interact, namely 1 unidirectional GPIO, 1 low-speed UART serial port communication and 1 high-speed SPI communication. The processor module 1 and the processor module 2 are provided with interactions, namely 1 unidirectional GPIO and 1 high-speed PCI communication.
As shown in fig. 3, the power input processing module takes power from the vehicle and is capable of coping with electrical tests of the power line and electrical transient conduction tests along the power line, providing reliable power input to the overall controller. The IG signal processing and self-locking module realizes the power supply enabling control of the IG signal to the controller, when the controller works, the MCU takes over the enabling of the power supply, and when the IG is cancelled, the controller can identify that the IG is cancelled and keep the power supply normal, and when the shutdown task is completed, the controller automatically fails the power shutdown processing. The power conversion module converts the voltage after passing through the power input module into working voltage of each chip and module, and the power conversion module meets the power-on time sequence logic requirement of each chip.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative elements and steps are described above generally in terms of function in order to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied in hardware, in a software module executed by a processor, or in a combination of the two. The software modules may be disposed in Random Access Memory (RAM), memory, read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The foregoing detailed description of the invention has been presented for purposes of illustration and description, and it should be understood that the invention is not limited to the particular embodiments disclosed, but is intended to cover all modifications, equivalents, alternatives, and improvements within the spirit and principles of the invention.
Claims (5)
1. A method of fault detection for an autopilot controller, the autopilot controller comprising an MCU module and at least one processor module, the method comprising:
when the first peripheral set of the MCU module and the second peripheral set of the processor module work normally, judging whether the heartbeats of the MCU module and the processor module are synchronous or not;
when the fault processor module is asynchronous, determining a fault processor module and reporting a first fault code corresponding to the fault processor module;
judging whether the fault processor module can be repaired by software; the software repair is repair of the content and version of the software;
restarting and initializing the fault processor module when software repair fails;
when the fault cannot be repaired, reporting the first fault code to a cloud monitoring platform;
wherein the first peripheral set or the second peripheral set specifically includes:
the MCU collects power supply voltage of each peripheral, and when the acquired power supply voltage of any peripheral is not in a preset range, peripheral power supply abnormality is determined; or,
the MCU acquires data of each peripheral, and when the data of any peripheral is not in a preset range, the data of the peripheral is determined to be abnormal;
when the power supply of the peripheral is abnormal or the data is abnormal, judging that the peripheral cannot work normally;
when at least one peripheral in the first peripheral set or the second peripheral set can not work normally, a second fault code corresponding to the fault peripheral is reported;
re-powering up and initializing the fault peripheral equipment;
and when the fault cannot be repaired, reporting the second fault code to a cloud monitoring platform.
2. The method according to claim 1, characterized in that the method is preceded by:
after power-on, initializing and self-checking an MCU;
when passing, the MCU controls the first peripheral set connected with the MCU to start and initialize;
judging whether the processor module has a starting condition or not;
when the starting condition is met, the MCU controls the processor module to initialize and self-check;
when the information is passed, the MCU controls a second peripheral set connected with the processor module to be started and initialized;
and judging whether the first peripheral set of the MCU module and the second peripheral set of the processor module work normally or not.
3. The method according to claim 1, characterized in that the method further comprises after that:
receiving a repair instruction sent by the cloud monitoring platform; or,
and the cloud monitoring platform sends the first fault code or the second fault code to a user terminal so that the user terminal informs a worker of fault repair.
4. The method according to claim 1, wherein said determining whether heartbeats of the MCU module and the processor module are synchronized, in particular comprises:
the MCU module is connected with the UART serial port of the processor module, and judges whether heartbeat is synchronous or not according to the synchronous mode of the UART serial port.
5. An automatic driving controller for performing the failure detection method of an automatic driving controller according to any one of claims 1 to 4.
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