CN111123887A - Unmanned vehicle fault processing method and device, electronic equipment and storage medium - Google Patents
Unmanned vehicle fault processing method and device, electronic equipment and storage medium Download PDFInfo
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- G05B23/00—Testing or monitoring of control systems or parts thereof
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Abstract
The embodiment of the invention relates to a method and a device for processing faults of an unmanned vehicle, electronic equipment and a storage medium, wherein the method comprises the following steps: when the unmanned vehicle is detected to have a vehicle fault, determining a fault level of the vehicle fault; and if the fault grade of the vehicle fault is a preset grade, controlling the unmanned vehicle to return to a vehicle maintenance point according to a set running path. The embodiment of the invention can solve the problems that once the existing unmanned vehicle has vehicle faults, the time span from the fault to the good maintenance is long, the maintenance cost is high, and the safety accidents are easy to further cause.
Description
Technical Field
The embodiment of the invention relates to the technical field of unmanned driving, in particular to a method and a device for processing faults of an unmanned vehicle, electronic equipment and a storage medium.
Background
The unmanned vehicle is an intelligent vehicle which senses the road environment through a vehicle-mounted sensing system, automatically plans a driving route and controls the vehicle to reach a preset target. The intelligent control system integrates a plurality of technologies such as automatic control, a system structure, artificial intelligence, visual calculation and the like, is a product of high development of computer science, mode recognition and intelligent control technologies, is an important mark for measuring national scientific research strength and industrial level, and has wide application prospect in the fields of national defense and national economy.
However, the technology of the existing unmanned vehicle is not mature enough, when the unmanned vehicle has a vehicle fault, the vehicle controller can control the unmanned vehicle to park due to unmanned driving, and wait for the maintenance personnel to process, so that the time span from fault to good maintenance is long, the maintenance cost is high, and once the maintenance tools carried by the maintenance personnel are incomplete, the time span from fault to good maintenance can be further lengthened, and the user experience is poor. In addition, in the process of waiting for maintenance personnel to come for maintenance, the unmanned vehicle can occupy the road for a long time, so that the road smoothness is influenced, and further safety accidents are easily caused.
Disclosure of Invention
At least one embodiment of the invention provides a method and a device for processing faults of an unmanned vehicle, electronic equipment and a storage medium, and solves the problems that once a vehicle fault occurs in the existing unmanned vehicle, the time span from the fault occurrence to the good maintenance is long, the maintenance cost is high, and further safety accidents are easy to cause.
In a first aspect, an embodiment of the present invention provides a method for handling a fault of an unmanned vehicle, where the method includes:
when the unmanned vehicle is detected to have a vehicle fault, determining a fault level of the vehicle fault;
and if the fault grade of the vehicle fault is a preset grade, controlling the unmanned vehicle to return to a vehicle maintenance point according to a set running path.
In a second aspect, an embodiment of the present invention further provides a device for processing a fault of an unmanned vehicle, where the device includes:
the fault level determination module is used for determining the fault level of the vehicle fault when the unmanned vehicle is detected to have the vehicle fault;
and the vehicle returning module is used for controlling the unmanned vehicle to return to a vehicle maintenance point according to a set running path if the fault grade of the vehicle fault is a preset grade.
In a third aspect, an embodiment of the present invention further provides an electronic device, including: a processor and a memory;
the processor is configured to perform the steps of any of the methods described above by calling a program or instructions stored in the memory.
In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, which stores a program or instructions, where the program or instructions cause a computer to execute the steps of any one of the above methods.
According to the fault processing method for the unmanned vehicle, provided by the embodiment of the invention, when the unmanned vehicle is detected to have a vehicle fault, the fault level of the vehicle fault is determined; if the fault grade of the vehicle fault is the preset grade, the unmanned vehicle is controlled to return to the vehicle maintenance point according to the set running path, the problems that once the existing unmanned vehicle has the vehicle fault, the time span from the fault to the maintenance is long, the maintenance cost is high, and the safety accident is further easily caused are solved, and the purposes of shortening the time span from the fault to the maintenance of the unmanned vehicle, reducing the maintenance cost and avoiding the further safety accident are achieved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art according to the drawings.
