CN110816443B - Vehicle monitoring method and device and unmanned vehicle - Google Patents
Vehicle monitoring method and device and unmanned vehicle Download PDFInfo
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- CN110816443B CN110816443B CN202010029434.XA CN202010029434A CN110816443B CN 110816443 B CN110816443 B CN 110816443B CN 202010029434 A CN202010029434 A CN 202010029434A CN 110816443 B CN110816443 B CN 110816443B
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- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
- B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
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Abstract
The embodiment of the application discloses a vehicle monitoring method, a vehicle monitoring device and an unmanned vehicle, wherein the vehicle monitoring method comprises the following steps: the method comprises the steps that a first monitoring module monitors target information of a function module to obtain a first monitoring result, the function module comprises a plurality of function modules, the first monitoring result is transmitted to a second monitoring module, the second monitoring module monitors the target information of the function module to obtain a second monitoring result, if the first monitoring module fails, the second monitoring module monitors the target information of the function module, and if the second monitoring module fails, the first monitoring module monitors the target information of the function module; and if the first monitoring module and the second monitoring module both have faults, each functional module forms a monitoring system to monitor the target information of the functional module. The embodiment of the application can improve the safety of the vehicle.
Description
Technical Field
The application relates to the technical field of unmanned driving, in particular to a vehicle monitoring method and device and an unmanned vehicle.
Background
In the known vehicle in the prior art, each functional module in the vehicle system is monitored by one monitoring module, and the stability of the vehicle cannot be ensured by monitoring the vehicle system by the single monitoring module, so that the risk of out-of-control monitoring exists. In the field of automobiles, especially in the field of unmanned automobiles, failure in vehicle monitoring can cause serious potential safety hazards, and the use and popularization of the unmanned automobiles are not facilitated.
Therefore, it is an urgent technical problem to be solved by those skilled in the art to provide a vehicle monitoring method with higher safety.
Disclosure of Invention
The embodiment of the application provides a vehicle monitoring method and device and an unmanned vehicle, and vehicle safety can be improved.
The embodiment of the application provides a vehicle monitoring method, which comprises the following steps:
monitoring target information of a functional module by a first monitoring module to obtain a first monitoring result, wherein the functional module comprises a plurality of functional modules;
transmitting the first monitoring result to a second monitoring module, and monitoring the target content of the first monitoring module by the second monitoring module to obtain a second monitoring result;
if the first monitoring module has a fault, the second monitoring module monitors the target information of the functional module;
and if the first monitoring module and the second monitoring module both have faults, each functional module forms a monitoring system to monitor the target information of the functional module.
Correspondingly, this application embodiment still provides a vehicle monitoring devices, includes:
the acquisition unit is used for monitoring the target information of the functional modules through the first monitoring module to obtain a first monitoring result, and the functional modules comprise a plurality of functional modules;
the transmission unit is used for transmitting the first monitoring result to a second monitoring module, and the second monitoring module monitors the target information of the functional module to obtain a second monitoring result;
the execution unit is used for monitoring the target information of the functional module by the second monitoring module if the first monitoring module fails, and monitoring the target information of the functional module by the first monitoring module if the second monitoring module fails;
and if the first monitoring module and the second monitoring module both have faults, each functional module forms a monitoring system to monitor the target information of the functional module.
Optionally, in some embodiments of the present application, a first obtaining unit and a disabling unit are further included,
the first obtaining unit is specifically configured to: if the first monitoring result is inconsistent with the second monitoring result, acquiring fault data corresponding to each functional module, and acquiring fault confirmation information according to the fault data;
the disabling unit is specifically configured to: determining to disable a monitoring function of the first monitoring module or the second monitoring module based on the failure confirmation information.
Optionally, in some embodiments of the present application, a sending unit and an acknowledgement unit are further included,
the sending unit is specifically configured to: sending a confirmation request to each functional module, starting self-checking of each functional module pair according to the confirmation request and obtaining fault data;
the confirmation unit is specifically configured to: and if the fault data is confirmed by the related functional module, obtaining fault confirmation information.
Optionally, in some embodiments of the present application, an enabling unit is further included,
the enabling unit is specifically configured to, when one of the monitoring functions of the first monitoring module and the second monitoring module is disabled, maintain the functional module by the other monitoring module.
Optionally, in some embodiments of the present application, a second obtaining unit and an adjusting unit are further included,
the second obtaining unit is specifically configured to obtain a system functional integrity of the monitoring system.
The adjusting unit is specifically configured to adjust the functional module if the system functional integrity is lower than a preset threshold.
Optionally, in some embodiments of the present application, the second obtaining unit includes a first evaluating unit and a second evaluating unit,
the first evaluation unit is specifically configured to evaluate the module function integrity of each functional module to obtain the module function integrity of each functional module;
the second evaluation unit is specifically configured to correlate the module functional integrity of each functional module to obtain the system functional integrity of the monitoring system.
Optionally, in some embodiments of the present application, the second evaluation unit comprises a calculation unit,
the computing unit is specifically configured to perform an integration on the module functional integrity of each functional module to obtain a system functional integrity of the monitoring system.
Alternatively, in some embodiments of the present application,
the adjusting unit is specifically configured to: if the system function integrity is lower than a preset threshold, the function module is adjusted in a manner of recovering the function module and degrading the function of the function module.
