CN110940965A

CN110940965A - Power supply abnormity monitoring system and method for LIDAR and LIDAR system

Info

Publication number: CN110940965A
Application number: CN201911121480.6A
Authority: CN
Inventors: 赵鑫; 向少卿
Original assignee: Hesai Photonics Technology Co Ltd
Current assignee: Hesai Photonics Technology Co Ltd
Priority date: 2019-11-15
Filing date: 2019-11-15
Publication date: 2020-03-31

Abstract

The invention provides a power supply abnormity monitoring system for a LIDAR. The system comprises: a storage unit; a power monitoring unit coupled with a power input of the LIDAR and configured to monitor whether the power input is normal; and the control unit is used for responding to the abnormal event of the power supply monitoring unit monitoring the power supply input and recording the information related to the abnormal event to the storage unit. By using the scheme of the invention, the abnormal operation of the LIDAR can be determined to be caused by the abnormal power supply of the external power supply, and the related information of the abnormal power supply of the external power supply is recorded to help verify the reason of the abnormal operation of the LIDAR.

Description

Power supply abnormity monitoring system and method for LIDAR and LIDAR system

Technical Field

The present invention relates to a laser radar (LIDAR), And more particularly, to a power supply abnormality monitoring system for a LIDAR, a power supply abnormality monitoring method for a LIDAR, And a LIDAR system including the power supply abnormality monitoring system for the LIDAR.

Background

With the continuous improvement of vehicle safety standards and automatic driving technologies, advanced assistant driving systems (ADAS) are rapidly popularized, and the industry is advancing to the L3 level automatic driving stage (namely, conditional automatic driving). Whether ADAS or autonomous driving, to achieve accurate sensing of the 360 ° environment around the vehicle, the vehicle will be equipped with various sensors, including millimeter wave RADAR (RADAR), laser RADAR (LIDAR), Camera (Camera), Inertial Measurement Unit (IMU), Global Navigation Satellite System (GNSS), and the like.

The LIDAR emits laser pulses rapidly (typically up to 150000 pulses per second), with the laser signal reflecting back to the LIDAR sensor after reaching the obstruction. LIDAR determines the distance between a sensor and an obstacle by measuring the time interval between the emission and return of a laser signal, and it can also detect the exact size of a target object. Additionally, LIDAR is also commonly used for high-resolution mapping.

In applications such as the advanced driver assistance systems described above, power is typically supplied to the LIDAR via a vehicle (e.g., an onboard power supply). In such an in-vehicle LIDAR application, a power supply abnormality occurs when the vehicle supplies power to the LIDAR as an external power source, resulting in poor user experience. In addition, in the case where a power supply abnormality occurs, the user generally considers that the LIDAR has a failure, not the external power supply abnormality.

Therefore, a solution capable of determining that the malfunction of the LIDAR is caused by the power supply malfunction of the external power supply and recording the information related to the power supply malfunction of the external power supply to help verify the cause of the malfunction of the LIDAR is needed.

The statements in the background section are merely prior art as they are known to the inventors and do not, of course, represent prior art in the field.

Disclosure of Invention

To solve the above technical problem, according to a first aspect, the present invention provides a power supply abnormality monitoring system for a LIDAR, the power supply abnormality monitoring system including: a storage unit; a power monitoring unit coupled with a power input of a LIDAR and configured to monitor whether the power input is normal; and the control unit is used for responding to the abnormal event of the power supply input monitored by the power supply monitoring unit and recording information related to the abnormal event to the storage unit.

In some embodiments according to the first aspect, the abnormal event of the power supply input comprises an undervoltage or a power failure of a voltage of the power supply input.

In some embodiments according to the first aspect, the system further comprises an auxiliary power unit, and wherein the control unit further enables the auxiliary power unit to power the LIDAR in response to the power monitoring unit monitoring for an abnormal event of the power input.

In some embodiments according to the first aspect, the control unit further controls the power management module of the LIDAR to stop supplying power to the network communication module and/or the peripheral of the LIDAR in response to the power monitoring unit monitoring for the abnormal event of the power input.

In some embodiments according to the first aspect, the auxiliary power unit is located inside and/or outside the LIDAR.

In some embodiments according to the first aspect, the auxiliary power unit comprises a battery and/or a capacitor.