FIG. 1 is a flow chart of a method for handling a fault in an unmanned vehicle according to an embodiment of the present invention;
FIG. 2 is a block diagram of a fault handling system for an unmanned vehicle according to an embodiment of the present invention;
FIG. 3 is a block diagram of another unmanned vehicle fault handling system according to an embodiment of the present invention;
FIG. 4 is a flow chart of another method for handling a fault in an unmanned vehicle according to an embodiment of the present invention;
fig. 5 is a block diagram of a fault handling apparatus for an unmanned vehicle according to an embodiment of the present invention;
fig. 6 is a block diagram of an electronic device according to an embodiment of the present disclosure.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, the present invention will be further described in detail with reference to the accompanying drawings and examples. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. The specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention, are within the scope of the invention.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
The embodiment of the disclosure provides a scheme for controlling the unmanned vehicle to automatically return to a vehicle maintenance point according to a set running path when the unmanned vehicle has a vehicle fault, so that the effects of shortening the time span from the occurrence of the fault to the maintenance of the unmanned vehicle, reducing the maintenance cost and avoiding further causing the safety accident are achieved.
The unmanned vehicle fault processing method provided by the embodiment of the disclosure can be applied to unmanned vehicles.
Fig. 1 is a flowchart of a method for handling a fault of an unmanned vehicle according to an embodiment of the present invention, where the method is applicable to a situation where the unmanned vehicle is far away from a vehicle maintenance point, and the unmanned vehicle may be in a driving state or a parking state before the unmanned vehicle fault handling method is executed. The execution main body of the method can be an unmanned vehicle, and can also be a cloud server in wireless connection with the unmanned vehicle. The unmanned vehicle and the cloud server can cooperate to execute the method.
The method comprises the following steps:
and S110, when the unmanned vehicle is detected to have a vehicle fault, determining the fault level of the vehicle fault.
The failure grade is a general evaluation result of the severity degree and possible consequences of the failure according to the failure condition of the vehicle.
In practice, the rating criteria for the fault level may be varied. The classification result of the fault grade according to the evaluation standard of the fault grade can be various, and the application does not limit the classification result. The same vehicle accident has different fault grades according to different fault grade evaluation standards, and the determined fault grades may be different.
The specific implementation method of the step can be as follows: predetermining the corresponding relation between codes of different vehicle faults and fault grades; when the fact that the unmanned vehicle has the vehicle fault is detected, the vehicle fault code is obtained, and the fault level of the current vehicle fault of the unmanned vehicle is determined according to the obtained vehicle fault code and the corresponding relation between the vehicle fault code and the fault level.
And S120, if the fault grade of the vehicle fault is a preset grade, controlling the unmanned vehicle to return to a vehicle maintenance point according to the set running path.
The set driving path may be determined before, during, or after the unmanned vehicle is detected to have a vehicle fault, which is not limited in this application. For example, the set travel route may be a preset travel route, or may be formed by re-routing the route based on the current position and the vehicle maintenance point position. This is not limited by the present application. For example, a certain unmanned vehicle performs a commodity selling task at a certain selling point in the park, and before the commodity selling task is performed, a traveling path (i.e., a set traveling path) for returning the vehicle from the selling point to a vehicle maintenance point in the event of a vehicle failure can be preset. Alternatively, an unmanned vehicle may be traveling in a park to perform a merchandise sales task. And when the vehicle fault occurs, generating a running path (namely, a set running path) according to the position of the unmanned vehicle when the vehicle fault occurs and the position of a vehicle maintenance point.
The essence of the technical scheme is that when the unmanned vehicle has a vehicle fault, the unmanned vehicle with some vehicle faults is controlled to automatically return to a vehicle maintenance point according to the vehicle fault condition instead of controlling the unmanned vehicle to park, so that the problems that once the existing unmanned vehicle has the vehicle fault, the time span from the fault to the maintenance is long, the maintenance cost is high, and the safety accident is easily caused further are solved, and the purposes of shortening the time span from the fault to the maintenance of the unmanned vehicle, reducing the maintenance cost and avoiding the further safety accident are achieved.
On the basis of the above technical solution, optionally, the failure level at least includes a first level and a second level; if the fault grade of the vehicle fault is a first grade, controlling the unmanned vehicle to park; and if the fault grade of the vehicle fault is the second grade, controlling the unmanned vehicle to return to the vehicle maintenance point according to a preset running path or a re-planned running path. In step S120, the preset level is a second level. The essence of the arrangement is that the unmanned vehicle is not controlled to return to the vehicle maintenance point by itself once the vehicle is in failure, but the next processing mode, such as parking or returning to the vehicle maintenance point by itself, is determined according to the vehicle failure condition. The potential safety hazard brought by self-returning to a vehicle maintenance point is greater than that brought by parking for certain faults due to different faults of the vehicle, or the unmanned vehicle is controlled to park at the moment because the unmanned vehicle does not have the capability of self-returning to the vehicle maintenance point due to serious faults. And for other vehicle faults, the potential safety hazard brought by parking is greater than the potential safety hazard brought by self-returning to a vehicle maintenance point, and at the moment, the unmanned vehicle is controlled to automatically return to the vehicle maintenance point. The essence of the arrangement is that according to the vehicle fault condition, the next processing scheme is determined in a targeted mode, so that the probability of safety accidents is further reduced.