Correspondingly, the embodiment of the application also provides an unmanned vehicle which comprises a vehicle body, wherein the vehicle body is provided with an execution device, a sensing device and a vehicle-mounted processing device, and the execution device and the sensing device are respectively connected with the vehicle-mounted processing device through buses, so that the vehicle-mounted processing device executes the steps in the vehicle monitoring method.
According to the embodiment of the application, firstly, a first monitoring result is obtained through target information of a first monitoring module monitoring function module, the function module comprises a plurality of modules, then the first monitoring result is transmitted to a second monitoring module, the second monitoring module monitors the target information of the function module to obtain a second monitoring result, if the first monitoring module breaks down, the second monitoring module monitors the target information of the function module, if the second monitoring module breaks down, the first monitoring module monitors the target information of the function module, if the first monitoring module and the second monitoring module break down, each function module forms a monitoring system to monitor the target information of the function module. In the embodiment of the application, when the first monitoring module and the second monitoring module have faults, the monitoring system formed by the functional modules monitors the faults of the functional modules, so that the functional modules are subjected to redundant monitoring, and the safety of a vehicle is improved.
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In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a vehicle system provided in an embodiment of the present application;
FIG. 2 is a schematic flow chart diagram of a vehicle monitoring method provided by an embodiment of the present application;
FIG. 3a is another schematic flow chart diagram of a vehicle monitoring method provided by an embodiment of the present application;
FIG. 3b is a schematic view of a scene of a vehicle monitoring method provided in an embodiment of the present application;
FIG. 4 is a schematic structural diagram of a vehicle monitoring device provided in an embodiment of the present application;
fig. 5 is a schematic structural diagram of an unmanned vehicle according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the embodiments of the present application, it is to be understood that terms such as "including" or "having", etc., are intended to indicate the presence of the features, numbers, steps, actions, components, parts, or combinations thereof disclosed in the present specification, and are not intended to preclude the possibility that one or more other features, numbers, steps, actions, components, parts, or combinations thereof are present or added.
The embodiment of the application provides a vehicle monitoring method, a vehicle monitoring device and an intelligent vehicle.
The vehicle monitoring device can be integrated in an intelligent vehicle, the intelligent vehicle is a comprehensive system integrating functions of environment sensing, planning decision, multi-level auxiliary driving and the like, the technologies of computer, modern sensing, information fusion, communication, artificial intelligence, automatic control and the like are intensively applied, and the intelligent vehicle monitoring device is a typical high and new technology comprehensive body. Currently, research on intelligent vehicles, such as unmanned vehicles, which are a kind of intelligent vehicles and are also called wheeled mobile robots, mainly aims to improve safety and comfort of the vehicles and provide excellent human-vehicle interaction interfaces, and the intelligent vehicles mainly rely on intelligent drivers in the vehicles, mainly comprising computer systems, to achieve the purpose of unmanned driving, so-called unmanned driving, which can safely and reliably drive vehicles on roads by sensing the surrounding environment of the vehicles by using vehicle-mounted sensors and controlling the steering of the vehicles and the speed of the vehicles according to the road, vehicle position and obstacle information obtained by sensing.
Referring to fig. 1, a vehicle system is provided, where the vehicle system includes an unmanned vehicle, a vehicle monitoring device is integrated in the unmanned vehicle, the unmanned vehicle includes a first monitoring module and a second monitoring module, first, a first monitoring result is obtained by monitoring target information of a function module by the first monitoring module, and the function module includes a plurality of function modules. Wherein, the functional module can be speed acquisition functional module, environment acquisition functional module, apart from detecting functional module, turning to functional module, brake functional module etc.. The target information includes whether the function module is out of order, the degree of the failure, and the like. Wherein the first monitoring result is a result of whether the plurality of functional modules are malfunctioning. And then, transmitting the first monitoring result to a second monitoring module, and monitoring the target information of the functional module by the second monitoring module to obtain a second monitoring result. That is, the second monitoring module also monitors whether the functional module has a fault, and finally obtains a second monitoring result. The second monitoring module not only monitors the functional module but also monitors the first monitoring module. Then, if the first monitoring module fails, the second monitoring module monitors the target information of the functional module, and if the second monitoring module fails, the first monitoring module monitors the target information of the functional module. Namely, the first monitoring module and the second monitoring module realize redundant monitoring, thereby improving the safety of the vehicle. And if the first monitoring module and the second monitoring module both have faults, each functional module forms a monitoring system to monitor the target information of the functional module. When the first monitoring module and the second monitoring module have faults, a monitoring system is formed among the functional modules. For example, when the feedback signals of the first monitoring module and the second monitoring module cannot be received, the feedback information in the monitoring system composed of the functional modules is directly obtained.
The following are detailed below. It should be noted that the description sequence of the following embodiments is not intended to limit the priority sequence of the embodiments.
A method of obtaining a vehicle position, comprising: the method comprises the steps that target information of a functional module is monitored through a first monitoring module to obtain a first monitoring result, the functional module comprises a plurality of monitoring modules, the first monitoring result is transmitted to a second monitoring module, the second monitoring module monitors the target information of the functional module to obtain a second monitoring result, if the first monitoring module fails, the second monitoring module monitors the target information of the functional module, if the second monitoring module fails, the first monitoring module monitors the target information of the functional module, and if the first monitoring module and the second monitoring module both fail, each functional module forms a monitoring system to monitor the target information of the functional module.
