CN112114575A - Chip fault processing method, automobile and computer readable storage medium - Google Patents
Chip fault processing method, automobile and computer readable storage medium Download PDFInfo
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- G—PHYSICS
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- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
The invention provides a chip fault processing method, an automobile and a computer readable storage medium, wherein the method comprises the following steps: when a chip fault occurs in the intelligent driving controller of the automobile, determining the fault position of the chip; when the chip fault position is a bottom chip, controlling the automobile to execute parking operation through other control systems except the intelligent driving controller; and when the chip fault position is an application chip, sending a parking instruction through a bottom chip so as to enable the automobile to execute parking operation. The chip part of the intelligent driving controller is divided into a bottom chip and an application chip, and different fault handling parking logics are adopted when chips of different levels break down, so that safe parking operation can be flexibly carried out according to the fault position of the chip when the intelligent driving controller breaks down, and the safety of an automobile is ensured.
Description
Technical Field
The invention relates to the field of automatic driving, in particular to a chip fault processing method, an automobile and a computer readable storage medium.
Background
Currently, the automatic driving technology becomes an enthusiastic technology, and more manufacturers are keen to research the automatic driving technology. However, in the prior art, most of the control algorithms of the automatic driving automobile in the driving process, namely the intelligent driving controller in the driving process, are researched, and reasonable fault processing logic of the intelligent driving controller is not formulated according to the working characteristics of the automatic driving automobile, so that the safety of the automobile cannot be ensured when the intelligent driving controller fails.
Disclosure of Invention
The invention mainly aims to provide a chip fault processing method, an automobile and a computer readable storage medium, and aims to solve the problem that the safety of the automobile cannot be guaranteed when an intelligent driving controller fails in the prior art.
In order to achieve the purpose, the invention provides a chip fault processing method which is applied to an automatic driving automobile and comprises the following steps:
when a chip fault occurs in the intelligent driving controller of the automobile, determining the fault position of the chip;
when the chip fault position is a bottom chip, controlling the automobile to execute parking operation through other control systems except the intelligent driving controller;
and when the chip fault position is an application chip, sending a parking instruction through a bottom chip so as to enable the automobile to execute parking operation.
Optionally, the step of determining the chip failure location includes:
detecting whether other control systems except the intelligent driving controller receive the message sent by the intelligent driving controller or not through a CAN bus;
if not, determining the chip fault position as a bottom chip.
Optionally, the step of determining the chip failure location includes:
judging whether the bottom chip receives fault information sent by the application chip;
when the bottom chip receives fault information sent by an application chip, determining that the chip fault position is the application chip;
or,
judging whether the bottom chip receives a command sent by an application chip;
and when the bottom chip does not receive the command sent by the application chip, determining that the chip fault position is the application chip.
Optionally, the other control systems include a vehicle control unit VCU and a brake-by-wire system EBS; the step of controlling the vehicle to perform a parking operation by a control system other than the intelligent driving controller includes:
the driving output of the automobile is cut off through the VCU, and the gear of the gearbox is adjusted to an N gear;
and adjusting the brake-by-wire function state of the EBS to be in a fault state, so that the EBS performs hydraulic braking in the fault state.
Optionally, the other control systems further comprise an electronic parking system EPB; the step of adjusting the brake-by-wire functional state of the EBS to a fault state so that the EBS performs hydraulic braking in the fault state further includes:
and when the vehicle speed is less than or equal to a preset threshold value, sending a clamping request to the EPB through the EBS, so that the EPB adjusts the working state to a clamping state according to the clamping request to finish the parking operation.
Optionally, the automobile further comprises a vehicle control unit VCU and a brake-by-wire system EBS; the step of sending a parking instruction through a bottom chip to enable the automobile to execute a parking operation comprises the following steps:
sending a parking instruction to the VCU through the bottom chip so that the VCU cuts off the driving output of the automobile according to the parking instruction and adjusts the gear of the gearbox to an N gear according to the parking instruction;
and sending a parking instruction to the EBS through the bottom chip so that the EBS performs hydraulic braking after adjusting the brake-by-wire function state to a fault state according to the parking instruction.