If the fault level of the vehicle fault is the first level, optionally, the unmanned vehicle can be controlled to park, and meanwhile, the method further comprises the step of controlling the unmanned vehicle to send out an alarm signal to remind surrounding pedestrians and vehicles to pay attention so as to further reduce the probability of safety accidents.
Optionally, the first level is a level corresponding to a vehicle fault of a heavier severity, and the second level is a level corresponding to a vehicle fault of a lesser severity. The essence of the arrangement is that when the severity of the vehicle fault is heavy, the unmanned vehicle is controlled to park, so that unnecessary safety accidents caused by forced control of the driving of the unmanned vehicle are avoided; when the severity of the vehicle fault is light, the unmanned vehicle is controlled to automatically return to a vehicle maintenance point, the time span from the occurrence of the fault to the good maintenance of the unmanned vehicle is shortened, the maintenance cost is reduced, and further safety accidents are avoided.
The setting of the failure level may be determined based on at least one of a failure generation cause of the unmanned vehicle, a failure influence situation, and a configuration parameter of the unmanned vehicle to sufficiently evaluate the severity of the vehicle failure.
Optionally, the first-level fault may cause a safety accident, or the first-level fault may cause a failure of a driving function of the entire vehicle; the second-level fault cannot cause safety accidents and cannot cause the failure of the driving function of the whole vehicle. For example, if the high voltage system of the unmanned vehicle has a fault, such as a high voltage leakage, the fault is classified as a first-class fault due to a serious safety accident. If the driving system fails, the vehicle cannot run, the driving function of the whole vehicle is disabled, and the failure is also classified as a first-level failure. If the electro-hydraulic brake system fails and other brake modes are not set on the current unmanned vehicle, the brake modes are classified as first-level failures. If the electro-hydraulic brake system fails and other braking modes (such as a motor regenerative braking system or an electronic parking braking system) are arranged on the current unmanned vehicle, the failure is classified as a second-level failure.
When the unmanned vehicle has a first-level fault, the unmanned vehicle may specifically perform a parking operation according to the following steps: 1. emergency braking, when the speed of the vehicle is reduced to below 5km/h, parking, double flashing and voice prompt of danger and no approach are carried out. And 2, controlling the unmanned vehicle to exit the automatic driving mode. 3. The motor torque output is prohibited. 4. And reporting the fault, and reminding an operator to go forward to process in a short message or telephone mode. 5. Waiting for repair by maintenance personnel.
The second grade can be further subdivided, for example, the second grade can also be set to at least comprise a first sub-grade and a second sub-grade; if the fault level of the vehicle fault is the first sub-level, controlling the unmanned vehicle to immediately return to a vehicle maintenance point according to a set running path; and if the fault grade of the vehicle fault is the second subgrade, controlling the unmanned vehicle to return to the vehicle maintenance point at the idle time according to the set running path. From the foregoing, it can be seen that for the first sub-level and the second sub-level, the processing difference is primarily in controlling when the unmanned vehicle returns to the vehicle service point. The purpose of the arrangement is to determine when to return to a vehicle maintenance point according to the severity of the unmanned vehicle fault and/or task requirements, and to ensure that the unmanned vehicle can normally execute the task on the premise of determining that safety accidents are sufficiently avoided.
There are various determining criteria for the first sub-level and the second sub-level, which is not limited in this application. Optionally, the first sub-level and the second sub-level are determined based on an effect of a vehicle fault on the overall vehicle dynamics performance.
Optionally, the first sub-level fault may cause a reduction in the power performance of the entire vehicle; the second sub-level fault does not affect the power performance of the whole vehicle. For example, a failure of the electro-hydraulic brake system, even if other braking modes (such as a motor regenerative braking system or an electronic parking braking system) are provided on the current unmanned vehicle, may still cause the power performance of the entire vehicle to be reduced and the entire vehicle to be classified as the first sub-level. And the voice playing module used for playing and selling the introduction of the product has no influence on the power performance of the whole vehicle and is classified into a second sub-grade.
In addition, in the above aspect, the controlling the unmanned vehicle to return to the vehicle service point according to the set travel route may further include: and controlling the unmanned vehicle to enter a crawling mode, and returning to a vehicle maintenance point according to a set running path in the crawling mode. The creep mode is a low speed travel mode. The unmanned vehicle is controlled to return to a vehicle maintenance point in a crawling mode according to a set traveling path, so that pedestrians, other vehicles and the like have sufficient time to avoid in the traveling process, and the probability of safety accidents is further reduced.