In some embodiments according to the first aspect, the system further comprises a diagnostic unit configured to provide a diagnostic report based on the information related to the abnormal event recorded by the storage unit.

According to a second aspect, the present invention proposes a LIDAR system comprising a power supply anomaly monitoring system according to the first aspect of the present invention.

In some embodiments according to the second aspect, the power input is from an onboard power source.

According to a third aspect, the present invention provides a power supply abnormality monitoring method for a LIDAR, the power supply abnormality monitoring method comprising: monitoring whether a power supply input of the LIDAR is normal; and recording information related to the abnormal event in response to monitoring the abnormal event of the power supply input.

In some embodiments according to the third aspect, the abnormal event of the power supply input comprises an undervoltage or a power failure of a voltage of the power supply input.

In some embodiments according to the third aspect, the method further comprises: an auxiliary power unit is provided and enabled to power the LIDAR in response to monitoring an exception event to the power input.

In some embodiments according to the third aspect, the method further comprises controlling a power management module of the LIDAR to stop providing power to a network communication module and/or a peripheral of the LIDAR in response to monitoring for the anomalous event of the power input.

In some embodiments according to the third aspect, the auxiliary power unit is provided inside and/or outside the LIDAR.

In some embodiments according to the third aspect, the auxiliary power unit comprises a battery and/or a capacitor.

In some embodiments according to the third aspect, the method further comprises: providing a diagnostic report based on the information related to the abnormal event recorded by the storage unit.

According to a fourth aspect of the invention, there is provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method according to the third aspect of the invention.

By utilizing the scheme of the invention, the abnormal event of the power supply input of the LIDAR can be monitored and the information related to the abnormal event can be recorded, thereby providing objective basis for subsequent troubleshooting. Further, in accordance with some preferred embodiments of the present invention, in response to monitoring an abnormal event of the power input, a countermeasure is also initiated to ensure that the LIDAR is operating properly (or functioning properly). The invention provides objective reference information for searching system faults, and is beneficial to quickly determining fault sources; and the invention also improves the user experience.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 illustrates a power anomaly monitoring system for a LIDAR in accordance with an embodiment of the present disclosure;

FIG. 2 illustrates a LIDAR system according to an embodiment of the present disclosure; and

fig. 3 illustrates a power anomaly monitoring method for a LIDAR according to an embodiment of the present disclosure.

Detailed Description

In the following, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. Accordingly, the drawings and description are to be regarded as illustrative in nature, and not as restrictive.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection, either mechanically, electrically, or in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly above and obliquely above the second feature, or simply meaning that the first feature is at a lesser level than the second feature.

The following disclosure provides many different embodiments or examples for implementing different features of the invention. To simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit the present invention. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, the present invention provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize applications of other processes and/or uses of other materials.

The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.

Fig. 1 illustrates a power anomaly monitoring system 100 for a LIDAR in accordance with an embodiment of the present invention. It is within the scope of the present invention that the power anomaly monitoring system 100 for a LIDAR of an embodiment of the present invention may be integrated with the LIDAR system or configured as a stand-alone system.

As shown in fig. 1, the power supply abnormality monitoring system 100 includes a storage unit 110, a power supply monitoring unit 120, and a control unit 130. The power monitoring unit 120 is coupled to a power input of the LIDAR and monitors whether the power input is normal.

In particular, the power input to the LIDAR is from an external power supply source of the LIDAR, which may provide power for functions such as operation of the LIDAR, communication with external devices, and the like. Typically, the supply input of the LIDAR provides a voltage of 12V or 48V. In some applications of the present invention (e.g., LIDAR is used in a vehicle, for example as a functional unit/module implementing an advanced driver assistance system), the power input to the LIDAR is from an onboard power source, e.g., the vehicle provides a 5V or 12V power input to the LIDAR. Or alternatively, the LIDAR itself has a battery to provide power input to the components on the LIDAR. In this case, the power supply monitoring unit 120 may detect whether the power supply input from the secondary battery is normal.