Optionally, the vehicle further comprises an electronic parking system EPB; after the step of sending a parking instruction to the EBS through the bottom chip so that the EBS performs hydraulic braking after adjusting the brake-by-wire functional state to the failure state according to the parking instruction, the method further includes:
and when the vehicle speed is less than or equal to a preset threshold value, sending a clamping request to the EPB through the bottom chip, so that the EPB adjusts the working state to a clamping state according to the clamping request to finish parking operation.
Optionally, after the performing the parking operation, the method further comprises the steps of:
switching the automobile from an automatic driving mode to a manual mode;
and displaying fault information through an interactive terminal of the automobile.
In order to achieve the above object, the present invention further provides an automobile comprising a memory, a processor and a computer program stored on the memory and operable on the processor, wherein the computer program, when executed by the processor, implements the steps of the chip failure handling method as described above.
To achieve the above object, the present invention further provides a computer-readable storage medium having a computer program stored thereon, where the computer program is executed by a processor to implement the steps of the chip failure processing method as described above.
According to the chip fault processing method, the automobile and the computer readable storage medium, when the intelligent driving controller of the automobile has a chip fault, the fault position of the chip is determined; when the chip fault position is a bottom chip, controlling the automobile to execute parking operation through other control systems except the intelligent driving controller; and when the chip fault position is an application chip, sending a parking instruction through a bottom chip so as to enable the automobile to execute parking operation. The chip of the intelligent driving controller is divided into a bottom chip and an application chip, and different fault handling parking logics are adopted when the chips of different levels fail, so that safe parking operation can be flexibly carried out according to the fault positions of the chips when the intelligent driving controller fails, and the safety of an automobile is ensured.
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FIG. 1 is a flowchart illustrating a chip failure processing method according to a first embodiment of the present invention;
FIG. 2 is a detailed flowchart of step S20 in the second embodiment of the chip failure handling method according to the present invention;
FIG. 3 is a detailed flowchart of step S30 in the third embodiment of the chip failure handling method according to the present invention;
fig. 4 is a schematic block diagram of the automobile according to the present invention.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The invention provides a chip fault processing method which is applied to an automatic driving automobile. Referring to fig. 1, fig. 1 is a schematic flow chart of a first embodiment of a chip fault processing method according to the present invention, in this embodiment, the chip fault processing method includes the steps of:
step S10, when a chip fault occurs in the intelligent driving controller of the automobile, determining the chip fault position;
the intelligent driving controller is mainly responsible for automobile data processing and control instruction sending. In the embodiment, the overall architecture of the intelligent driving controller is defined as a software layer and a hardware layer, wherein the software layer comprises bottom software and application software, and the hardware layer comprises a bottom chip and an application chip. The bottom chip is mainly responsible for receiving instructions of the application chip, converting the commands sent by the application chip into messages and sending the messages to the CAN bus, and meanwhile, simply judging and transmitting external information to the application chip and the like, so that the logic related to automobile safety and whole automobile network communication is controlled on the whole; the application chip is mainly responsible for operation, data processing and the like, including fusion positioning and algorithm decision.
Once the intelligent driving controller is found to have faults, whether the bottom chip or the application chip has faults or not can be judged according to the working characteristics of the bottom chip and the application chip. For example, the bottom chip is responsible for converting a command sent by the application chip into a message and sending the message to the CAN bus so as to perform message communication through the CAN bus, so that whether the bottom chip has a fault CAN be judged by whether other control systems receive the message sent by the intelligent driving controller; the application chip sends a command to the bottom chip, so that whether the application chip fails or not can be judged by judging whether the bottom chip receives the command or not.