For example, if the electro-hydraulic brake system fails and other braking modes (such as a motor regenerative brake system or an electronic parking brake system) are set on the current unmanned vehicle (i.e. a first sub-level failure occurs), it may specifically perform the operation of returning to the vehicle service point according to the following steps: 1. and reporting the fault and requesting to return to a maintenance point immediately. 2. And entering a creeping mode, and returning to a vehicle maintenance point according to a set running path in the creeping mode, wherein the maximum torque of the motor is 20 N.m, and the maximum vehicle speed is 5 km/h. 3. And when a braking request is made on the way of returning to the vehicle maintenance point, controlling the motor to perform regenerative braking or an electronic parking braking system to perform dynamic parking.
If the unmanned vehicle has the second sub-level fault, the unmanned vehicle may specifically perform the parking operation according to the following steps: 1. fault codes (DTCs) are stored and reported. 2. The request may be returned to the service point at any time.
On the basis of the above technical solutions, optionally, after detecting that the unmanned vehicle has a vehicle fault, the method further includes: the failed vehicle component is cut off from the vehicle power supply system to prevent the failed vehicle component from upgrading due to failure (e.g., fire due to continuous heat generation) in subsequent processes (e.g., parking, driving, etc.).
Fig. 2 is a flowchart of another fault handling method for an unmanned vehicle according to an embodiment of the present invention. Referring to fig. 2, the unmanned vehicle fault handling method includes:
and S210, detecting whether the unmanned vehicle has a vehicle fault, if so, executing S220, otherwise, repeatedly executing S210.
And S220, judging whether the fault level of the vehicle fault is a second-level fault or not, if so, executing S230, and otherwise, executing S240.
The second-level fault is a fault which cannot cause safety accidents and cannot cause the failure of the driving function of the whole vehicle.
And S230, judging whether the fault level of the vehicle fault is a first sub-level fault or not, if so, executing S250, and otherwise, executing S260.
The first sub-level fault is a fault which can cause the reduction of the power performance of the whole vehicle.
And S240, controlling the unmanned vehicle to park.
And S250, controlling the unmanned vehicle to immediately return to a vehicle maintenance point according to the set running path.
And S260, controlling the unmanned vehicle to return to a vehicle maintenance point at idle time according to the set running path.
According to the technical scheme, through the identification of the fault grade, the decision on whether the unmanned vehicle returns to the maintenance point or not and when the unmanned vehicle returns to the maintenance point is made in a targeted manner according to the fault grade, and the vehicle fault maintenance urgency and the unmanned vehicle undertaking task urgency can be considered at the same time.
It should be noted that the specific execution subject of each step of the above unmanned vehicle fault handling method may be a vehicle control component located in the unmanned vehicle, or may be a control component located outside the unmanned vehicle, such as a cloud-side server. This is not limited by the present application. An unmanned vehicle fault handling method is exemplarily presented below in connection with an execution subject.
Fig. 3 is a block diagram of a fault handling system for an unmanned vehicle according to an embodiment of the present invention. Fig. 4 is a flowchart of another fault handling method for an unmanned vehicle according to an embodiment of the present invention. Referring to fig. 3 and 4, the unmanned vehicle fault handling method includes:
s310, the vehicle control unit detects whether the unmanned vehicle has a vehicle fault, if so, the step S320 is executed, otherwise, the detection is continued.
The Vehicle Control Unit (VCU) is an assembly controller of a Vehicle power system, and is responsible for coordinating the work of each component such as an engine, a driving motor, a gearbox, a power battery and the like, and after acquiring a Control signal of a user to the unmanned Vehicle, comprehensively analyzing and making a response judgment, the controller monitors the action of each component on the lower layer, and plays a key role in the functions of normal running of the Vehicle, braking feedback of battery energy, network management, fault diagnosis and processing, Vehicle state monitoring and the like.
And S320, if so, the vehicle controller sends a vehicle fault signal to the emergency processing system and the vehicle networking system, and the emergency processing system determines the fault grade of the vehicle fault according to the vehicle fault signal.
In this example, the vehicle fault signal may include a fault code. In addition, as described in the above embodiments, the failure level of the vehicle failure includes a first level and a second level, and the second level may include a first sub-level or a second sub-level.
The emergency processing system is a system for effectively utilizing, improving and adjusting resources in various aspects (such as a vehicle bottom layer execution system) and effectively dealing, controlling and processing an emergency event based on scientific analysis of the reason, process and consequence of the emergency event so as to reduce the harm of the emergency event (including safety accidents).
The vehicle networking system is characterized in that vehicle-mounted terminal equipment is arranged on a vehicle instrument desk, so that all working conditions and static and dynamic information of a vehicle are collected, stored and sent. The car networking system generally has a real-time live-action function, and human-car interaction is realized by utilizing a mobile network.