The power supply monitoring unit 120 in the present invention is coupled to the power supply input of the LIDAR and monitors whether the power supply input is normal, wherein "monitoring whether the power supply input is normal" refers to monitoring/judging/determining whether a certain physical characteristic of the power supply input meets (or does not meet) a predetermined requirement. In a preferred embodiment of the invention, the physical characteristic is voltage, in which case "monitoring whether the power supply input is normal" means monitoring/judging/determining whether the voltage of the power supply input meets (or does not meet) a predetermined requirement. In a preferred embodiment of the present invention, "monitoring whether the power supply input is normal" refers to monitoring whether the voltage of the power supply input is below a predetermined threshold, in which case the power supply monitoring unit 110 may be implemented or implemented to include a voltage comparator to monitor/judge/determine whether the voltage of the power supply input is below a predetermined threshold.

In other embodiments, embodiments of the invention may monitor other physical characteristics of the power input (e.g., current) to determine whether the power input is normal. In particular, in a preferred embodiment of the invention, if a certain physical characteristic (voltage, current, etc.) of the power supply input is less than a predetermined threshold, it is determined that an abnormal condition of the power supply input is occurring (or an abnormal event of the power supply input is monitored). In other embodiments of the present invention, if a physical characteristic (voltage, current, etc.) of the power input is greater than a predetermined threshold, the power input is monitored for abnormalities (or an abnormal event of the power input is monitored). It is noted that a certain physical characteristic of the power supply input includes not only voltage, current, etc., but also derivative characteristics characterizing these physical characteristics, such as jitter, frequency fluctuations, etc. of the voltage. For example, when the fluctuation amplitude of the voltage or current of the power supply input exceeds a certain threshold value, it is determined that an abnormal condition of the power supply input occurs. The present invention contemplates monitoring any physical characteristic of the power input and characterizing the physical specific derivative characteristics. Accordingly, the present invention contemplates providing other devices/mechanisms/modules in the power supply monitoring unit 120 that monitor/compare the corresponding characteristics.

The power supply monitoring unit 120 is coupled to the control unit 130, and the control unit 130 is configured to record information related to an abnormal event in the storage unit 110 in response to the power supply monitoring unit 120 monitoring the abnormal event of the power supply input.

In some embodiments, the control unit 130 is implemented as part of a LIDAR module (e.g., an FPGA). In other embodiments, the control unit 130 is implemented as a separate unit/module. In general, the control unit 130 may be implemented as any control unit that performs a control function, such as a processor, a microprocessor, a controller, a microcontroller, a logic device (e.g., a programmable logic device such as an FPGA), an Application Specific Integrated Circuit (ASIC), and so forth.

As described above, an "abnormal event" of a power input may refer to some/or some physical specification of the power input meeting/not meeting a predetermined requirement. The control unit 130 is configured to record information related to an abnormal event to the storage unit 110 in response to the power supply monitoring unit 120 monitoring the abnormal event of the power supply input. The abnormal event related information may include one or more of information indicating an abnormal event occurred (e.g., an abnormal event flag), information of what abnormal event occurred (e.g., a category of the abnormal event), an attribute of the abnormal event (e.g., a magnitude of a physical quantity (voltage, current)), and a time at which the abnormal event occurred (e.g., a time stamp). The storage unit 130 may include any non-volatile memory/device (e.g., various types of memories, flash memories, etc.) that records/stores information related to the abnormal event.

Fig. 2 illustrates a LIDAR system 10 that includes the aforementioned power anomaly monitoring system 100 (shown in phantom in fig. 2), according to one embodiment of the invention, and is described in detail below with reference to fig. 2.

As shown in fig. 2, the LIDAR system 10 includes a boost circuit 11, a LIDAR power management module 12, and an FPGA, where the boost circuit 11 may be connected to an external power source, such as an on-board power source of the vehicle, external to the LIDAR itself. When the vehicle is started, the vehicle power supply automatically provides a power supply input, for example, a 5V voltage input, to the voltage boost circuit 11. The boost circuit 11 comprises, for example, an LTO booster which receives a supply input and converts it to a high voltage, for example 60V, which is required to drive the lidar. The LIDAR power management module 12 is coupled to the boost circuit 11 and receives the high voltage for providing electrical power to components of the LIDAR system 10 that require electrical power, such as to various unit components in the power supply anomaly detection system 100, and to an external network/device 13 (described below), as shown in fig. 2.

The LIDAR system 10 may also include an ethernet/peripheral 13, such as an ethernet interface/peripheral interface, for transmitting the LIDAR point cloud data to an external controller (not shown) or accepting control signal inputs from the external controller.