Step S20, when the chip failure position is the bottom chip, controlling the automobile to execute the parking operation through other control systems except the intelligent driving controller;
the other Control Systems include a VCU (Vehicle Control Unit), an EBS (Electronic Brake Systems), an EPB (Electrical Park Brake), and the like. When the bottom chip fails, the intelligent driving controller cannot output messages, so that other control systems except the intelligent driving controller are required to control the automobile to execute parking operation.
Step S30, when the chip fault position is an application chip, a parking instruction is sent through a bottom chip so that the automobile can execute parking operation;
when the application chip is in fault, the bottom chip CAN still carry out message sending, so that the bottom chip CAN send a parking instruction to the CAN bus, and other control systems carry out parking operation according to the parking instruction after receiving the parking instruction sent by the bottom chip through the CAN bus.
In this embodiment, divide into bottom chip and application chip with intelligent driving controller hardware part, adopt different fault handling parking logics when different partial chip failures for can be based on the nimble safe parking operation that carries out in chip fault location when intelligent driving controller breaks down, guarantee the safety of car.
Further, the step of determining the chip failure location in step S10 includes:
step S11, detecting whether other control systems except the intelligent controller receive the message sent by the intelligent driving controller through the CAN bus;
and step S12, if not, determining that the chip fault position is the bottom chip.
The CAN bus is a serial communication protocol standardized by ISO international. In the automotive industry, various electronic control systems have been developed for the purpose of safety, comfort, convenience, low pollution, and low cost. Since the types of data used for communication between these systems and the requirements for reliability are different, and the number of harnesses is increased in many cases due to the configuration of a plurality of buses, a CAN communication protocol is selected to meet the needs of "reducing the number of harnesses" and "performing high-speed communication of a large amount of data through a plurality of LANs".
When other control systems except the intelligent controller do not receive the message sent by the intelligent driving controller, the fact that the part in the intelligent controller, which is responsible for sending the message, has a fault is shown, and the part in the intelligent controller, which is responsible for sending the message, is the bottom chip, so that whether the bottom chip of the intelligent driving controller has the fault can be judged by whether the other control systems receive the message sent by the intelligent driving controller. The scheme provides the judgment logic of the fault position of the bottom chip based on the working characteristics of the bottom chip, and can ensure the accuracy of fault detection of the bottom chip.
Further, the step of determining the chip failure location in step S10 further includes:
step S13, judging whether the bottom chip receives the fault information sent by the application chip;
step S14, when the bottom chip receives the fault information sent by the application chip, determining the chip fault position as the application chip;
or,
step S15, judging whether the bottom chip receives the command sent by the application chip;
step S16, when the bottom chip does not receive the command sent by the application chip, determining that the chip failure location is the application chip.
In this embodiment, whether the application chip fails or not can be judged through two methods, firstly, the application chip performs self-checking during working, when the application chip finds that a failure occurs through the self-checking, the application chip sends failure information to the bottom chip, and the bottom chip determines that the application chip fails when receiving the failure information sent by the application chip; in addition, when the application chip fails and cannot send a command or failure information, the underlying chip cannot receive the command or failure information sent by the application chip, and thus the application chip can be determined to fail. The command refers to an instruction operation sent to the bottom chip when the application chip performs positioning or decision making.
In the embodiment, whether the application chip fails or not is determined by judging whether the bottom chip receives the fault information sent by the application chip or judging whether the bottom chip receives the command sent by the application chip, so that the accuracy of fault detection of the application chip is ensured.
Further, referring to fig. 2, in a second embodiment of the chip fault handling method according to the present invention proposed based on the first embodiment of the present invention, the other control systems include a vehicle control unit VCU and a brake-by-wire system EBS, and in this embodiment, the step of controlling the vehicle to perform a parking operation by the other control systems except the intelligent driving controller in the step S20 includes:
step S21, cutting off the driving output of the automobile and adjusting the gear of the gearbox to an N gear through the VCU;
and step S22, adjusting the brake-by-wire function state of the EBS to a fault state so that the EBS performs hydraulic braking in the fault state.