S330, the emergency processing system judges whether the fault level of the vehicle fault is a preset level, if so, the step 340 is executed, and if not, the step 370 is executed. As mentioned above, the failure level may be a first level and a second level, and the second level includes a first sub-level and a second sub-level, and the preset level in this step is the second level.
And S340, allowing the unmanned vehicle to return to a vehicle maintenance point by the emergency processing system.
Wherein, as mentioned above, the second level includes the first sub-level and the second sub-level, and the above-mentioned allowing the unmanned vehicle to return to the vehicle service point by itself also includes two cases, one case is allowing the unmanned vehicle to immediately return to the vehicle service point by itself, and such a case corresponds to the failure of the first sub-level; another situation is to allow the unmanned vehicle to return to the vehicle service point by itself at idle times, which corresponds to a second sub-level failure.
And S350, the internet of vehicles system sets a driving path for the unmanned vehicle to return to a vehicle maintenance point, and sends the set driving path to the automatic driving system.
And S360, controlling the unmanned vehicle to return to a vehicle maintenance point according to the set running path by the automatic driving system based on the set running path.
And S370, the emergency processing system does not allow the unmanned vehicle to return to a vehicle maintenance point, and controls the unmanned vehicle to park.
As described above, the failure levels may be a first level and a second level, and the second level includes a first sub-level and a second sub-level, and the unmanned vehicle is not allowed to return to the vehicle service point corresponding to the first level failure in this step.
Optionally, when the step is executed, the automatic driving system may call a vehicle bottom layer execution system, so as to achieve the purpose of controlling the unmanned vehicle to return to the vehicle maintenance point according to the set driving path. In some embodiments, vehicle under-floor execution systems include, but are not limited to: a steering system, a braking system and a drive system.
In the above technical solution, any one of the emergency processing system, the vehicle-mounted terminal device associated with the vehicle networking system, and the automatic driving system may be integrated in the vehicle control unit, or may be a system independent from the vehicle control unit. It may be a software system, a hardware system, a combination of software and hardware, etc.
Fig. 5 is a block diagram of a fault handling apparatus for an unmanned vehicle according to an embodiment of the present invention. Referring to fig. 5, the unmanned vehicle fault handling apparatus includes a fault level determination module 410 and a vehicle return module 420.
And a failure level determination module 410 for determining a failure level of the vehicle failure when the unmanned vehicle is detected to have the vehicle failure.
The failure grade is a general evaluation result of the severity degree and possible consequences of the failure according to the failure condition of the vehicle.
In practice, the rating criteria for the fault level may be varied. The classification result of the fault grade according to the evaluation standard of the fault grade can be various, and the application does not limit the classification result. The same vehicle accident has different fault grades according to different fault grade evaluation standards, and the determined fault grades may be different.
The fault level determination module 410 may determine in advance the correspondence between the codes of different vehicle faults and the fault levels when determining the fault levels; when the fact that the unmanned vehicle has the vehicle fault is detected, the vehicle fault code is obtained, and the fault level of the current vehicle fault of the unmanned vehicle is determined according to the obtained vehicle fault code and the corresponding relation between the vehicle fault code and the fault level.
And the vehicle returning module 420 is used for controlling the unmanned vehicle to return to a vehicle maintenance point according to the set running path.
The set driving path may be determined before, during, or after the unmanned vehicle is detected to have a vehicle fault, which is not limited in this application. For example, the set driving route may be a preset fixed driving route, or may be formed by planning a route according to the current position and the position of the vehicle maintenance point. This is not limited by the present application. For example, a certain unmanned vehicle performs a commodity selling task at a certain selling point in the park, and before the commodity selling task is performed, a traveling path (i.e., a set traveling path) for returning the vehicle from the selling point to a vehicle maintenance point in the event of a vehicle failure can be preset. Alternatively, an unmanned vehicle may be traveling in a park to perform a merchandise sales task. And when the vehicle fault occurs, generating a running path (namely, a set running path) according to the position of the unmanned vehicle when the vehicle fault occurs and the position of a vehicle maintenance point.
The essence of the technical scheme is that when the unmanned vehicle has a vehicle fault, the unmanned vehicle with some vehicle faults is controlled to automatically return to a vehicle maintenance point according to the vehicle fault condition instead of controlling the unmanned vehicle to park, so that the problems that once the existing unmanned vehicle has the vehicle fault, the time span from the fault to the maintenance is long, the maintenance cost is high, and the safety accident is easily caused further are solved, and the purposes of shortening the time span from the fault to the maintenance of the unmanned vehicle, reducing the maintenance cost and avoiding the further safety accident are achieved.