As shown in fig. 2, the LIDAR system 10 includes a central controller, for example, implemented by an FPGA, which integrates the power supply monitoring unit 120 and the control unit 130 in the power supply abnormality monitoring system 100. The FPGA, in addition to being coupled to the storage unit 110 for writing the information related to the abnormal event therein, is also coupled to the power supply input side, i.e., to the input terminal of the voltage boost circuit 11, so that it can monitor whether the power supply input is normal (e.g., whether equal to 12V or lower than 12V, specifically, lower than 12V indicates the occurrence of undervoltage, and more specifically, when the power supply input voltage is 0V, indicates the occurrence of power down/power off). When the power supply monitoring unit 120 integrated with the FPGA monitors an abnormal event (for example, lower than 12V) of the power supply input, the control unit 130 integrated with the FPGA records information related to the abnormal event to the storage unit 110. In addition, the central controller shown in fig. 2 may be implemented by other types of electronic devices, such as a digital signal processor DSP or an application specific integrated circuit ASIC, which are all within the scope of the present invention.

In addition, as shown in fig. 2, the power supply abnormality monitoring system 100 may further include an energy storage device 140 (or an auxiliary power supply unit), and the energy storage device 140 is coupled to and may be controlled by the FPGA and the LIDAR power management module 12. The FPGA may enable the energy storage device 140 to power the LIDAR in response to its monitoring for an abnormal event of the power input. For example, when the FPGA monitors an abnormal event of the power supply input, the FPGA will issue a start instruction to the energy storage device 140 at this time, start the energy storage device 140, and provide the standby power to the LIDAR power management module 12.

In some embodiments, the FPGA also controls the power management module of the LIDAR to stop supplying power to the ethernet/peripherals 13 of the LIDAR system in response to its monitoring for an anomalous event of the power supply input. That is, in this case, the control unit 130 also controls the power management module (not shown) of the LIDAR to supply power only to the core module/unit of the LIDAR to ensure its basic function while stopping power supply to the non-core module/unit of the LIDAR (e.g., the network communication module and/or the peripheral) in response to the power monitoring unit 120 monitoring an abnormal event of the power supply input. Fig. 2 also shows that the inertial measurement unit IMU is connected to the FPGA of the LIDAR system 10 for assisting in implementing the functionality of the advanced driver assistance system.

It will be understood by those skilled in the art that the schematic diagrams of the power supply anomaly monitoring system 100 for a LIDAR and the LIDAR system shown in fig. 1 and 2 are only block diagrams of portions of structures relevant to the present solution and do not constitute a definition of the devices/units/modules to which the present solution applies, and that the devices/units/modules of a particular system may include more or fewer devices/units/modules than shown in the figures, or may combine certain devices/units/modules, or have different device/unit/module arrangements.

The energy storage device shown in fig. 2 may be any type of energy storage device, such as a capacitor, a battery (e.g., a button cell), a battery pack, etc. In other embodiments, the auxiliary power supply unit may be another external power supply source. "enabling the auxiliary power unit to power the LIDAR" may include disabling the power input of the LIDAR to power the LIDAR with the auxiliary power unit, or not disabling the power input of the LIDAR to power the LIDAR with the auxiliary power unit as an auxiliary. As regards the auxiliary power supply unit/energy storage device, it may be located outside the LIDAR, for example with the vehicle itself or an energy storage device of a driving assistance device provided in the vehicle (e.g. a button cell), for example, typically in a tachograph, which button cell may be connected to the LIDAR (instead of or in addition to the external power supply). Or the energy storage device can be a capacitor, and the capacitor is additionally arranged to serve as the energy storage device so as to provide electric power for the LIDAR system when the power supply input is abnormal.

In some embodiments of the present invention, the power anomaly monitoring system 100 for a LIDAR further includes a diagnostic unit (not shown). The diagnostic unit may be configured to provide a diagnostic report based on the information related to the abnormal event recorded by the storage unit 110. The diagnostic unit may be provided as a stand-alone unit or as part of the control unit 130. In particular, the diagnostic unit may derive a diagnostic report comprising the recorded information related to the abnormal event in response to a user request, so that the user may review the diagnostic report to rule out/determine the cause of the fault.

According to another aspect of the present invention, as shown in fig. 3, the present invention further provides a power anomaly monitoring method 200 for LIDAR. The power supply abnormality monitoring method 200 includes:

s210: monitoring whether a power supply input of the LIDAR is normal; and

s220: in response to an abnormal event in which the power supply input is monitored, information related to the abnormal event is recorded.