The VCU is a core control component of the whole automobile and is equivalent to the brain of the automobile. The automobile brake system collects signals of an accelerator pedal, signals of a brake pedal and other parts, and controls the action of each part controller on the lower layer after corresponding judgment is made so as to drive an automobile to normally run. As a command management center of an automobile, the main functions of the whole automobile controller comprise: the system comprises a driving torque control device, a brake energy optimization control device, a whole vehicle energy management device, a CAN network maintenance and management device, a fault diagnosis and treatment device, a vehicle state monitoring device and the like, and plays a role in controlling the vehicle operation.
The EBS is characterized in that a set of electronic control System is added on the basis of an ABS (anti-lock Brake System) to replace an original mechanical System to control the Brake, so that the EBS is not only improved in performance, but also comprehensively expanded in functionality. Therefore, the EBS is not only a system with a single function, but also can be used as a working platform to derive a plurality of auxiliary functions, including vehicle body stability control, rollover prevention system, driving antiskid, ramp auxiliary and the like.
When the message of the intelligent driving controller is not received, the VCU confirms that a bottom chip of the intelligent driving controller breaks down, starts to execute parking operation, stops torque output, adjusts the gear of the gearbox to N gear, and stops acceleration; and the EBS enters an overtime fault because the message sent by the intelligent driving controller cannot be received for a long time, and starts to decelerate the automobile.
The speed of the vehicle is gradually reduced until the vehicle stops by the stop acceleration operation of the VCU and the deceleration operation of the EBS.
Further, the other control systems further include an electronic parking system EPB, and after the step S22, the method may further include: and when the vehicle speed is less than or equal to a preset threshold value, sending a clamping request to the EPB through the EBS, so that the EPB adjusts the working state to a clamping state according to the clamping request to finish the parking operation.
The EPB is a technology that integrates a temporary braking function during driving and a long-term braking function after parking, and realizes parking braking in an electronic control manner. It should be noted that, since there is still a risk of the vehicle slipping when the vehicle speed is reduced by the reduction operation of the EBS, the EBS may send a clamping request to the EPB when the vehicle speed is less than or equal to the preset threshold, so that the EPB adjusts the operating state to the clamping state according to the clamping request to complete the parking operation. Preferably, the preset threshold is less than or equal to 2km/h, and when the vehicle speed is too high, the EPB performs a clamping action, which may cause the vehicle to be out of control, so that the EPB needs to perform a clamping operation after the vehicle speed is reduced to the preset threshold.
And setting a preset threshold, and sending a clamping request to the EPB through the EBS when the vehicle speed is less than or equal to the preset threshold so that the EPB adjusts the working state to the clamping state according to the clamping request to complete the parking operation, thereby ensuring the stable parking and ensuring the parking safety of the automobile.
Further, referring to fig. 3, in a third embodiment of the chip failure processing method according to the present invention proposed based on the first embodiment of the present invention, the step S30 includes:
step S31, a parking instruction is sent to the VCU through the bottom chip, so that the VCU cuts off the driving output of the automobile according to the parking instruction, and the VCU adjusts the gear of the gearbox to an N gear according to the parking instruction;
and step S32, sending a parking instruction to the EBS through the bottom chip, so that the EBS performs hydraulic braking after adjusting the brake-by-wire functional state to a fault state according to the parking instruction.
When the bottom chip determines that the application chip has a fault, the bottom chip sends a parking instruction to the CAN bus, and when the VCU receives the parking instruction sent by the bottom chip, the VCU cuts off the output of the driving torque of the automobile according to the parking instruction and adjusts the gear of the gearbox to an N gear according to the parking instruction; when the EBS receives a parking instruction sent by the bottom chip, the brake-by-wire function state is adjusted to be a fault state according to the parking instruction, then hydraulic braking is carried out, the parking instruction is sent by the bottom chip, the automobile is decelerated in time, and the safety of the automobile is ensured to the maximum extent.
Further, after the step of step S32, the method may further include: and when the vehicle speed is less than or equal to a preset threshold value, sending a clamping request to the EPB through the bottom chip, so that the EPB adjusts the working state to a clamping state according to the clamping request to finish parking operation.