Referring to fig. 2, fig. 2 is a schematic flow chart of a vehicle monitoring method according to an embodiment of the present disclosure. The specific flow of the vehicle monitoring method can be as follows:
101. and monitoring the target information of the functional modules by the first monitoring module to obtain a first monitoring result, wherein the functional modules comprise a plurality of functional modules.
Wherein, the functional module includes a plurality ofly, and is concrete, and the functional module can be speed acquisition functional module, and the functional module is gathered to the environment, and apart from detecting functional module, turning to functional module, brake functional module etc..
In addition, the target information may include whether the function module has failed and a degree of failure of the function module.
In addition, the first monitoring result is a result of whether or not the plurality of function modules are malfunctioning.
For example, the first monitoring module monitors whether functional modules, such as a speed acquisition functional module, an environment acquisition functional module, a distance detection functional module, a steering functional module, a brake functional module, and the like, have faults or not. And if the functional module has a fault, acquiring the fault degree of the functional module. In addition, the function of the first monitoring module is not limited to the monitoring function module, and in addition, the first monitoring module may collect the final results of the plurality of monitored function modules to obtain the first monitoring result. The first monitoring result may reflect an overall condition of the plurality of functional modules.
It should be noted that the first monitoring module can also be used to restore the functional module with the fault and prompt the functional module with the fault.
Specifically, for example, when it is monitored that the speed acquisition function module fails, alarm information can be sent to prompt the speed acquisition function module that the speed acquisition function module fails. Or when the speed acquisition functional module is monitored to have a fault, displaying the information that the speed acquisition functional module has the fault through the display unit. Also for example, the first monitoring result may be reflected in a display unit. That is, the monitored condition of each function module is displayed in the display unit. The display unit may be a display interface.
102. And transmitting the first monitoring result to a second monitoring module, and monitoring the target information of the functional module by the second monitoring module to obtain a second monitoring result.
And the second monitoring module also monitors the target information of the functional module. It should be noted that the second monitoring module has the same function as the first monitoring module. Meanwhile, the first monitoring module and the second monitoring module carry out information intercommunication. That is, the result of the first monitoring module monitoring the target information of the functional module may be transmitted to the second monitoring module.
In addition, the second monitoring module monitors the target information of the functional module to obtain a second monitoring result. The second monitoring result is a result of whether each of the functional modules monitored by the second monitoring module has a fault.
In addition, the first monitoring module can be used as a master monitoring module of the vehicle, and the second monitoring module can be used as a slave monitoring module of the vehicle. Meanwhile, the second monitoring module can also monitor whether the first monitoring module fails.
For example, the second monitoring module also monitors whether the functional modules, such as the speed acquisition functional module, the environment acquisition functional module, the distance detection functional module, the steering functional module, the brake functional module, and the like, have faults or not and finally obtains an overall result of the plurality of functional modules.
103. And if the first monitoring module fails, the second monitoring module monitors the target information of the functional module, and if the second monitoring module fails, the first monitoring module monitors the target information of the functional module.
Whether the first monitoring module and the second monitoring module have faults or not can be judged by detecting feedback signals of the first monitoring module and the second monitoring module. And when the feedback signal of the second monitoring module cannot be received, determining that the second monitoring module has a fault.
For example, when the display unit cannot receive the feedback signal of the first monitoring module or the second monitoring module, that is, cannot display the first monitoring result or the second monitoring result, it is determined that the first monitoring module or the second monitoring module has a fault.
104. And if the first monitoring module and the second monitoring module both have faults, each functional module forms a monitoring system to monitor the target information of the functional module.
It should be noted that each functional module has a self-test capability. Meanwhile, detection results after self-checking can be transmitted among the functional modules, and after the functional modules form a monitoring system, the detection results after self-checking can be directly fed back, so that the purpose of monitoring the functional modules is achieved.
For example, the speed acquisition function module, the environment acquisition function module, the distance detection function module, the steering function module, the brake function module and other function modules feed back the self-checking result to the display unit, thereby playing the role of monitoring each function module.
In some embodiments, the vehicle monitoring method further comprises the steps of:
(1) and if the first monitoring result is inconsistent with the second monitoring result, acquiring fault data corresponding to each functional module, and acquiring fault confirmation information according to the fault data.
It should be noted that the first monitoring result is a result obtained by the first detection module monitoring the target information of the functional module. The second monitoring result is a result obtained by the second detection module monitoring the target information of the functional module. Namely, the first monitoring module and the second monitoring module monitor the same object. And comparing the first monitoring result with the second monitoring result. And judging whether the results obtained by the first monitoring module and the second monitoring module are consistent. And if the first monitoring module and the second monitoring module are consistent, the first monitoring module and the second monitoring module continue monitoring. And if the first monitoring result is inconsistent with the second monitoring result, directly acquiring fault data obtained by self-checking of each functional module. It is understood that the failure data is information about whether the functional module has failed or not, which is obtained when the respective functional modules perform self-checking. And if the fault data in each functional module determine that the fault occurs, obtaining the information of fault confirmation.