On the basis of the above technical solution, optionally, the failure level at least includes a first level and a second level; if the fault grade of the vehicle fault is a first grade, controlling the unmanned vehicle to park; and if the fault grade of the vehicle fault is the second grade, controlling the unmanned vehicle to return to a vehicle maintenance point according to the set running path. The essence of the arrangement is that the unmanned vehicle is not controlled to return to the vehicle maintenance point by itself once the vehicle is in failure, but the next processing mode, such as parking or returning to the vehicle maintenance point by itself, is determined according to the vehicle failure condition. The potential safety hazard brought by self-returning to a vehicle maintenance point is greater than that brought by parking for certain faults due to different faults of the vehicle, or the unmanned vehicle is controlled to park at the moment because the unmanned vehicle does not have the capability of self-returning to the vehicle maintenance point due to serious faults. And for other vehicle faults, the potential safety hazard brought by parking is greater than the potential safety hazard brought by self-returning to a vehicle maintenance point, and at the moment, the unmanned vehicle is controlled to automatically return to the vehicle maintenance point. The essence of the arrangement is that according to the vehicle fault condition, the next processing scheme is determined in a targeted mode, so that the probability of safety accidents is further reduced.
If the fault level of the vehicle fault is the first level, optionally, the unmanned vehicle can be controlled to park, and meanwhile, the method further comprises the step of controlling the unmanned vehicle to send out an alarm signal to remind surrounding pedestrians and vehicles to pay attention so as to further reduce the probability of safety accidents.
Optionally, the first level is a level corresponding to a vehicle fault of a heavier severity, and the second level is a level corresponding to a vehicle fault of a lesser severity. The essence of the arrangement is that when the severity of the vehicle fault is heavy, the unmanned vehicle is controlled to park, so that unnecessary safety accidents caused by forced control of the driving of the unmanned vehicle are avoided; when the severity of the vehicle fault is light, the unmanned vehicle is controlled to automatically return to a vehicle maintenance point, the time span from the occurrence of the fault to the good maintenance of the unmanned vehicle is shortened, the maintenance cost is reduced, and further safety accidents are avoided.
The setting of the failure level may be determined based on at least one of a failure generation cause of the unmanned vehicle, a failure influence situation, and a configuration parameter of the unmanned vehicle to sufficiently evaluate the severity of the vehicle failure.
Optionally, the first-level fault may cause a safety accident, or the first-level fault may cause a failure of a driving function of the entire vehicle; the second-level fault cannot cause safety accidents and cannot cause the failure of the driving function of the whole vehicle. For example, if the high voltage system of the unmanned vehicle has a fault, such as a high voltage leakage, the fault is classified as a first-class fault due to a serious safety accident. If the driving system fails, the vehicle cannot run, the driving function of the whole vehicle is disabled, and the failure is also classified as a first-level failure. If the electro-hydraulic brake system fails and other brake modes are not set on the current unmanned vehicle, the brake modes are classified as first-level failures. If the electro-hydraulic brake system fails and other braking modes (such as a motor regenerative braking system or an electronic parking braking system) are arranged on the current unmanned vehicle, the failure is classified as a second-level failure.
When the unmanned vehicle has a first-level fault, the unmanned vehicle may specifically perform a parking operation according to the following steps: 1. emergency braking, when the speed of the vehicle is reduced to below 5km/h, parking, double flashing and voice prompt of danger and no approach are carried out. And 2, controlling the unmanned vehicle to exit the automatic driving mode. 3. The motor torque output is prohibited. 4. And reporting the fault, and reminding an operator to go forward to process in a short message or telephone mode. 5. Waiting for repair by maintenance personnel.
The second grade can be further subdivided, for example, the second grade can also be set to at least comprise a first sub-grade and a second sub-grade; if the fault level of the vehicle fault is the first sub-level, controlling the unmanned vehicle to immediately return to a vehicle maintenance point according to a set running path; and if the fault grade of the vehicle fault is the second subgrade, controlling the unmanned vehicle to return to the vehicle maintenance point at the idle time according to the set running path. From the foregoing, it can be seen that for the first sub-level and the second sub-level, the processing difference is primarily in controlling when the unmanned vehicle returns to the vehicle service point. The purpose of the arrangement is to determine when to return to a vehicle maintenance point according to the severity of the unmanned vehicle fault and/or task requirements, and to ensure that the unmanned vehicle can normally execute the task on the premise of determining that safety accidents are sufficiently avoided.
There are various determining criteria for the first sub-level and the second sub-level, which is not limited in this application. Optionally, the first sub-level and the second sub-level are determined based on an effect of a vehicle fault on the overall vehicle dynamics performance.