The method comprises the steps that a parking instruction is actively sent by a bottom chip, a VCU and an EBS control the automobile to decelerate, when the automobile speed is smaller than or equal to a preset threshold value, the automobile needs to be parked for stabilizing the automobile, and at the moment, a clamping request is sent to an EPB through the bottom chip, so that the EPB adjusts the working state to the clamping state according to the clamping request to finish the parking operation. According to the scheme, the preset threshold value is set, when the vehicle speed is less than or equal to the preset threshold value, the clamping request is sent to the EPB through the bottom chip, so that the EPB adjusts the working state to the clamping state according to the clamping request to complete parking operation, stable parking is guaranteed, and the parking safety of the vehicle is guaranteed.
Further, after the parking operation is performed in step S20 or step S30, the method may further include the steps of: switching the automobile from an automatic driving mode to a manual mode; and displaying fault information through an interactive terminal of the automobile.
After the parking operation is finished, in order to prevent other problems caused by automobile faults, the system which is originally in an automatic control mode is switched into a manual mode, and a user waits for checking the automobile. The detected automobile fault information and the operation condition can be displayed through the interactive terminal, so that a user can know the basic condition of the automobile, and the automobile can be checked in a targeted manner.
It should be further noted that the interactive terminal may be a display device arranged inside the automobile or a mobile device used by the user, and displays the automobile fault information and the operation condition through an APP running in the device.
Referring to fig. 4, the present invention further provides an automobile, which may further include components such as a communication module 10, a memory 20, and a processor 30, in addition to a complete automobile control system, an intelligent driving controller, an electronic parking system, and the like, in terms of a hardware structure. In the motor vehicle, the processor 30 is connected to the memory 20 and the communication module 10, respectively, the memory 20 having stored thereon a computer program which is executed by the processor 30 at the same time, the computer program implementing the steps of the above-described method embodiment when executed. Wherein,
the communication module 10 may be connected to an external communication device through a network. The communication module 10 may receive a request from an external communication device, and may also send a request, an instruction, and information to the external communication device, where the external communication device may be another vehicle, a server, or an internet of things device, such as a television.
The memory 20 may be used to store software programs as well as various data. The memory 20 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required by at least one function (for example, when a chip failure occurs in an intelligent driving controller of the automobile, a chip failure location is determined), and the like; the storage data area may include a database, and the storage data area may store data or information created according to use of the system, or the like. Further, the memory 20 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.
The processor 30, which is a control center of the vehicle, connects various parts of the entire vehicle using various interfaces and lines, and performs various functions of the vehicle and processes data by operating or executing software programs and/or modules stored in the memory 20 and calling data stored in the memory 20, thereby integrally monitoring the vehicle. Processor 30 may include one or more processing units; alternatively, the processor 30 may integrate an application processor, which primarily handles operating systems, user interfaces, applications, etc., and a modem processor, which primarily handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 30.
Although not shown in fig. 4, the vehicle may further include a circuit control module for connecting to a power source to ensure the normal operation of other components. Those skilled in the art will appreciate that the vehicle configuration shown in FIG. 4 is not intended to be limiting and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
The invention also proposes a computer-readable storage medium on which a computer program is stored. The computer-readable storage medium may be the Memory 20 in the automobile of fig. 4, and may also be at least one of a ROM (Read-Only Memory)/RAM (Random Access Memory), a magnetic disk, and an optical disk, and the computer-readable storage medium includes several instructions for enabling a terminal device (which may be an automobile, a mobile phone, a computer, a server, a terminal, or a network device) having a processor to execute the method according to the embodiments of the present invention.