Wherein, the step of "if the first monitoring result is inconsistent with the second monitoring result" specifically includes:
and (1.1) matching the first monitoring result with the second monitoring result.
It should be noted that, the first monitoring result and the second monitoring result are compared to see whether they match. For example, the first monitoring result indicates that no fault occurs in each functional module, and the second monitoring result indicates that no fault occurs in each functional module. The first monitoring result and the second monitoring result are matched. And if the first monitoring result indicates that the functional modules are not in fault, the second monitoring result indicates that the functional modules are in fault. It is indicated that the first monitoring result and the second monitoring result do not match.
(1.2) if the number of times that the first monitoring result is not matched with the second monitoring result reaches a preset threshold value, determining that the first monitoring result is not consistent with the second monitoring result.
It should be noted that the preset threshold may be set. For example, the preset threshold may be three times, five times, etc. For another example, if the preset threshold is three times, when the number of times that the first monitoring result and the second monitoring result are not matched reaches three times, it is determined that the first monitoring result is inconsistent with the second monitoring result. And when the number of times that the first monitoring result is not matched with the second monitoring result does not reach three times, determining that the first monitoring result is consistent with the second monitoring result.
Of course, other manners may also be adopted to determine whether the first monitoring result and the second monitoring result are consistent, for example, the first monitoring result and the second monitoring result are matched for multiple times, and if the number of times that the first monitoring result is matched with the second monitoring result is greater than the number of times that the first monitoring result is not matched with the second monitoring result, it is indicated that the first monitoring result is consistent with the second monitoring result.
In some embodiments, the step "after the first monitoring result is inconsistent with the second monitoring result" may specifically include:
(a) and sending a confirmation request to each functional module, starting the self-check of each functional module according to the confirmation request and obtaining fault data.
It should be noted that, if the first monitoring result is inconsistent with the second monitoring result, the second monitoring module is triggered to send a confirmation request to each functional module, and after receiving the confirmation request, each functional module starts to perform self-checking, and obtains fault data after self-checking.
(b) And if the fault data is confirmed by the related functional module, obtaining fault confirmation information.
It should be noted that the functional module identifies fault data. For example, if the feedback signal of the distance sensor cannot be detected in the distance detection function module, it is determined that the distance sensor is faulty, that is, a fault determination message is obtained.
(2) Determining to disable a monitoring function of the first monitoring module or the second monitoring module based on the failure confirmation information.
It should be noted that the failure confirmation information is determined by the failure data of each functional module after self-inspection. For example, when the distance detection function module detects that the distance sensor has a fault, the fault confirmation information is obtained. Meanwhile, the relevance between the distance sensor and the distance detection function module is high, and whether the distance sensor breaks down or not is judged mainly by self-checking of the distance detection function module, so that the monitoring function of the first monitoring module or the second monitoring module can be forbidden.
In some embodiments, the step "after determining to disable the monitoring function of the first monitoring module or the second monitoring module based on the fault confirmation information" may specifically include:
(1) when one monitoring function of the first monitoring module and the second monitoring module is forbidden, the other monitoring module maintains the function module.
It should be noted that the first monitoring module and the second monitoring module both have multiple functions. For example, the first monitoring module and the second monitoring module each have a monitoring function, a maintenance function, a function degradation function, a recovery function, and the like. When one monitoring function of the first monitoring module and the second monitoring module is forbidden, the other monitoring module maintains the function module. That is, one of the first monitoring module and the second monitoring module is responsible for primary monitoring, and the other is used for performing secondary other work. In this way, the first monitoring module and the second monitoring module can be clearly divided, so that the stability of the vehicle is further enhanced.
In some embodiments, the step "after the monitoring system composed of the functional modules monitors the target information of the functional modules" may specifically include:
(1) and acquiring the system function integrity of the monitoring system.
It should be noted that the system functional integrity is the functional integrity of the functional modules in the entire vehicle system. For example, a vehicle system includes a plurality of functional modules. If one of the functional modules fails, because each functional module constitutes a redundant monitoring system, the other modules can give a parameter, such as 0.1, 0.2, or 0.3, to the failed functional module. If the function block is normal, the parameter of the function block is 1.
The monitoring system comprises five functional modules, and the functional integrity of the five functional modules is 0.3, 1 and 1 respectively. The functional integrity of the monitoring system is then 0.3 x 1 equal to 0.3.
In some embodiments, the step of "obtaining the system functional integrity of the monitoring system" may specifically include:
and (1.1) evaluating the module function integrity of each functional module to obtain the module function integrity of each functional module.
It should be noted that each functional module can evaluate the functional integrity of the functional module. For example, the distance detection function module may include an infrared distance sensor, an ultrasonic sensor, and the like. If one of the sensors fails, the functional integrity of the module of the distance detection functional module is still 1, if both of the sensors fail, the functional integrity of the module of the distance detection functional module can be measured by other functional modules with respect to the functional integrity of the distance detection functional module, for example, 0.1, 0.2, or 0.3, etc., and if both of the sensors fail, the functional integrity of the module of the distance detection functional module is 1.
And (1.2) correlating the module functional integrity of each functional module to obtain the system functional integrity of the monitoring system.
It should be noted that, the functional integrity of all modules is associated, that is, after the functional integrity of all modules is evaluated, the functional integrity of each module is transmitted to other functional modules, so as to obtain the functional integrity of the system.