Optionally, the first sub-level fault may cause a reduction in the power performance of the entire vehicle; the second sub-level fault does not affect the power performance of the whole vehicle. For example, a failure of the electro-hydraulic brake system, even if other braking modes (such as a motor regenerative braking system or an electronic parking braking system) are provided on the current unmanned vehicle, may still cause the power performance of the entire vehicle to be reduced and the entire vehicle to be classified as the first sub-level. And the voice playing module used for playing and selling the introduction of the product has no influence on the power performance of the whole vehicle and is classified into a second sub-grade.
In addition, in the above technical solution, a vehicle returning module 320 may be further provided, configured to control the unmanned vehicle to enter a crawling mode, and return to the vehicle service point according to the set traveling path in the crawling mode. The creep mode is a low speed travel mode. The unmanned vehicle is controlled to return to a vehicle maintenance point in a crawling mode according to a set traveling path, so that pedestrians, other vehicles and the like have sufficient time to avoid in the traveling process, and the probability of safety accidents is further reduced.
For example, if the electro-hydraulic brake system fails and other braking modes (such as a motor regenerative brake system or an electronic parking brake system) are set on the current unmanned vehicle (i.e. a first sub-level failure occurs), it may specifically perform the operation of returning to the vehicle service point according to the following steps: 1. and reporting the fault and requesting to return to a maintenance point immediately. 2. And entering a creeping mode, and returning to a vehicle maintenance point according to a set running path in the creeping mode, wherein the maximum torque of the motor is 20 N.m, and the maximum vehicle speed is 5 km/h. 3. And when a braking request is made on the way of returning to the vehicle maintenance point, controlling the motor to perform regenerative braking or an electronic parking braking system to perform dynamic parking.
If the unmanned vehicle has the second sub-level fault, the unmanned vehicle may specifically perform the parking operation according to the following steps: 1. fault codes (DTCs) are stored and reported. 2. The request may be returned to the service point at any time.
On the basis of the above technical solutions, optionally, after detecting that the unmanned vehicle has a vehicle fault, the method further includes: the failed vehicle component is cut off from the vehicle power supply system to prevent the failed vehicle component from upgrading due to failure (e.g., fire due to continuous heat generation) in subsequent processes (e.g., parking, driving, etc.).
Fig. 6 is a block diagram of an electronic device according to an embodiment of the present disclosure. Referring to fig. 6, the electronic device includes: at least one processor 601, at least one memory 602, and at least one communication interface 603. The various components in the electronic device are coupled together by a bus system 604. A communication interface 603 for information transmission with an external device. It is understood that the bus system 604 is used to enable communications among the components. The bus system 604 includes a power bus, a control bus, and a status signal bus in addition to a data bus. But for the sake of clarity the various busses are labeled in fig. 6 as the bus system 604.
It will be appreciated that the memory 602 in this embodiment can be either volatile memory or nonvolatile memory, or can include both volatile and nonvolatile memory.
In some embodiments, memory 602 stores the following elements, executable units or data structures, or a subset thereof, or an expanded set thereof: an operating system and an application program.
The operating system includes various system programs, such as a framework layer, a core library layer, a driver layer, and the like, and is used for implementing various basic services and processing hardware-based tasks. The application programs include various application programs such as a media player (MediaPlayer), a Browser (Browser), etc. for implementing various application services. The program for implementing the unmanned vehicle fault handling method provided by the embodiment of the application can be contained in an application program.
In the embodiment of the present disclosure, the processor 601 is configured to execute the steps of the unmanned vehicle fault handling method provided by the embodiment of the present disclosure by calling a program or an instruction stored in the memory 602, which may be specifically a program or an instruction stored in an application program.
The unmanned vehicle fault processing method provided by the embodiment of the disclosure can be applied to the processor 601 or implemented by the processor 601. The processor 601 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 601. The processor 601 may be a general-purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, or discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The steps of the unmanned vehicle fault processing method provided by the embodiment of the disclosure can be directly embodied as the execution of a hardware decoding processor, or the execution of the hardware decoding processor and a software unit in the decoding processor is combined. The software elements may be located in ram, flash, rom, prom, or eprom, registers, among other storage media that are well known in the art. The storage medium is located in a memory 602, and the processor 601 reads the information in the memory 602 and performs the steps of the method in combination with its hardware.
The electronic device may further include one physical component or a plurality of physical components to implement control of the unmanned vehicle according to instructions generated by the processor 601 when executing the unmanned vehicle fault handling method provided by the embodiments of the present disclosure. Different physical components may be provided in or out of the unmanned vehicle, such as a cloud server or the like. The various physical components cooperate with the processor 601 and the memory 602 to implement the functions of the electronic device in this embodiment.