In the present invention, the terms "first", "second", "third", "fourth" and "fifth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance, and those skilled in the art can understand the specific meanings of the above terms in the present invention according to specific situations.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although the embodiment of the present invention has been shown and described, the scope of the present invention is not limited thereto, it should be understood that the above embodiment is illustrative and not to be construed as limiting the present invention, and that those skilled in the art can make changes, modifications and substitutions to the above embodiment within the scope of the present invention, and that these changes, modifications and substitutions should be covered by the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A chip fault handling method is applied to an automatic driving automobile, and comprises the following steps:
when a chip fault occurs in the intelligent driving controller of the automobile, determining the fault position of the chip;
when the chip fault position is a bottom chip, controlling the automobile to execute parking operation through other control systems except the intelligent driving controller;
and when the chip fault position is an application chip, sending a parking instruction through a bottom chip so as to enable the automobile to execute parking operation.
2. The chip failure handling method of claim 1, wherein the step of determining the chip failure location comprises:
detecting whether other control systems except the intelligent driving controller receive the message sent by the intelligent driving controller or not through a CAN bus;
if not, determining the chip fault position as a bottom chip.
3. The chip failure handling method according to claim 1 or 2, wherein the step of determining the chip failure location comprises:
judging whether the bottom chip receives fault information sent by the application chip;
when the bottom chip receives fault information sent by an application chip, determining that the chip fault position is the application chip;
or,
judging whether the bottom chip receives a command sent by an application chip;
and when the bottom chip does not receive the command sent by the application chip, determining that the chip fault position is the application chip.
4. The chip fault handling method according to claim 1, wherein the other control systems include a Vehicle Control Unit (VCU) and a brake-by-wire system (EBS); the step of controlling the vehicle to perform a parking operation by a control system other than the intelligent driving controller includes:
the driving output of the automobile is cut off through the VCU, and the gear of the gearbox is adjusted to an N gear;
and adjusting the brake-by-wire function state of the EBS to be in a fault state, so that the EBS performs hydraulic braking in the fault state.
5. The chip failure handling method according to claim 4, wherein the other control system further comprises an electronic parking system (EPB); the step of adjusting the brake-by-wire functional state of the EBS to a fault state so that the EBS performs hydraulic braking in the fault state further includes:
and when the vehicle speed is less than or equal to a preset threshold value, sending a clamping request to the EPB through the EBS, so that the EPB adjusts the working state to a clamping state according to the clamping request to finish the parking operation.
6. The chip fault handling method according to claim 1, wherein the automobile further comprises a Vehicle Control Unit (VCU) and a brake-by-wire system (EBS); the step of sending a parking instruction through a bottom chip to enable the automobile to execute a parking operation comprises the following steps:
sending a parking instruction to the VCU through the bottom chip so that the VCU cuts off the driving output of the automobile according to the parking instruction and adjusts the gear of the gearbox to an N gear according to the parking instruction;
and sending a parking instruction to the EBS through the bottom chip so that the EBS performs hydraulic braking after adjusting the brake-by-wire function state to a fault state according to the parking instruction.
7. The chip fault handling method according to claim 6, wherein the car further comprises an electronic parking system (EPB); after the step of sending a parking instruction to the EBS through the bottom chip so that the EBS performs hydraulic braking after adjusting the brake-by-wire functional state to the failure state according to the parking instruction, the method further includes:
and when the vehicle speed is less than or equal to a preset threshold value, sending a clamping request to the EPB through the bottom chip, so that the EPB adjusts the working state to a clamping state according to the clamping request to finish parking operation.
8. The chip failure handling method according to any one of claims 1-2 and 4-7, further comprising, after the performing of the parking operation, the steps of:
switching the automobile from an automatic driving mode to a manual mode;
and displaying fault information through an interactive terminal of the automobile.
9. An automobile, characterized in that the automobile comprises a memory, a processor and a computer program stored on the memory and executable on the processor, which computer program, when executed by the processor, carries out the steps of the chip failure handling method according to any one of claims 1 to 8.
10. A computer-readable storage medium, characterized in that a computer program is stored thereon, which computer program, when being executed by a processor, realizes the steps of the chip failure handling method according to any one of claims 1 to 8.
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