In some embodiments, the step of "correlating the module functional integrity of each functional module to obtain the system functional integrity of the monitoring system" may specifically include:
and (1.21) performing quadrature on the module function integrity of each functional module to obtain the system function integrity of the monitoring system.
For example, the functional integrity of each functional module is used
Indicating the system functional integrity of the system
Then the system functional integrity may be:
。
for example,
including five
Five of
Have a functional integrity of 0.3, 1, respectively. Then
And =0.3 × 1. That is to say
Equal to 0.3.
In addition, the weights of different functional modules can be determined according to the importance of the corresponding vehicle of the different functional modules, so that the system function integrity of the monitoring system is more accurate.
For example, the weights of the functional modules such as the engine functional module and the brake functional module are increased, so that the system functional integrity of the monitoring system can be embodied more accurately.
(2) And if the system function integrity is lower than a preset threshold value, adjusting the function module.
It should be noted that the preset threshold may be set, and specifically, the preset threshold may be 0.1, 0.2, 0.3, and the like. In the embodiment of the present application, the preset threshold is not described in detail. And if the system function integrity is lower than a preset threshold value, adjusting the function module.
In some embodiments, the step of "adjusting the functional module if the system functional integrity is lower than a preset threshold" may specifically include:
(2.1) if the system function integrity is lower than a preset threshold, the function module is adjusted in a mode of maintaining the function module, recovering the function module and degrading the function module.
It should be noted that the monitoring system has a multi-stage protection mechanism, and the vehicle is protected more safely by maintaining the functional module, recovering the functional module, degrading the function of the functional module, and the like.
In some embodiments, the step of "obtaining system functional integrity of the monitoring system" is followed by
(1) And if the system functional integrity is lower than the module functional integrity of the target functional module, triggering the adjustment of the monitoring system.
For example, the target function module may be an engine function module. If the system functional integrity is lower than the module functional integrity of the engine functional module. An adjustment of the monitoring system is triggered.
In some embodiments, the monitoring method further comprises:
(a) and if the module functional integrity of the target functional module does not meet the preset threshold, triggering the adjustment of the monitoring system.
For example, the target function module is a brake function module. And if the module functional integrity of the brake function module is less than one hundred percent, triggering the adjustment of the monitoring system.
According to the embodiment of the application, firstly, a first monitoring result is obtained through target information of a first monitoring module monitoring function module, the function module comprises a plurality of modules, then the first monitoring result is transmitted to a second monitoring module, the second monitoring module monitors the target information of the function module to obtain a second monitoring result, if the first monitoring module breaks down, the second monitoring module monitors the target information of the function module, if the second monitoring module breaks down, the first monitoring module monitors the target information of the function module, and if the first monitoring module and the second monitoring module break down, each function module forms a monitoring system to monitor the target information of the function module. In the embodiment of the application, when the first monitoring module and the second monitoring module have faults, the monitoring system formed by the functional modules monitors the faults of the functional modules, so that the functional modules are subjected to redundant monitoring, and the safety of a vehicle is improved.
The method according to the examples is further described in detail below by way of example.
In the present embodiment, the vehicle monitoring device will be described by taking an example in which the vehicle monitoring device is specifically integrated in an unmanned automobile.
Referring to fig. 3a, a vehicle monitoring method may include the following steps:
201. the unmanned automobile monitors the target information of the functional module through the first monitoring module to obtain a first monitoring result, and the functional module comprises a plurality of functional modules.
It should be noted that the unmanned vehicle monitors whether the functional modules, such as the speed acquisition functional module, the environment acquisition functional module, the distance detection functional module, the steering functional module, and the brake functional module, have faults or not through the first monitoring module. The first monitoring module can collect the final results of monitoring the plurality of functional modules to obtain a first monitoring result.
202. And the unmanned automobile transmits the first monitoring result to a second monitoring module, and the second monitoring module monitors the target information of the functional module to obtain a second monitoring result.
It should be noted that the second monitoring module of the unmanned vehicle also monitors whether or not the functional modules, such as the speed acquisition functional module, the environment acquisition functional module, the distance detection functional module, the steering functional module, and the brake functional module, have faults. The second monitoring module can collect the final results of monitoring the plurality of functional modules to obtain a second monitoring result. Meanwhile, the first monitoring module can be used as a master monitoring module of the vehicle, and the second monitoring module can be used as a slave monitoring module of the vehicle. Meanwhile, the second monitoring module can also monitor whether the first monitoring module fails.
203. In the unmanned automobile, if the first monitoring module breaks down, the second monitoring module monitors the target information of the functional module, and if the second monitoring module breaks down, the first monitoring module monitors the target information of the functional module.
It should be noted that the unmanned vehicle may determine whether the first monitoring module and the second monitoring module have a fault by detecting feedback signals of the first monitoring module and the second monitoring module. And when the feedback signal of the second monitoring module cannot be received, determining that the second monitoring module has a fault.
204. In the unmanned automobile, if the first monitoring module and the second monitoring module both have faults, each functional module forms a monitoring system to monitor the target information of the functional module.
It should be noted that each functional module in the unmanned vehicle has a self-checking capability. Meanwhile, detection results after self-checking can be transmitted among the functional modules, and after the functional modules form a monitoring system, the detection results after self-checking can be directly fed back, so that the purpose of monitoring the functional modules is achieved.