The power supply abnormality monitoring method 200 can be implemented by the power supply abnormality monitoring system 100 as described above, for example. The abnormal event of the power supply input may include an undervoltage or a power failure of the voltage of the power supply input. The method may further comprise: an auxiliary power unit is provided and enabled to power the LIDAR in response to monitoring an anomalous event of the power input. The method may also include controlling a power management module of the LIDAR to stop providing power to a network communication module and/or a peripheral of the LIDAR in response to monitoring for an anomalous event of the power input. The auxiliary power unit may be provided inside and/or outside the LIDAR. The auxiliary power unit may comprise a battery and/or a capacitor. The method may further comprise: a diagnostic report is provided based on the information related to the abnormal event recorded by the storage unit.

Yet another aspect of the invention provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method of any of the above. For example, the computer program, when executed by a processor, is capable of instructing the processor and/or the respective component to carry out the steps of: monitoring whether a power supply input of the LIDAR is normal; and recording information related to the abnormal event in response to the abnormal event of the power supply input being monitored. Additionally, it should be understood that the various units in the above-described power anomaly monitoring system 100 for LIDAR may be implemented in whole or in part by software, hardware, and combinations thereof. The units can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the units.

In an embodiment, a computer device is provided, comprising a memory and a processor, the memory having stored thereon a computer program operable on the processor, the processor implementing the steps of the method in any of the above embodiments when executing the computer program. The computer device may be a server or a vehicle-mounted terminal. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement the vehicle driving assist method of the invention.

It will be understood by those skilled in the art that all or part of the steps in implementing the methods according to the above embodiments of the present invention may be instructed to be performed by the relevant hardware by a computer program, which may be stored in a non-volatile computer-readable storage medium, and which, when executed, may include the steps of the above embodiments of the methods. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A power anomaly monitoring system for a LIDAR, the power anomaly monitoring system comprising:

a storage unit;

a power monitoring unit coupled with a power input of a LIDAR and configured to monitor whether the power input is normal; and

the control unit responds to the abnormal event that the power supply monitoring unit monitors the power supply input, and records information related to the abnormal event to the storage unit.

2. The system of claim 1, the abnormal event of the power supply input comprising an undervoltage or a power outage of a voltage of the power supply input.

3. The system of claim 1 or 2, further comprising an auxiliary power unit, and the control unit further enables the auxiliary power unit to power the LIDAR in response to the power monitoring unit monitoring for an abnormal event of the power input.

4. The system of claim 1 or 2, the control unit further controlling a power management module of the LIDAR to stop supplying power to a network communication module and/or a peripheral of the LIDAR in response to the power monitoring unit monitoring for an abnormal event of the power input.

5. The system of claim 3, the auxiliary power unit being located inside and/or outside the LIDAR.

6. The system of claim 3, the auxiliary power unit comprising a battery and/or a capacitor.

7. The system of claim 1 or 2, further comprising a diagnostic unit configured to provide a diagnostic report based on the information related to the abnormal event recorded by the storage unit.

8. A LIDAR system comprising a power supply anomaly monitoring system according to any of the preceding claims.

9. The LIDAR system of claim 8, the power input being from an onboard power source.

10. A power anomaly monitoring method for a LIDAR, the power anomaly monitoring method comprising:

monitoring whether a power supply input of the LIDAR is normal; and

in response to monitoring an abnormal event of the power supply input, recording information related to the abnormal event.

11. The method of claim 10, the abnormal event of the power supply input comprising an undervoltage or a power outage of a voltage of the power supply input.

12. The method of claim 10 or 11, further comprising: an auxiliary power unit is provided and enabled to power the LIDAR in response to monitoring an exception event to the power input.

13. The method of claim 10 or 11, further comprising controlling a power management module of the LIDAR to stop providing power to a network communication module and/or a peripheral of the LIDAR in response to monitoring for an anomalous event of the power input.

14. The method of claim 12, the auxiliary power unit being disposed inside and/or outside a LIDAR.

15. The method of claim 12, the auxiliary power unit comprising a battery and/or a capacitor.

16. The method of claim 10 or 11, further comprising: providing a diagnostic report based on the information related to the abnormal event recorded by the storage unit.