Embodiments of the present invention also provide a computer-readable storage medium storing a program or instructions that, when executed by a computer, cause the computer to perform a method for handling a fault of an unmanned vehicle, the method comprising:
when the unmanned vehicle is detected to have a vehicle fault, determining a fault level of the vehicle fault;
and if the fault grade of the vehicle fault is a preset grade, controlling the unmanned vehicle to return to a vehicle maintenance point according to a set running path.
Optionally, the computer executable instructions, when executed by the computer processor, may be further used to implement the solution of the method for handling a fault in an unmanned vehicle according to any embodiment of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Those skilled in the art will appreciate that although some embodiments described herein include some features included in other embodiments instead of others, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments.
Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.
Claims (13)
1. A method of unmanned vehicle fault handling, the method comprising:
when the unmanned vehicle is detected to have a vehicle fault, determining a fault level of the vehicle fault;
and if the fault grade of the vehicle fault is a preset grade, controlling the unmanned vehicle to return to a vehicle maintenance point according to a set running path.
2. The method of claim 1, wherein the fault levels include at least a first level and a second level;
if the fault grade of the vehicle fault is the first grade, controlling the unmanned vehicle to park;
and if the fault grade of the vehicle fault is the second grade, controlling the unmanned vehicle to return to a vehicle maintenance point according to a preset running path or a re-planned running path, wherein the preset grade is the second grade.
3. The method of claim 2, wherein the fault level is determined based on at least one of a cause of fault occurrence, a fault impact condition, and a configuration parameter of the unmanned vehicle.
4. The method according to claim 3, wherein the fault level is a first level, which may cause a safety accident, and/or the first level fault may cause a failure of the driving function of the whole vehicle;
when the fault level is the second level, safety accidents can not be caused, and the driving function of the whole vehicle can not be disabled.
5. The method of claim 2, wherein the second level comprises at least a first sub-level and a second sub-level;
if the fault level of the vehicle fault is the first sub-level, controlling the unmanned vehicle to immediately return to a vehicle maintenance point according to a set running path;
and if the fault level of the vehicle fault is the second sub-level, controlling the unmanned vehicle to return to a vehicle maintenance point at idle time according to a set running path.
6. The method of claim 5, wherein the first sub-level and the second sub-level are determined based on an effect of a vehicle fault on overall vehicle dynamics performance; the first sub-level fault can cause the reduction of the power performance of the whole vehicle;
and the second sub-level fault does not influence the power performance of the whole vehicle.
7. The method of claim 2, wherein controlling the unmanned vehicle to park while the unmanned vehicle is controlled if the failure level of the vehicle failure is the first level, further comprising,
and controlling the unmanned vehicle to send out an alarm signal.
8. The method of claim 1, wherein after detecting a vehicle fault with the unmanned vehicle, further comprising:
the failed vehicle component is disconnected from the electrical circuit of the vehicle power supply system.
9. The method of claim 1, wherein controlling the unmanned vehicle to return to a vehicle service point according to the set travel path comprises:
and controlling the unmanned vehicle to enter a crawling mode, and returning to a vehicle maintenance point according to a set running path in the crawling mode.
10. The method of claim 1, wherein the determining a fault level of the vehicle fault when the unmanned vehicle is detected to have the vehicle fault comprises:
the method comprises the steps that a vehicle controller detects whether a vehicle fault occurs in an unmanned vehicle, when the vehicle fault occurs in the unmanned vehicle, the vehicle controller sends a vehicle fault signal to an emergency processing system and an Internet of vehicles system, and the emergency processing system determines the fault level of the vehicle fault according to the vehicle fault signal;
if the fault grade of the vehicle fault is a preset grade, controlling the unmanned vehicle to return to a vehicle maintenance point according to a set running path, and the method comprises the following steps:
if the fault grade of the vehicle fault is a preset grade, allowing the unmanned vehicle to automatically return to a vehicle maintenance point by the emergency processing system;
the vehicle networking system sets a driving path for the unmanned vehicle to return to a vehicle maintenance point after allowing the unmanned vehicle to return to the vehicle maintenance point, and sends the set driving path to an automatic driving system;
and the automatic driving system controls the unmanned vehicle to return to a vehicle maintenance point according to the set running path based on the set running path.
11. An unmanned vehicle fault handling device, the device comprising:
the fault level determination module is used for determining the fault level of the vehicle fault when the unmanned vehicle is detected to have the vehicle fault;
and the vehicle returning module is used for controlling the unmanned vehicle to return to a vehicle maintenance point according to a set running path if the fault grade of the vehicle fault is a preset grade.
12. An electronic device, comprising: a processor and a memory;
the processor is adapted to perform the steps of the method of any one of claims 1 to 9 by calling a program or instructions stored in the memory.
13. A computer-readable storage medium, characterized in that it stores a program or instructions for causing a computer to carry out the steps of the method according to any one of claims 1 to 9.
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