205. In the unmanned automobile, if the first monitoring result is inconsistent with the second monitoring result, fault data corresponding to each functional module is obtained, and fault confirmation information is obtained according to the fault data.
It should be noted that the unmanned vehicle may compare the first monitoring result with the second monitoring result. And judging whether the results obtained by the first monitoring module and the second monitoring module are consistent. And if the first monitoring module and the second monitoring module are consistent, the first monitoring module and the second monitoring module continue monitoring. And if the first monitoring result is inconsistent with the second monitoring result, directly acquiring fault data obtained by self-checking of each functional module. It is understood that the failure data is information about whether the functional module has failed or not, which is obtained when the respective functional modules perform self-checking. And if the fault data in each functional module determine that the fault occurs, obtaining the information of fault confirmation.
206. And the unmanned automobile determines to disable the monitoring function of the first monitoring module or the second monitoring module based on the fault confirmation information.
It should be noted that the fault confirmation information in the unmanned vehicle is determined by fault data after self-inspection of each functional module. For example, when the distance detection function module detects that the distance sensor has a fault, the fault confirmation information is obtained. Meanwhile, because the relevance between the distance sensor and the distance detection function module is high, whether the distance sensor has a fault or not is judged mainly by self-checking of the distance detection function module, and therefore the monitoring function of the first monitoring module or the second monitoring module can be forbidden.
207. In the unmanned automobile, when one monitoring function of the first monitoring module and the second monitoring module is forbidden, the other monitoring module maintains the functional module.
It should be noted that, the first monitoring module and the second monitoring module in the unmanned vehicle have a plurality of functions. For example, the first monitoring module and the second monitoring module each have a monitoring function, a maintenance function, a function degradation function, a recovery function, and the like. When one monitoring function of the first monitoring module and the second monitoring module is forbidden, the other monitoring module maintains the function module. That is, one of the first monitoring module and the second monitoring module is mainly responsible for monitoring, and the other monitoring module is used for performing other auxiliary work. In this way, the first monitoring module and the second monitoring module can be clearly divided, so that the stability of the vehicle is further enhanced.
208. And the unmanned automobile acquires the system function integrity of the monitoring system.
It should be noted that the functional integrity of the system of the unmanned vehicle is the functional integrity of the functional modules in the whole vehicle system. For example, a vehicle system includes a plurality of functional modules. If one of the functional modules fails, because each functional module constitutes a redundant monitoring system, the other modules can give a parameter, such as 0.1, 0.2, or 0.3, to the failed functional module. If the function block is normal, the parameter of the function block is 1.
The monitoring system comprises five functional modules, and the functional integrity of the five functional modules is 0.3, 1 and 1 respectively. The functional integrity of the monitoring system is then 0.3 x 1 equal to 0.3.
209. In the unmanned automobile, if the system function integrity is lower than a preset threshold value, the function module is adjusted.
It should be noted that the preset threshold may be set, and specifically, the preset threshold may be 0.1, 0.2, 0.3, and the like. In the embodiment of the present application, the preset threshold is not described in detail. And if the system function integrity is lower than a preset threshold value, adjusting the function module.
210. In the unmanned automobile, if the system functional integrity is lower than a preset threshold, the functional module is adjusted in a manner of maintaining the functional module, recovering the functional module and degrading the function of the functional module.
It should be noted that the monitoring system in the unmanned vehicle has a multi-stage protection mechanism, and the vehicle is protected more safely by means of maintaining the functional module, recovering the functional module, degrading the function of the functional module, and the like.
To facilitate understanding of the vehicle monitoring method provided by the embodiment of the invention, please refer to fig. 3 b.
By the above, in the embodiment of the present application, first, the target information of the functional module is monitored by the first monitoring module to obtain a first monitoring result, the functional module includes a plurality of monitoring results, and then the first monitoring result is transmitted to the second monitoring module, and the second monitoring module monitors the target information of the functional module to obtain a second monitoring result, if the first monitoring module fails, the second monitoring module monitors the target information of the functional module, if the second monitoring module fails, the first monitoring module monitors the target information of the functional module, if the first monitoring module and the second monitoring module all fail, and each functional module forms a monitoring system to monitor the target information of the functional module. In the embodiment of the application, when the first monitoring module and the second monitoring module have faults, the monitoring system formed by the functional modules monitors the faults of the functional modules, so that the functional modules are subjected to redundant monitoring, and the safety of a vehicle is improved.
In order to better implement the vehicle monitoring method of the embodiment of the application, the embodiment of the application also provides a vehicle monitoring device. The terms are the same as those in the vehicle monitoring method, and the details of implementation can be referred to the description in the embodiment of the method.
In an embodiment, there is also provided a vehicle monitoring device, which may be applied to an unmanned vehicle, for example, may be integrated in the unmanned vehicle in the form of a device, as shown in fig. 4, and may include: the acquisition unit 301, the transmission unit 302 and the execution unit 303 are specifically as follows:
the acquisition unit 301 is configured to obtain a first monitoring result by monitoring target information of a plurality of functional modules by a first monitoring module;
the transmission unit 302 is configured to transmit the first monitoring result to a second monitoring module, and the second monitoring module monitors the target information of the functional module to obtain a second monitoring result;
the execution unit 303 is configured to monitor the target information of the functional module by the second monitoring module if the first monitoring module fails, and monitor the target information of the functional module by the first monitoring module if the second monitoring module fails;
and if the first monitoring module and the second monitoring module both have faults, each functional module forms a monitoring system to monitor the target information of the functional module. Optionally, in some embodiments of the present application, a first obtaining unit and a disabling unit are further included,
the first obtaining unit is specifically configured to: if the first monitoring result is inconsistent with the second monitoring result, acquiring fault data corresponding to each functional module, and acquiring fault confirmation information according to the fault data;
the disabling unit is specifically configured to: determining to disable a monitoring function of the first monitoring module or the second monitoring module based on the failure confirmation information.
Optionally, in some embodiments of the present application, a sending unit and an acknowledgement unit are further included,
the sending unit is specifically configured to: sending a confirmation request to each functional module, starting self-checking of each functional module pair according to the confirmation request and obtaining fault data;
the confirmation unit is specifically configured to: and if the fault data is confirmed by the related functional module, obtaining fault confirmation information.
Optionally, in some embodiments of the present application, an enabling unit is further included,
the enabling unit is specifically configured to, when one of the monitoring functions of the first monitoring module and the second monitoring module is disabled, maintain the functional module by the other monitoring module.
Optionally, in some embodiments of the present application, a second obtaining unit and an adjusting unit are further included,
the second obtaining unit is specifically configured to obtain a system functional integrity of the monitoring system.
The adjusting unit is specifically configured to adjust the functional module if the system functional integrity is lower than a preset threshold.
Optionally, in some embodiments of the present application, the second obtaining unit includes a first evaluating unit and a second evaluating unit,
the first evaluation unit is specifically configured to evaluate the module function integrity of each functional module to obtain the module function integrity of each functional module;
the second evaluation unit is specifically configured to correlate the module functional integrity of each functional module to obtain the system functional integrity of the monitoring system.
Optionally, in some embodiments of the present application, the second evaluation unit comprises a calculation unit,
the computing unit is specifically configured to perform an integration on the module functional integrity of each functional module to obtain a system functional integrity of the monitoring system.
Alternatively, in some embodiments of the present application,
the adjusting unit is specifically configured to: if the system function integrity is lower than a preset threshold, the function module is adjusted in a manner of maintaining the function module, recovering the function module, and degrading the function module.
It can be seen that the acquisition unit 301 of the vehicle monitoring device in the embodiment of the present application is used for monitoring the target information of the functional module through the first monitoring module to obtain a first monitoring result, the functional module includes a plurality of, the transmission unit 302 is used for transmitting the first monitoring result to the second monitoring module, just the second monitoring module monitors the target information of the functional module obtains a second monitoring result, and the execution unit 303 if the first monitoring module fails, the second monitoring module monitors the target information of the functional module, if the second monitoring module fails, the first monitoring module monitors the target information of the functional module, if the first monitoring module and the second monitoring module all fail, each functional module constitutes a monitoring system to monitor the target information of the functional module. In the embodiment of the application, when the first monitoring module and the second monitoring module have faults, the monitoring system formed by the functional modules monitors the faults of the functional modules, so that the functional modules are subjected to redundant monitoring, and the safety of a vehicle is improved.
The present application further provides an unmanned vehicle, as shown in fig. 5, which shows a schematic structural diagram of the unmanned vehicle according to the present application, specifically:
the unmanned vehicle may include a vehicle body 401, a sensing device 402, an execution device 403, and an onboard processing device 404, and those skilled in the art will appreciate that the vehicle body 401 configuration shown in fig. 5 does not constitute a limitation of the unmanned vehicle and may include more or fewer components than shown, or some components in combination, or a different arrangement of components. Wherein:
the vehicle body 401 is a vehicle body structure of the unmanned vehicle, and may include hardware structures such as a frame, a door, a vehicle body, and an internal seat.
The perception device 402 is a perception structure of the unmanned vehicle for perceiving internal state information of the unmanned vehicle, and environmental information in the external driving environment. Specifically, the device can comprise a wheel speed meter, a positioning meter, a tire pressure meter, a sensor, a camera and the like.
The execution device 403 is a structure for executing a running function of the unmanned vehicle, and may include a power device such as an engine, a power battery, a transmission structure, a display device such as a display screen and a sound device, a steering device such as a steering wheel, and a tire.
The on-board processing device 404 is a "brain" of the unmanned vehicle, and integrates a control device for controlling vehicle operation parameters such as vehicle speed, direction, acceleration steering, a monitoring device for monitoring the unmanned vehicle, an information acquisition device for analyzing information sensed by the sensing device, a planning device for planning a vehicle travel route, and the like.
The execution device, the sensing device and the vehicle-mounted processing device are all mounted on a vehicle body, and the vehicle-mounted processing device is connected with the execution device and the sensing device through a bus, so that the vehicle-mounted processing device can execute the steps in any vehicle monitoring method provided by the embodiment of the application, and therefore, the beneficial effects which can be achieved by any vehicle monitoring method provided by the embodiment of the application can be achieved, and detailed descriptions are omitted in the previous embodiment and are omitted.
It will be understood by those skilled in the art that all or part of the steps in the methods of the above embodiments may be performed by instructions or by related hardware controlled by the instructions, which may be stored in a readable storage medium and loaded and executed by a processor.
To this end, the present application provides a storage medium having stored therein a plurality of instructions, which can be loaded by a processor to perform the steps of any one of the vehicle monitoring methods provided by the embodiments of the present application. For example, the instructions may perform the steps of:
the method comprises the steps that target information of a functional module is monitored through a first monitoring module to obtain a first monitoring result, the functional module comprises a plurality of modules, the first monitoring result is transmitted to a second monitoring module, the second monitoring module monitors the target information of the functional module to obtain a second monitoring result, if the first monitoring module fails, the second monitoring module monitors the target information of the functional module, if the second monitoring module fails, the first monitoring module monitors the target information of the functional module, and if the first monitoring module and the second monitoring module both fail, each functional module forms a monitoring system to monitor the target information of the functional module. The above operations can be implemented in the foregoing embodiments, and are not described in detail herein.
Wherein the storage medium may include: read Only Memory (ROM), Random Access Memory (RAM), magnetic or optical disks, and the like.
Because the instructions stored in the storage medium can execute the steps in any vehicle monitoring method provided in the embodiments of the present application, the beneficial effects that can be achieved by any vehicle monitoring method provided in the embodiments of the present application can be achieved, and detailed descriptions are omitted here for the details, see the foregoing embodiments.
The vehicle monitoring method, the vehicle monitoring device, the unmanned vehicle and the storage medium provided by the embodiments of the present application are described in detail above, and specific examples are applied herein to illustrate the principles and implementations of the present application, and the description of the embodiments above is only used to help understand the method and the core ideas of the present application; meanwhile, for those skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.
Claims (7)
1. A vehicle monitoring method, comprising:
monitoring target information of a functional module by a first monitoring module to obtain a first monitoring result, wherein the functional module comprises a plurality of functional modules;
transmitting the first monitoring result to a second monitoring module, and monitoring the target information of the functional module by the second monitoring module to obtain a second monitoring result;
if the first monitoring module fails, the second monitoring module monitors the target information of the functional module, and if the second monitoring module fails, the first monitoring module monitors the target information of the functional module;
if the first monitoring module and the second monitoring module both have faults, each functional module forms a monitoring system to monitor the target information of the functional module;
evaluating the module function integrity of each functional module, and performing multiplication on the module function integrity of each functional module to obtain the system function integrity of the monitoring system;
and if the system function integrity is lower than a preset threshold value, adjusting the function module.
2. The vehicle monitoring method according to claim 1, further comprising:
if the first monitoring result is inconsistent with the second monitoring result, acquiring fault data corresponding to each functional module, and acquiring fault confirmation information according to the fault data;
determining to disable a monitoring function of the first monitoring module or the second monitoring module based on the failure confirmation information.
3. The vehicle monitoring method according to claim 2, wherein the step of, if the first monitoring result is inconsistent with the second monitoring result, further comprises:
sending a confirmation request to each functional module, starting the self-check of each functional module according to the confirmation request and obtaining fault data;
and if the fault data is confirmed by the related functional module, obtaining fault confirmation information.
4. The vehicle monitoring method according to claim 3, wherein after determining to disable the monitoring function of the first monitoring module or the second monitoring module based on the failure confirmation information, comprising:
when one monitoring function of the first monitoring module and the second monitoring module is forbidden, the other monitoring module maintains the function module.
5. The vehicle monitoring method of claim 1, wherein if the system functional integrity is below a preset threshold, adjusting the functional module comprises:
if the system function integrity is lower than a preset threshold, the function module is adjusted in a manner of recovering the function module and degrading the function of the function module.
6. A vehicle monitoring device, comprising:
the acquisition unit is used for monitoring the target information of the functional modules through the first monitoring module to obtain a first monitoring result, and the functional modules comprise a plurality of functional modules;
the transmission unit is used for transmitting the first monitoring result to a second monitoring module, and the second monitoring module monitors the target information of the functional module to obtain a second monitoring result;
the execution unit is used for monitoring the target information of the functional module by the second monitoring module if the first monitoring module fails, and monitoring the target information of the functional module by the first monitoring module if the second monitoring module fails;
if the first monitoring module and the second monitoring module both have faults, each functional module forms a monitoring system to monitor the target information of the functional module;
the second acquisition unit is used for evaluating the module functional integrity of each functional module and performing product calculation on the module functional integrity of each functional module to obtain the system functional integrity of the monitoring system;
and the adjusting unit is used for adjusting the functional module if the system functional integrity is lower than a preset threshold value.
7. An unmanned vehicle, characterized by comprising a vehicle body, wherein an execution device, a perception device and an on-board processing device are arranged on the vehicle body, and the execution device and the perception device are respectively connected with the on-board processing device through buses, so that the on-board processing device executes the steps in the vehicle monitoring method according to any one of claims 1 to 5.
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Application publication date: 20200221 Assignee: Tianyi Transportation Technology Co.,Ltd. Assignor: CIIC Technology Co.,Ltd.|Zhongzhixing (Shanghai) Transportation Technology Co.,Ltd. Contract record no.: X2022980001515 Denomination of invention: Vehicle monitoring method, device and driverless vehicle Granted publication date: 20200421 License type: Common License Record date: 20220214 |
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